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POSIX: Added sleep command

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The baro was not fully initialized when the sensors module tried to
open it. Added a sleep command and a sleep 2 to rc.S so the baro
is initialized by the time the sensors module tried to read it.

Fixed other noisy errors

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-06-11 17:28:46 -07:00
parent 18304a2a0d
commit 83bcb95999
7 changed files with 26 additions and 7 deletions
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src/drivers/device/i2c_posix.cpp
+1 -1
View File
@@ -69,7 +69,7 @@ I2C::I2C(const char *name,
_address(address),
_fd(-1)
{
warnx("I2C::I2C name = %s devname = %s", name, devname);
//warnx("I2C::I2C name = %s devname = %s", name, devname);
// fill in _device_id fields for a I2C device
_device_id.devid_s.bus_type = DeviceBusType_I2C;
_device_id.devid_s.bus = bus;
src/modules/sensors/sensors.cpp
+1 -1
View File
@@ -868,7 +868,7 @@ Sensors::parameters_update()
barofd = px4_open(BARO0_DEVICE_PATH, 0);
if (barofd < 0) {
warnx("ERROR: no barometer foundon %s", BARO0_DEVICE_PATH);
warnx("ERROR: no barometer found on %s", BARO0_DEVICE_PATH);
return ERROR;
} else {
src/platforms/posix/drivers/accelsim/accelsim.cpp
+4 -5
View File
@@ -774,7 +774,7 @@ ACCELSIM::mag_ioctl(device::file_t *filp, int cmd, unsigned long arg)
unsigned period = 1000000 / arg;
/* check against maximum sane rate (1ms) */
if (period < 1000)
if (period < 10000)
return -EINVAL;
/* update interval for next measurement */
@@ -961,11 +961,10 @@ ACCELSIM::start()
//PX4_INFO("ACCELSIM::start accel %u", _call_accel_interval);
hrt_call_every(&_accel_call, 1000, _call_accel_interval, (hrt_callout)&ACCELSIM::measure_trampoline, this);
// There is a race here where SENSORIOCSPOLLRATE on the accel starts polling of mag but mag period is set to 0
// There is a race here where SENSORIOCSPOLLRATE on the accel starts polling of mag but _call_mag_interval is 0
if (_call_mag_interval == 0) {
PX4_ERR("_call_mag_interval uninitilized - would have set period delay of 0");
_call_mag_interval = 1000;
//PX4_INFO("_call_mag_interval uninitilized - would have set period delay of 0");
_call_mag_interval = 10000; // Max 100Hz
}
//PX4_INFO("ACCELSIM::start mag %u", _call_mag_interval);
src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+6
View File
@@ -466,6 +466,9 @@ GYROSIM::GYROSIM(const char *path_accel, const char *path_gyro, enum Rotation ro
// disable debug() calls
_debug_enabled = false;
// Don't publish until initialized
_pub_blocked = true;
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_GYROSIM;
/* Prime _gyro with parents devid. */
@@ -588,6 +591,9 @@ GYROSIM::init()
if (_accel_topic == nullptr) {
PX4_WARN("ADVERT FAIL");
}
else {
_pub_blocked = false;
}
/* advertise sensor topic, measure manually to initialize valid report */