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mpu9250:mag rework the setup to veify HW first

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If the setup is unsucessful fo not register the devices or
   allocate resources.
This commit is contained in:
David Sidrane
2017-07-08 15:37:46 +02:00
committed by Lorenz Meier
parent aec109ac2c
commit 8bd044e80e
1 changed files with 23 additions and 21 deletions
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src/drivers/mpu9250/mag.cpp
+23 -21
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@@ -123,36 +123,38 @@ MPU9250_mag::~MPU9250_mag()
int int
MPU9250_mag::init() MPU9250_mag::init()
{ {
int ret; int ret = ak8963_setup();
ret = CDev::init(); if (ret == OK) {
/* if setup failed, bail now */ ret = CDev::init();
if (ret != OK) {
DEVICE_DEBUG("MPU9250 mag init failed");
return ret;
}
_mag_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report)); /* if setup failed, bail now */
if (ret != OK) {
DEVICE_DEBUG("MPU9250 mag init failed");
return ret;
}
if (_mag_reports == nullptr) { _mag_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));
goto out;
}
_mag_class_instance = register_class_devname(MAG_BASE_DEVICE_PATH); if (_mag_reports == nullptr) {
goto out;
}
ak8963_setup(); _mag_class_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
/* advertise sensor topic, measure manually to initialize valid report */
struct mag_report mrp;
_mag_reports->get(&mrp);
_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp, /* advertise sensor topic, measure manually to initialize valid report */
&_mag_orb_class_instance, ORB_PRIO_LOW); struct mag_report mrp;
// &_mag_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1); _mag_reports->get(&mrp);
if (_mag_topic == nullptr) { _mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp,
warnx("ADVERT FAIL"); &_mag_orb_class_instance, ORB_PRIO_LOW);
// &_mag_orb_class_instance, (is_external()) ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1);
if (_mag_topic == nullptr) {
warnx("ADVERT FAIL");
}
} }
out: out: