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MS5611: Add support for multi uORB devices

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Lorenz Meier
2014-06-10 15:08:47 +02:00
parent c35a25e70a
commit becfed9fbd
1 changed files with 20 additions and 7 deletions
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src/drivers/ms5611/ms5611.cpp
+20 -7
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@@ -299,12 +299,17 @@ MS5611::init()
ret = OK;
if (_class_instance == CLASS_DEVICE_PRIMARY) {
switch (_class_instance) {
case CLASS_DEVICE_PRIMARY:
_baro_topic = orb_advertise(ORB_ID(sensor_baro0), &brp);
break;
case CLASS_DEVICE_SECONDARY:
_baro_topic = orb_advertise(ORB_ID(sensor_baro1), &brp);
break;
}
_baro_topic = orb_advertise(ORB_ID(sensor_baro), &brp);
if (_baro_topic < 0)
debug("failed to create sensor_baro publication");
if (_baro_topic < 0) {
warnx("failed to create sensor_baro publication");
}
} while (0);
@@ -721,9 +726,17 @@ MS5611::collect()
report.altitude = (((pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
/* publish it */
if (_baro_topic > 0 && !(_pub_blocked)) {
if (!(_pub_blocked)) {
/* publish it */
orb_publish(ORB_ID(sensor_baro), _baro_topic, &report);
switch (_class_instance) {
case CLASS_DEVICE_PRIMARY:
orb_publish(ORB_ID(sensor_baro0), _baro_topic, &report);
break;
case CLASS_DEVICE_SECONDARY:
orb_publish(ORB_ID(sensor_baro1), _baro_topic, &report);
break;
}
}
if (_reports->force(&report)) {