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hmc5883: use register_class_devname()

This commit is contained in:
Andrew Tridgell 2013-12-07 22:44:58 +11:00 committed by Lorenz Meier
parent 6145e69fc6
commit c5097a6561
1 changed files with 23 additions and 12 deletions
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35
src/drivers/hmc5883/hmc5883.cpp
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@ -155,6 +155,7 @@ private:
float _range_scale;
float _range_ga;
bool _collect_phase;
int _class_instance;
orb_advert_t _mag_topic;
@ -322,6 +323,7 @@ HMC5883::HMC5883(int bus) :
_range_scale(0), /* default range scale from counts to gauss */
_range_ga(1.3f),
_mag_topic(-1),
_class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")),
@ -352,6 +354,9 @@ HMC5883::~HMC5883()
if (_reports != nullptr)
delete _reports;
if (_class_instance != -1)
unregister_class_devname(MAG_DEVICE_PATH, _class_instance);
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
@ -375,13 +380,17 @@ HMC5883::init()
/* reset the device configuration */
reset();
/* get a publish handle on the mag topic */
struct mag_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report);
_class_instance = register_class_devname(MAG_DEVICE_PATH);
if (_class_instance == CLASS_DEVICE_PRIMARY) {
/* get a publish handle on the mag topic if we are
* the primary mag */
struct mag_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &zero_report);
if (_mag_topic < 0)
debug("failed to create sensor_mag object");
if (_mag_topic < 0)
debug("failed to create sensor_mag object");
}
ret = OK;
/* sensor is ok, but not calibrated */
@ -876,8 +885,10 @@ HMC5883::collect()
}
#endif
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
if (_mag_topic != -1) {
/* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &new_report);
}
/* post a report to the ring */
if (_reports->force(&new_report)) {
@ -1292,7 +1303,7 @@ test()
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);
err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
@ -1389,10 +1400,10 @@ int calibrate()
{
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);
err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", HMC5883L_DEVICE_PATH);
if (OK != (ret = ioctl(fd, MAGIOCCALIBRATE, fd))) {
warnx("failed to enable sensor calibration mode");
@ -1414,7 +1425,7 @@ int calibrate()
void
reset()
{
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
int fd = open(HMC5883L_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");