Sensor drivers should run all the time, not just when their device is open.

Disable this for the mpu6000 driver though, as it's currently busted in that regard.

apps/drivers/hmc5883/hmc5883.cpp

@@ -126,9 +126,6 @@ public:
 	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
 	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
 
-	virtual int		open_first(struct file *filp);
-	virtual int		close_last(struct file *filp);
-
 	/**
 	 * Diagnostics - print some basic information about the driver.
 	 */
@@ -277,7 +274,7 @@ HMC5883::HMC5883(int bus) :
 	_scale.z_scale = 1.0f / 1090.0f;	/* default range scale from counts to gauss */
 
 	// work_cancel in the dtor will explode if we don't do this...
-	_work.worker = nullptr;
+	memset(&_work, 0, sizeof(_work));
 }
 
 HMC5883::~HMC5883()
@@ -296,44 +293,19 @@ HMC5883::init()
 	int ret = ERROR;
 
 	/* do I2C init (and probe) first */
-	ret = I2C::init();
+	if (I2C::init() != OK)
-
-	if (ret != OK)
 		goto out;
 
-out:
-	return ret;
-}
-
-int
-HMC5883::open_first(struct file *filp)
-{
-	/* reset to manual-poll mode */
-	_measure_ticks = 0;
-
 	/* allocate basic report buffers */
 	_num_reports = 2;
 	_reports = new struct mag_report[_num_reports];
+	if (_reports == nullptr)
+		goto out;
 	_oldest_report = _next_report = 0;
 
-	return OK;
+	ret = OK;
-}
+out:
-
+	return ret;
-int
-HMC5883::close_last(struct file *filp)
-{
-	/* stop measurement */
-	stop();
-
-	/* free report buffers */
-	if (_reports != nullptr) {
-		delete[] _reports;
-		_num_reports = 0;
-	}
-
-	_measure_ticks = 0;
-
-	return OK;
 }
 
 int

apps/drivers/mpu6000/mpu6000.cpp

@@ -157,9 +157,6 @@ public:
 	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
 	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
 
-	virtual int		open_first(struct file *filp);
-	virtual int		close_last(struct file *filp);
-
 	/**
 	 * Diagnostics - print some basic information about the driver.
 	 */
@@ -322,6 +319,7 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
 
 	memset(&_accel_report, 0, sizeof(_accel_report));
 	memset(&_gyro_report, 0, sizeof(_gyro_report));
+	memset(&_call, 0, sizeof(_call));
 }
 
 MPU6000::~MPU6000()
@@ -444,26 +442,6 @@ MPU6000::init()
 	return ret;
 }
 
-int
-MPU6000::open_first(struct file *filp)
-{
-	/* reset to manual-poll mode */
-	_call_interval = 0;
-
-	/* XXX set default sampling/acquisition parameters */
-
-	return OK;
-}
-
-int
-MPU6000::close_last(struct file *filp)
-{
-	/* stop measurement */
-	stop();
-
-	return OK;
-}
-
 int
 MPU6000::probe()
 {
@@ -911,12 +889,15 @@ start()
 	if (OK != g_dev->init())
 		goto fail;
 
+#if 0 /* XXX don't do this for now - the auto-poller is børked */
+
 	/* set the poll rate to default, starts automatic data collection */
 	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
 	if (fd < 0)
 		goto fail;
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		goto fail;
+#endif
 	exit(0);
 
 fail:

apps/drivers/ms5611/ms5611.cpp

@@ -64,6 +64,12 @@
 
 #include <drivers/drv_baro.h>
 
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
 /**
  * Calibration PROM as reported by the device.
  */
@@ -99,9 +105,6 @@ public:
 	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
 	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
 
-	virtual int		open_first(struct file *filp);
-	virtual int		close_last(struct file *filp);
-
 	/**
 	 * Diagnostics - print some basic information about the driver.
 	 */
@@ -259,7 +262,7 @@ MS5611::MS5611(int bus) :
 	_debug_enabled = true;
 
 	// work_cancel in the dtor will explode if we don't do this...
-	_work.worker = nullptr;
+	memset(&_work, 0, sizeof(_work));
 }
 
 MS5611::~MS5611()
@@ -275,43 +278,23 @@ MS5611::~MS5611()
 int
 MS5611::init()
 {
-	int ret;
+	int ret = ERROR;
 
 	/* do I2C init (and probe) first */
-	ret = I2C::init();
+	if (I2C::init() != OK)
-
+		goto out;
-	return ret;
-}
-
-int
-MS5611::open_first(struct file *filp)
-{
-	/* reset to manual-poll mode */
-	_measure_ticks = 0;
 
 	/* allocate basic report buffers */
 	_num_reports = 2;
 	_reports = new struct baro_report[_num_reports];
-	_oldest_report = _next_report = 0;
+	if (_reports == nullptr)
-
+		goto out;
-	return OK;
-}
-
-int
-MS5611::close_last(struct file *filp)
-{
-	/* stop measurement */
-	stop();
-
-	/* free report buffers */
-	if (_reports != nullptr) {
-		delete[] _reports;
-		_num_reports = 0;
-	}
 
-	_measure_ticks = 0;
+	_oldest_report = _next_report = 0;
 
-	return OK;
+	ret = OK;
+out:
+	return ret;
 }
 
 int
@@ -807,12 +790,6 @@ MS5611::print_info()
 namespace ms5611
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 MS5611	*g_dev;
 
 void	start();