Merge branch 'redundant_sensors' of github.com:PX4/Firmware

src/drivers/hmc5883/hmc5883.cpp

@@ -77,6 +77,7 @@
  */
 
 #define HMC5883L_ADDRESS		PX4_I2C_OBDEV_HMC5883
+#define HMC5883L_DEVICE_PATH		"/dev/hmc5883"
 
 /* Max measurement rate is 160Hz, however with 160 it will be set to 166 Hz, therefore workaround using 150 */
 #define HMC5883_CONVERSION_INTERVAL	(1000000 / 150)	/* microseconds */
@@ -315,7 +316,7 @@ extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]);
 
 
 HMC5883::HMC5883(int bus) :
-	I2C("HMC5883", MAG_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000),
+	I2C("HMC5883", HMC5883L_DEVICE_PATH, bus, HMC5883L_ADDRESS, 400000),
 	_measure_ticks(0),
 	_reports(nullptr),
 	_range_scale(0), /* default range scale from counts to gauss */
@@ -1256,7 +1257,7 @@ start()
 		goto fail;
 
 	/* set the poll rate to default, starts automatic data collection */
-	fd = open(MAG_DEVICE_PATH, O_RDONLY);
+	fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0)
 		goto fail;
@@ -1288,7 +1289,7 @@ test()
 	ssize_t sz;
 	int ret;
 
-	int fd = open(MAG_DEVICE_PATH, O_RDONLY);
+	int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0)
 		err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);

src/drivers/l3gd20/l3gd20.cpp

@@ -365,6 +365,13 @@ L3GD20::init()
 	if (_reports == nullptr)
 		goto out;
 
+	/* try to claim the generic accel node as well - it's OK if we fail at this */
+	ret = register_driver(GYRO_DEVICE_PATH, &fops, 0666, (void *)this);
+
+	if (ret == OK) {
+		log("default gyro device");
+	}
+
 	/* advertise sensor topic */
 	struct gyro_report zero_report;
 	memset(&zero_report, 0, sizeof(zero_report));

src/drivers/lsm303d/lsm303d.cpp

@@ -80,7 +80,8 @@ static const int ERROR = -1;
 #define DIR_WRITE				(0<<7)
 #define ADDR_INCREMENT			(1<<6)
 
-
+#define LSM303D_DEVICE_PATH_MAG		"/dev/lsm303d_mag"
+#define LSM303D_DEVICE_PATH_ACCEL	"/dev/lsm303d_accel"
 
 /* register addresses: A: accel, M: mag, T: temp */
 #define ADDR_WHO_AM_I			0x0F
@@ -583,6 +584,40 @@ LSM303D::init()
 
 	reset();
 
+	/* register the first instance as plain name, the 2nd as two and counting */
+	ret = register_driver(ACCEL_DEVICE_PATH, &fops, 0666, (void *)this);
+
+	if (ret == OK) {
+		log("default accel device");
+
+	} else {
+
+		unsigned instance = 1;
+		do {
+			char name[32];
+			sprintf(name, "%s%d", ACCEL_DEVICE_PATH, instance);
+			ret = register_driver(name, &fops, 0666, (void *)this);
+			instance++;
+		} while (ret);
+	}
+
+	/* try to claim the generic accel node as well - it's OK if we fail at this */
+	mag_ret = register_driver(MAG_DEVICE_PATH, &fops, 0666, (void *)this);
+
+	if (mag_ret == OK) {
+		log("default mag device");
+
+	} else {
+
+		unsigned instance = 1;
+		do {
+			char name[32];
+			sprintf(name, "%s%d", MAG_DEVICE_PATH, instance);
+			ret = register_driver(name, &fops, 0666, (void *)this);
+			instance++;
+		} while (ret);
+	}
+
 	/* advertise mag topic */
 	struct mag_report zero_mag_report;
 	memset(&zero_mag_report, 0, sizeof(zero_mag_report));
@@ -1638,7 +1673,7 @@ LSM303D::toggle_logging()
 }
 
 LSM303D_mag::LSM303D_mag(LSM303D *parent) :
-	CDev("LSM303D_mag", MAG_DEVICE_PATH),
+	CDev("LSM303D_mag", "/dev/lsm303d_mag"),
 	_parent(parent)
 {
 }
@@ -1704,7 +1739,7 @@ start()
 		errx(0, "already started");
 
 	/* create the driver */
-	g_dev = new LSM303D(1 /* XXX magic number */, ACCEL_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG);
+	g_dev = new LSM303D(1 /* XXX magic number */, LSM303D_DEVICE_PATH_MAG, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG);
 
 	if (g_dev == nullptr) {
 		warnx("failed instantiating LSM303D obj");
@@ -1715,7 +1750,7 @@ start()
 		goto fail;
 
