From a77c9225df3aa494d5db64824926174c95381b97 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 10 Oct 2014 12:12:17 +0200 Subject: Allow access to both device handles, make external use a special handle --- src/drivers/ms5611/ms5611.cpp | 70 +++++++++++++++++++++++++++++-------------- 1 file changed, 48 insertions(+), 22 deletions(-) (limited to 'src/drivers/ms5611') diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 340a2e660..beca29d6d 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -91,12 +91,13 @@ static const int ERROR = -1; /* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */ #define MS5611_CONVERSION_INTERVAL 10000 /* microseconds */ #define MS5611_MEASUREMENT_RATIO 3 /* pressure measurements per temperature measurement */ -#define MS5611_BARO_DEVICE_PATH "/dev/ms5611" +#define MS5611_BARO_DEVICE_PATH_EXT "/dev/ms5611_ext" +#define MS5611_BARO_DEVICE_PATH_INT "/dev/ms5611_int" class MS5611 : public device::CDev { public: - MS5611(device::Device *interface, ms5611::prom_u &prom_buf); + MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path); ~MS5611(); virtual int init(); @@ -195,8 +196,8 @@ protected: */ extern "C" __EXPORT int ms5611_main(int argc, char *argv[]); -MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) : - CDev("MS5611", MS5611_BARO_DEVICE_PATH), +MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path) : + CDev("MS5611", path), _interface(interface), _prom(prom_buf.s), _measure_ticks(0), @@ -224,7 +225,7 @@ MS5611::~MS5611() stop_cycle(); if (_class_instance != -1) - unregister_class_devname(MS5611_BARO_DEVICE_PATH, _class_instance); + unregister_class_devname(get_devname(), _class_instance); /* free any existing reports */ if (_reports != nullptr) @@ -792,10 +793,10 @@ MS5611 *g_dev_ext = nullptr; MS5611 *g_dev_int = nullptr; void start(bool external_bus); -void test(); -void reset(); +void test(bool external_bus); +void reset(bool external_bus); void info(); -void calibrate(unsigned altitude); +void calibrate(unsigned altitude, bool external_bus); void usage(); /** @@ -879,27 +880,34 @@ start(bool external_bus) } if (external_bus) { - g_dev_ext = new MS5611(interface, prom_buf); + g_dev_ext = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_EXT); if (g_dev_ext == nullptr) { delete interface; errx(1, "failed to allocate driver"); } + if (g_dev_ext->init() != OK) goto fail; + + fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY); + } else { - g_dev_int = new MS5611(interface, prom_buf); + g_dev_int = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_INT); if (g_dev_int == nullptr) { delete interface; errx(1, "failed to allocate driver"); } + if (g_dev_int->init() != OK) goto fail; + fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY); + } /* set the poll rate to default, starts automatic data collection */ - fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); + if (fd < 0) { warnx("can't open baro device"); goto fail; @@ -932,16 +940,22 @@ fail: * and automatic modes. */ void -test() +test(bool external_bus) { struct baro_report report; ssize_t sz; int ret; - int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); + int fd; + + if (external_bus) { + fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY); + } else { + fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY); + } if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH); + err(1, "open failed (try 'ms5611 start' if the driver is not running)"); /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); @@ -995,9 +1009,15 @@ test() * Reset the driver. */ void -reset() +reset(bool external_bus) { - int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); + int fd; + + if (external_bus) { + fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY); + } else { + fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY); + } if (fd < 0) err(1, "failed "); @@ -1037,16 +1057,22 @@ info() * Calculate actual MSL pressure given current altitude */ void -calibrate(unsigned altitude) +calibrate(unsigned altitude, bool external_bus) { struct baro_report report; float pressure; float p1; - int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY); + int fd; + + if (external_bus) { + fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY); + } else { + fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY); + } if (fd < 0) - err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH); + err(1, "open failed (try 'ms5611 start' if the driver is not running)"); /* start the sensor polling at max */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) @@ -1141,13 +1167,13 @@ ms5611_main(int argc, char *argv[]) * Test the driver/device. */ if (!strcmp(verb, "test")) - ms5611::test(); + ms5611::test(external_bus); /* * Reset the driver. */ if (!strcmp(verb, "reset")) - ms5611::reset(); + ms5611::reset(external_bus); /* * Print driver information. @@ -1164,7 +1190,7 @@ ms5611_main(int argc, char *argv[]) long altitude = strtol(argv[optind+1], nullptr, 10); - ms5611::calibrate(altitude); + ms5611::calibrate(altitude, external_bus); } errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'"); -- cgit v1.2.3