vl53lxx driver: add -b, -a and -R flags to choose i2c busses and sensor rotation and remove nuttx stuff such as exit functions

src/drivers/distance_sensor/teraranger/teraranger.cpp

@@ -53,13 +53,11 @@
 #include <string.h>
 #include <fcntl.h>
 #include <poll.h>
-#include <errno.h>
 #include <stdio.h>
 #include <math.h>
 #include <unistd.h>
 
 #include <perf/perf_counter.h>
-#include <systemlib/err.h>
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_range_finder.h>
@@ -784,6 +782,11 @@ int 	info();
 int
 start(uint8_t rotation)
 {
+	if (g_dev != nullptr) {
+		PX4_ERR("already started");
+		return PX4_ERROR;
+	}
+
 	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
 		if (start_bus(rotation, bus_options[i]) == PX4_OK) {
 			return PX4_OK;
@@ -802,12 +805,7 @@ start(uint8_t rotation)
 int
 start_bus(uint8_t rotation, int i2c_bus)
 {
-	int fd;
-
-	if (g_dev != nullptr) {
-		PX4_ERR("already started");
-		return PX4_ERROR;
-	}
+	int fd = -1;
 
 	/* create the driver */
 	g_dev = new TERARANGER(rotation, i2c_bus);
@@ -832,10 +830,15 @@ start_bus(uint8_t rotation, int i2c_bus)
 		goto fail;
 	}
 
+	close(fd);
 	return PX4_OK;
 
 fail:
 
+	if (fd >= 0) {
+		close(fd);
+	}
+
 	if (g_dev != nullptr) {
 		delete g_dev;
 		g_dev = nullptr;
@@ -929,6 +932,7 @@ test()
 		return PX4_ERROR;
 	}
 
+	close(fd);
 	PX4_INFO("PASS");
 	return PX4_OK;
 
@@ -957,6 +961,7 @@ reset()
 		return PX4_ERROR;
 	}
 
+	close(fd);
 	return PX4_OK;
 }