 	/* set the poll rate to default, starts automatic data collection */
-	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+	fd = open(LSM303D_DEVICE_PATH_ACCEL, O_RDONLY);
 
 	if (fd < 0)
 		goto fail;
@@ -1723,7 +1758,7 @@ start()
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
 		goto fail;
 
-	fd_mag = open(MAG_DEVICE_PATH, O_RDONLY);
+	fd_mag = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY);
 
 	/* don't fail if open cannot be opened */
 	if (0 <= fd_mag) {
@@ -1758,10 +1793,10 @@ test()
 	int ret;
 
 	/* get the driver */
-	fd_accel = open(ACCEL_DEVICE_PATH, O_RDONLY);
+	fd_accel = open(LSM303D_DEVICE_PATH_ACCEL, O_RDONLY);
 
 	if (fd_accel < 0)
-		err(1, "%s open failed", ACCEL_DEVICE_PATH);
+		err(1, "%s open failed", LSM303D_DEVICE_PATH_ACCEL);
 
 	/* do a simple demand read */
 	sz = read(fd_accel, &accel_report, sizeof(accel_report));
@@ -1787,10 +1822,10 @@ test()
 	struct mag_report m_report;
 
 	/* get the driver */
-	fd_mag = open(MAG_DEVICE_PATH, O_RDONLY);
+	fd_mag = open(LSM303D_DEVICE_PATH_MAG, O_RDONLY);
 
 	if (fd_mag < 0)
-		err(1, "%s open failed", MAG_DEVICE_PATH);
+		err(1, "%s open failed", LSM303D_DEVICE_PATH_MAG);
 
 	/* check if mag is onboard or external */
 	if ((ret = ioctl(fd_mag, MAGIOCGEXTERNAL, 0)) < 0)

src/drivers/mpu6000/mpu6000.cpp

@@ -75,6 +75,9 @@
 #define DIR_READ			0x80
 #define DIR_WRITE			0x00
 
+#define MPU_DEVICE_PATH_ACCEL		"/dev/mpu6000_accel"
+#define MPU_DEVICE_PATH_GYRO		"/dev/mpu6000_gyro"
+
 // MPU 6000 registers
 #define MPUREG_WHOAMI			0x75
 #define MPUREG_SMPLRT_DIV		0x19
@@ -359,7 +362,7 @@ private:
 extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); }
 
 MPU6000::MPU6000(int bus, spi_dev_e device) :
-	SPI("MPU6000", ACCEL_DEVICE_PATH, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED),
+	SPI("MPU6000", MPU_DEVICE_PATH_ACCEL, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED),
 	_gyro(new MPU6000_gyro(this)),
 	_product(0),
 	_call_interval(0),
@@ -468,6 +471,20 @@ MPU6000::init()
 	/* fetch an initial set of measurements for advertisement */
 	measure();
 
+	/* try to claim the generic accel node as well - it's OK if we fail at this */
+	ret = register_driver(ACCEL_DEVICE_PATH, &fops, 0666, (void *)this);
+
+	if (ret == OK) {
+		log("default accel device");
+	}
+
+	/* try to claim the generic accel node as well - it's OK if we fail at this */
+	ret = register_driver(GYRO_DEVICE_PATH, &fops, 0666, (void *)this);
+
+	if (ret == OK) {
+		log("default gyro device");
+	}
+
 	if (gyro_ret != OK) {
 		_gyro_topic = -1;
 	} else {
@@ -1290,7 +1307,7 @@ MPU6000::print_info()
 }
 
 MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) :
-	CDev("MPU6000_gyro", GYRO_DEVICE_PATH),
+	CDev("MPU6000_gyro", MPU_DEVICE_PATH_GYRO),
 	_parent(parent)
 {
 }
@@ -1352,7 +1369,7 @@ start()
 		goto fail;
 
 	/* set the poll rate to default, starts automatic data collection */
-	fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+	fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
 
 	if (fd < 0)
 		goto fail;
@@ -1384,17 +1401,17 @@ test()
 	ssize_t sz;
 
 	/* get the driver */
-	int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+	int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
 
 	if (fd < 0)
 		err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
-		    ACCEL_DEVICE_PATH);
+		    MPU_DEVICE_PATH_ACCEL);
 
 	/* get the driver */
-	int fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
+	int fd_gyro = open(MPU_DEVICE_PATH_GYRO, O_RDONLY);
 
 	if (fd_gyro < 0)
-		err(1, "%s open failed", GYRO_DEVICE_PATH);
+		err(1, "%s open failed", MPU_DEVICE_PATH_GYRO);
 
 	/* reset to manual polling */
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
@@ -1452,7 +1469,7 @@ test()
 void
 reset()
 {
-	int fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
+	int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
 
 	if (fd < 0)
 		err(1, "failed ");