diff options
Diffstat (limited to 'src/drivers/hmc5883/hmc5883.cpp')
| -rw-r--r-- | src/drivers/hmc5883/hmc5883.cpp | 42 |
1 files changed, 27 insertions, 15 deletions
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 5f0ce4ff8..d3b99ae66 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -77,6 +77,7 @@ */ #define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883 +#define HMC5883L_DEVICE_PATH "/dev/hmc5883" /* Max measurement rate is 160Hz, however with 160 it will be set to 166 Hz, therefore workaround using 150 */ #define HMC5883_CONVERSION_INTERVAL (1000000 / 150) /* microseconds */ @@ -154,6 +155,7 @@ private: float _range_scale; float _range_ga; bool _collect_phase; + int _class_instance; orb_advert_t _mag_topic; @@ -315,12 +317,13 @@ extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]); HMC5883::HMC5883(int bus) : - I2C("HMC5883", MAG_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000), + I2C("HMC5883", HMC5883L_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000), _measure_ticks(0), _reports(nullptr), _range_scale(0), /* default range scale from counts to gauss */ _range_ga(1.3f), _mag_topic(-1), + _class_instance(-1), _sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")), _comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")), _buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")), @@ -351,6 +354,9 @@ HMC5883::~HMC5883() if (_reports != nullptr) delete _reports; + if (_class_instance != -1) + unregister_class_devname(MAG_DEVICE_PATH, _class_instance); + // free perf counters perf_free(_sample_perf); perf_free(_comms_errors); @@ -374,13 +380,17 @@ HMC5883::init() /* reset the device configuration */ reset(); - /* get a publish handle on the mag topic */ - struct mag_report zero_report; - memset(&zero_report, 0, sizeof(zero_report)); - _mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report); + _class_instance = register_class_devname(MAG_DEVICE_PATH); + if (_class_instance == CLASS_DEVICE_PRIMARY) { + /* get a publish handle on the mag topic if we are + * the primary mag */ + struct mag_report zero_report; + memset(&zero_report, 0, sizeof(zero_report)); + _mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report); - if (_mag_topic < 0) - debug("failed to create sensor_mag object"); + if (_mag_topic < 0) + debug("failed to create sensor_mag object"); + } ret = OK; /* sensor is ok, but not calibrated */ @@ -875,8 +885,10 @@ HMC5883::collect() } #endif - /* publish it */ - orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report); + if (_mag_topic != -1) { + /* publish it */ + orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report); + } /* post a report to the ring */ if (_reports->force(&new_report)) { @@ -1256,7 +1268,7 @@ start() goto fail; /* set the poll rate to default, starts automatic data collection */ - fd = open(MAG_DEVICE_PATH, O_RDONLY); + fd = open(HMC5883L_DEVICE_PATH, O_RDONLY); if (fd < 0) goto fail; @@ -1288,10 +1300,10 @@ test() ssize_t sz; int ret; - int fd = open(MAG_DEVICE_PATH, O_RDONLY); + int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY); if (fd < 0) - err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH); + err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH); /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); @@ -1388,10 +1400,10 @@ int calibrate() { int ret; - int fd = open(MAG_DEVICE_PATH, O_RDONLY); + int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY); if (fd < 0) - err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH); + err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH); if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) { warnx("failed to enable sensor calibration mode"); @@ -1413,7 +1425,7 @@ int calibrate() void reset() { - int fd = open(MAG_DEVICE_PATH, O_RDONLY); + int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY); if (fd < 0) err(1, "failed "); |