Improved drivers, allowed parallel use of multiple gyros

apps/drivers/device/spi.cpp

@@ -86,7 +86,7 @@ SPI::init()
 {
 	int ret = OK;
 
-	// attach to the spi bus
+	/* attach to the spi bus */
 	if (_dev == nullptr)
 		_dev = up_spiinitialize(_bus);
 
@@ -96,7 +96,10 @@ SPI::init()
 		goto out;
 	}
 
-	// call the probe function to check whether the device is present
+	/* deselect device to ensure high to low transition of pin select */
+	SPI_SELECT(_dev, _device, false);
+
+	/* call the probe function to check whether the device is present */
 	ret = probe();
 
 	if (ret != OK) {
@@ -104,7 +107,7 @@ SPI::init()
 		goto out;
 	}
 
-	// do base class init, which will create the device node, etc.
+	/* do base class init, which will create the device node, etc. */
 	ret = CDev::init();
 
 	if (ret != OK) {
@@ -112,7 +115,7 @@ SPI::init()
 		goto out;
 	}
 
-	// tell the workd where we are
+	/* tell the workd where we are */
 	log("on SPI bus %d at %d", _bus, _device);
 
 out:

apps/drivers/l3gd20/l3gd20.cpp

@@ -151,7 +151,7 @@ extern "C" { __EXPORT int l3gd20_main(int argc, char *argv[]); }
 class L3GD20 : public device::SPI
 {
 public:
-	L3GD20(int bus, spi_dev_e device);
+	L3GD20(int bus, const char* path, spi_dev_e device);
 	~L3GD20();
 
 	virtual int		init();
@@ -265,8 +265,8 @@ private:
 #define INCREMENT(_x, _lim)	do { _x++; if (_x >= _lim) _x = 0; } while(0)
 
 
-L3GD20::L3GD20(int bus, spi_dev_e device) :
+L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
-	SPI("L3GD20", GYRO_DEVICE_PATH, bus, device, SPIDEV_MODE3, 8000000),
+	SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000),
 	_call_interval(0),
 	_num_reports(0),
 	_next_report(0),
@@ -745,7 +745,7 @@ start()
 		errx(1, "already started");
 
 	/* create the driver */
-	g_dev = new L3GD20(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_GYRO);
+	g_dev = new L3GD20(1 /* XXX magic number */, GYRO_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_GYRO);
 
 	if (g_dev == nullptr)
 		goto fail;

apps/systemcmds/preflight_check/preflight_check.c

@@ -145,7 +145,7 @@ system_eval:
 		led_toggle(leds, LED_BLUE);
 
 		/* display and sound error */
-		for (int i = 0; i < 200; i++)
+		for (int i = 0; i < 150; i++)
 		{
 			led_toggle(leds, LED_BLUE);
 			led_toggle(leds, LED_AMBER);