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Made all usual suspects default to their custom names and only register the default name if its not already taken by someone else

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Lorenz Meier
2013-12-07 10:34:32 +01:00
parent 264ef47197
commit 7becbcdbd5
4 changed files with 60 additions and 20 deletions
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src/drivers/mpu6000/mpu6000.cpp
+25 -8
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@@ -75,6 +75,9 @@
#define DIR_READ 0x80
#define DIR_WRITE 0x00
#define MPU_DEVICE_PATH_ACCEL "/dev/mpu6000_accel"
#define MPU_DEVICE_PATH_GYRO "/dev/mpu6000_gyro"
// MPU 6000 registers
#define MPUREG_WHOAMI 0x75
#define MPUREG_SMPLRT_DIV 0x19
@@ -359,7 +362,7 @@ private:
extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); }
MPU6000::MPU6000(int bus, spi_dev_e device) :
SPI("MPU6000", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED),
SPI("MPU6000", MPU_DEVICE_PATH_ACCEL, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED),
_gyro(new MPU6000_gyro(this)),
_product(0),
_call_interval(0),
@@ -468,6 +471,20 @@ MPU6000::init()
/* fetch an initial set of measurements for advertisement */
measure();
/* try to claim the generic accel node as well - it's OK if we fail at this */
ret = register_driver(ACCEL_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) {
log("default accel device");
}
/* try to claim the generic accel node as well - it's OK if we fail at this */
ret = register_driver(GYRO_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) {
log("default gyro device");
}
if (gyro_ret != OK) {
_gyro_topic = -1;
} else {
@@ -1290,7 +1307,7 @@ MPU6000::print_info()
}
MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) :
CDev("MPU6000_gyro", GYRO_DEVICE_PATH),
CDev("MPU6000_gyro", MPU_DEVICE_PATH_GYRO),
_parent(parent)
{
}
@@ -1352,7 +1369,7 @@ start()
goto fail;
/* set the poll rate to default, starts automatic data collection */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
if (fd < 0)
goto fail;
@@ -1384,17 +1401,17 @@ test()
ssize_t sz;
/* get the driver */
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
ACCEL_DEVICE_PATH);
MPU_DEVICE_PATH_ACCEL);
/* get the driver */
int fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
int fd_gyro = open(MPU_DEVICE_PATH_GYRO, O_RDONLY);
if (fd_gyro < 0)
err(1, "%s open failed", GYRO_DEVICE_PATH);
err(1, "%s open failed", MPU_DEVICE_PATH_GYRO);
/* reset to manual polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
@@ -1452,7 +1469,7 @@ test()
void
reset()
{
int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
if (fd < 0)
err(1, "failed ");