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Don't build interface drivers we don't have configs for. Make the interface drivers build.

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Change the way we handle the prom buffer so that we can init the interface before constructing the driver.
This commit is contained in:
px4dev
2013-07-14 12:42:51 -07:00
parent b11e05d614
commit 6cf1208312
5 changed files with 117 additions and 73 deletions
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src/drivers/ms5611/ms5611.cpp
+34 -25
View File
@@ -93,7 +93,7 @@ static const int ERROR = -1;
class MS5611 : public device::CDev
{
public:
MS5611(device::Device *interface);
MS5611(device::Device *interface, ms5611::prom_u &prom_buf);
~MS5611();
virtual int init();
@@ -109,7 +109,7 @@ public:
protected:
Device *_interface;
ms5611::prom_u _prom;
ms5611::prom_s _prom;
struct work_s _work;
unsigned _measure_ticks;
@@ -191,9 +191,10 @@ protected:
*/
extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
MS5611::MS5611(device::Device *interface) :
MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) :
CDev("MS5611", BARO_DEVICE_PATH),
_interface(interface),
_prom(prom_buf.s),
_measure_ticks(0),
_num_reports(0),
_next_report(0),
@@ -230,13 +231,11 @@ MS5611::~MS5611()
int
MS5611::init()
{
int ret;
/* verify that the interface is ok */
unsigned arg = (unsigned)&_prom;
_interface->ioctl(IOCTL_SET_PROMBUFFER, arg);
int ret = _interface->init();
ret = CDev::init();
if (ret != OK) {
debug("interface init failed");
debug("CDev init failed");
goto out;
}
@@ -598,14 +597,14 @@ MS5611::collect()
if (_measure_phase == 0) {
/* temperature offset (in ADC units) */
int32_t dT = (int32_t)raw - ((int32_t)_prom.s.c5_reference_temp << 8);
int32_t dT = (int32_t)raw - ((int32_t)_prom.c5_reference_temp << 8);
/* absolute temperature in centidegrees - note intermediate value is outside 32-bit range */
_TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.s.c6_temp_coeff_temp) >> 23);
_TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.c6_temp_coeff_temp) >> 23);
/* base sensor scale/offset values */
_SENS = ((int64_t)_prom.s.c1_pressure_sens << 15) + (((int64_t)_prom.s.c3_temp_coeff_pres_sens * dT) >> 8);
_OFF = ((int64_t)_prom.s.c2_pressure_offset << 16) + (((int64_t)_prom.s.c4_temp_coeff_pres_offset * dT) >> 7);
_SENS = ((int64_t)_prom.c1_pressure_sens << 15) + (((int64_t)_prom.c3_temp_coeff_pres_sens * dT) >> 8);
_OFF = ((int64_t)_prom.c2_pressure_offset << 16) + (((int64_t)_prom.c4_temp_coeff_pres_offset * dT) >> 7);
/* temperature compensation */
if (_TEMP < 2000) {
@@ -711,14 +710,14 @@ MS5611::print_info()
printf("OFF: %lld\n", _OFF);
printf("MSL pressure: %10.4f\n", (double)(_msl_pressure / 100.f));
printf("factory_setup %u\n", _prom.s.factory_setup);
printf("c1_pressure_sens %u\n", _prom.s.c1_pressure_sens);
printf("c2_pressure_offset %u\n", _prom.s.c2_pressure_offset);
printf("c3_temp_coeff_pres_sens %u\n", _prom.s.c3_temp_coeff_pres_sens);
printf("c4_temp_coeff_pres_offset %u\n", _prom.s.c4_temp_coeff_pres_offset);
printf("c5_reference_temp %u\n", _prom.s.c5_reference_temp);
printf("c6_temp_coeff_temp %u\n", _prom.s.c6_temp_coeff_temp);
printf("serial_and_crc %u\n", _prom.s.serial_and_crc);
printf("factory_setup %u\n", _prom.factory_setup);
printf("c1_pressure_sens %u\n", _prom.c1_pressure_sens);
printf("c2_pressure_offset %u\n", _prom.c2_pressure_offset);
printf("c3_temp_coeff_pres_sens %u\n", _prom.c3_temp_coeff_pres_sens);
printf("c4_temp_coeff_pres_offset %u\n", _prom.c4_temp_coeff_pres_offset);
printf("c5_reference_temp %u\n", _prom.c5_reference_temp);
printf("c6_temp_coeff_temp %u\n", _prom.c6_temp_coeff_temp);
printf("serial_and_crc %u\n", _prom.serial_and_crc);
}
/**
@@ -789,6 +788,7 @@ void
start()
{
int fd;
prom_u prom_buf;
if (g_dev != nullptr)
errx(1, "already started");
@@ -797,14 +797,19 @@ start()
/* create the driver, try SPI first, fall back to I2C if unsuccessful */
if (MS5611_spi_interface != nullptr)
interface = MS5611_spi_interface();
interface = MS5611_spi_interface(prom_buf);
if (interface == nullptr && (MS5611_i2c_interface != nullptr))
interface = MS5611_i2c_interface();
interface = MS5611_i2c_interface(prom_buf);
if (interface == nullptr)
errx(1, "failed to allocate an interface");
g_dev = new MS5611(interface);
if (interface->init() != OK) {
delete interface;
errx(1, "interface init failed");
}
g_dev = new MS5611(interface, prom_buf);
if (g_dev == nullptr) {
delete interface;
errx(1, "failed to allocate driver");
@@ -814,10 +819,14 @@ start()
/* set the poll rate to default, starts automatic data collection */
fd = open(BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
warnx("can't open baro device");
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
warnx("failed setting default poll rate");
goto fail;
}
exit(0);