Added build specific sensor initialization.

src/modules/sensors/CMakeLists.txt

@@ -30,6 +30,15 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+set(SENSORS_SRCS sensors.cpp)
+if (${OS} STREQUAL "qurt")
+   list(APPEND SENSORS_SRCS
+      sensors_init_qurt.cpp)
+elseif(${OS} STREQUAL "nuttx")
+   list(APPEND SENSORS_SRCS
+      sensors_init_nuttx.cpp)
+endif()
+
 px4_add_module(
 	MODULE modules__sensors
 	MAIN sensors
@@ -39,7 +48,7 @@ px4_add_module(
 		-Wno-type-limits
 		-O3
 	SRCS
-		sensors.cpp
+		${SENSORS_SRCS}
 	DEPENDS
 		platforms__common
 	)

src/modules/sensors/sensors.cpp

@@ -105,6 +105,9 @@
 
 using namespace DriverFramework;
 
+/* Platform specific sensor initialization function. */
+extern int sensors_init(void);
+
 /**
  * Analog layout:
  * FMU:
@@ -2098,33 +2101,39 @@ Sensors::task_main()
 	/* start individual sensors */
 	int ret = 0;
 
-	do { /* create a scope to handle exit with break */
-#ifndef __PX4_QURT
-// TODO: needs fixes for QURT.
-		ret = accel_init();
 
-		if (ret) { break; }
+// TODO-JYW: TESTING-TESTING:
+	ret = sensors_init();
 
-		ret = gyro_init();
+///*
-
+// * QURT devices do not yet use DriverFramework based drivers, which is required for
-		if (ret) { break; }
+// * the following initialization sequence to work correctly.
-
+// */
-		ret = mag_init();
+//#ifndef __PX4_QURT
-
+//	do { /* create a scope to handle exit with break */
-		if (ret) { break; }
+//		ret = accel_init();
-
+//
-		ret = baro_init();
+//		if (ret) { break; }
-
+//
-		if (ret) { break; }
+//		ret = gyro_init();
-
+//
-		ret = adc_init();
+//		if (ret) { break; }
-
+//
-		if (ret) { break; }
+//		ret = mag_init();
-
+//
-#endif
+//		if (ret) { break; }
-
+//
-		break;
+//		ret = baro_init();
-	} while (0);
+//
+//		if (ret) { break; }
+//
+//		ret = adc_init();
+//
+//		if (ret) { break; }
+//
+//		break;
+//	} while (0);
+//#endif
 
 	if (ret) {
 		warnx("sensor initialization failed");

src/modules/sensors/sensors_init_nuttx.cpp

@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 James Wilson. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sensors_init_nuttx.cpp
+ *
+ *	Sensor initialization code, used only in Nuttx platform builds.
+ *
+ * @author James Wilson <jywilson99@hotmail.com>
+ */
+
+int
+sensors_init(void)
+{
+	int ret;
+
+	ret = accel_init();
+
+	if (ret) { return ret; }
+
+	ret = gyro_init();
+
+	if (ret) { return ret; }
+
+	ret = mag_init();
+
+	if (ret) { return ret; }
+
+	ret = baro_init();
+
+	if (ret) { return ret; }
+
+	ret = adc_init();
+
+	if (ret) { return ret; }
+
+	return 0;
+}
+
+
+

src/modules/sensors/sensors_init_qurt.cpp

@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 James Wilson. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sensors_init_qurt.cpp
+ *
+ *	Sensor initialization code, used only in QuRT platform builds.
+ *
+ * @author James Wilson <jywilson99@hotmail.com>
+ */
+
+int
+sensors_init(void)
+{
+	// Sensor initialization is performed automatically when the QuRT sensor drivers
+	// are loaded.
+	return 0;
+}