From 9d878c719dbae0edc79488b0331812e276bb2c8c Mon Sep 17 00:00:00 2001
From: DanielePettenuzzo <daniele@px4.io>
Date: Sun, 17 Jun 2018 15:29:14 +0200
Subject: [PATCH] ets_airspeed: add -a flag to scan all i2c busses during start

---
 .../ets/ets_airspeed.cpp                      | 57 +++++++++++++++++--
 1 file changed, 52 insertions(+), 5 deletions(-)

diff --git a/src/drivers/differential_pressure/ets/ets_airspeed.cpp b/src/drivers/differential_pressure/ets/ets_airspeed.cpp
index 7f7cdfea1c..058731d0fe 100644
--- a/src/drivers/differential_pressure/ets/ets_airspeed.cpp
+++ b/src/drivers/differential_pressure/ets/ets_airspeed.cpp
@@ -239,19 +239,55 @@ namespace ets_airspeed
 
 ETSAirspeed	*g_dev;
 
-int start(int i2c_bus);
+int bus_options[] = {
+#ifdef PX4_I2C_BUS_EXPANSION
+	PX4_I2C_BUS_EXPANSION,
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION1
+	PX4_I2C_BUS_EXPANSION1,
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION2
+	PX4_I2C_BUS_EXPANSION2,
+#endif
+};
+
+#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
+
+int start();
+int start_bus(int i2c_bus);
 int stop();
 int reset();
 int info();
 
 /**
- * Start the driver.
+ * Attempt to start driver on all available I2C busses.
+ *
+ * This function will return as soon as the first sensor
+ * is detected on one of the available busses or if no
+ * sensors are detected.
+ *
+ */
+int
+start()
+{
+	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
+		if (start_bus(bus_options[i]) == PX4_OK) {
+			return PX4_OK;
+		}
+	}
+
+	return PX4_ERROR;
+
+}
+
+/**
+ * Start the driver on a specific bus.
  *
  * This function only returns if the sensor is up and running
  * or could not be detected successfully.
  */
 int
-start(int i2c_bus)
+start_bus(int i2c_bus)
 {
 	int fd;
 
@@ -349,6 +385,7 @@ ets_airspeed_usage()
 	PX4_INFO("usage: ets_airspeed command [options]");
 	PX4_INFO("options:");
 	PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
+	PX4_INFO("\t-a --all");
 	PX4_INFO("command:");
 	PX4_INFO("\tstart|stop|reset|info");
 }
@@ -361,13 +398,18 @@ ets_airspeed_main(int argc, char *argv[])
 	int myoptind = 1;
 	int ch;
 	const char *myoptarg = nullptr;
+	bool start_all = false;
 
-	while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'b':
 			i2c_bus = atoi(myoptarg);
 			break;
 
+		case 'a':
+			start_all = true;
+			break;
+
 		default:
 			ets_airspeed_usage();
 			return 0;
@@ -383,7 +425,12 @@ ets_airspeed_main(int argc, char *argv[])
 	 * Start/load the driver.
 	 */
 	if (!strcmp(argv[myoptind], "start")) {
-		return ets_airspeed::start(i2c_bus);
+		if (start_all) {
+			return ets_airspeed::start();
+
+		} else {
+			return ets_airspeed::start_bus(i2c_bus);
+		}
 	}
 
 	/*