Sensors: Clean up boot output (#8005)

Various sensors had too verbose or confusing boot output that would make the boot log hard to read. This patch ensures all output is consistently indicating if there is a real error or an optional sensor just not present. It also removed redundant error messages and adds an indication on which bus the sensor was probed.

src/drivers/bmi055/bmi055_accel.cpp

@@ -79,7 +79,6 @@ BMI055_accel::init()
 
 	/* if probe/setup failed, bail now */
 	if (ret != OK) {
-		warnx("SPI error");
 		DEVICE_DEBUG("SPI setup failed");
 		return ret;
 	}

src/drivers/bmi055/bmi055_gyro.cpp

@@ -184,7 +184,7 @@ BMI055_gyro::probe()
 		return OK;
 	}
 
-	PX4_ERR("unexpected whoami 0x%02x", _whoami);
+	DEVICE_DEBUG("unexpected whoami 0x%02x", _whoami);
 	return -EIO;
 }
 

src/drivers/bmi055/bmi055_main.cpp

@@ -133,7 +133,7 @@ start(bool external_bus, enum Rotation rotation, enum sensor_type sensor)
 		close(fd_gyr);
 	}
 
-	exit(0);
+	exit(PX4_OK);
 
 fail_accel:
 
@@ -142,7 +142,8 @@ start(bool external_bus, enum Rotation rotation, enum sensor_type sensor)
 		*g_dev_acc_ptr = nullptr;
 	}
 
-	errx(1, "bmi055 accel driver start failed");
+	PX4_WARN("No BMI055 accel found");
+	exit(PX4_ERROR);
 
 fail_gyro:
 
@@ -151,7 +152,8 @@ start(bool external_bus, enum Rotation rotation, enum sensor_type sensor)
 		*g_dev_gyr_ptr = nullptr;
 	}
 
-	errx(1, "bmi055 gyro driver start failed");
+	PX4_WARN("No BMI055 gyro found");
+	exit(PX4_ERROR);
 
 }
 

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -243,25 +243,26 @@ namespace ets_airspeed
 
 ETSAirspeed	*g_dev;
 
-void	start(int i2c_bus);
-void	stop();
-void	test();
-void	reset();
-void	info();
+int start(int i2c_bus);
+int	stop();
+int	test();
+int	reset();
+int	info();
 
 /**
  * Start the driver.
  *
  * This function only returns if the sensor is up and running
  * or could not be detected successfully.
  */
-void
+int
 start(int i2c_bus)
 {
 	int fd;
 
 	if (g_dev != nullptr) {
 		PX4_ERR("already started");
+		return PX4_ERROR;
 	}
 
 	/* create the driver */
@@ -286,7 +287,7 @@ start(int i2c_bus)
 		goto fail;
 	}
 
-	return;
+	return PX4_OK;
 
 fail:
 
@@ -295,13 +296,14 @@ start(int i2c_bus)
 		g_dev = nullptr;
 	}
 
-	PX4_WARN("no ETS airspeed sensor connected");
+	PX4_WARN("no ETS airspeed sensor connected on bus %d", i2c_bus);
+	return PX4_ERROR;
 }
 
 /**
  * Stop the driver
  */
-void
+int
 stop()
 {
 	if (g_dev != nullptr) {
@@ -310,15 +312,18 @@ stop()
 
 	} else {
 		PX4_ERR("driver not running");
+		return PX4_ERROR;
 	}
+
+	return PX4_OK;
 }
 
 /**
  * Perform some basic functional tests on the driver;
  * make sure we can collect data from the sensor in polled
  * and automatic modes.
  */
-void
+int
 test()
 {
 	struct differential_pressure_s report;
@@ -329,13 +334,15 @@ test()
 
 	if (fd < 0) {
 		PX4_ERR("%s open failed (try 'ets_airspeed start' if the driver is not running", ETS_PATH);
+		return PX4_ERROR;
 	}
 
 	/* do a simple demand read */
 	sz = px4_read(fd, &report, sizeof(report));
 
 	if (sz != sizeof(report)) {
 		PX4_ERR("immediate read failed");
+		return PX4_ERROR;
 	}
 
 	PX4_INFO("single read");
@@ -344,6 +351,7 @@ test()
 	/* start the sensor polling at 2Hz */
 	if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
 		PX4_ERR("failed to set 2Hz poll rate");
+		return PX4_ERROR;
 	}
 
 	/* read the sensor 5x and report each value */
@@ -373,44 +381,52 @@ test()
 	/* reset the sensor polling to its default rate */
 	if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
 		PX4_ERR("failed to set default rate");
+		return PX4_ERROR;
 	}
 
-	errx(0, "PASS");
+	return PX4_OK;
 }
 
 /**
  * Reset the driver.
  */
-void
+int
 reset()
 {
 	int fd = px4_open(ETS_PATH, O_RDONLY);
 
 	if (fd < 0) {
 		PX4_ERR("failed ");
+		return PX4_ERROR;
 	}
 
 	if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
 		PX4_ERR("driver reset failed");
+		return PX4_ERROR;
 	}
 
 	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		PX4_ERR("driver poll restart failed");
+		return PX4_ERROR;
 	}
+
+	return PX4_OK;
 }
 
 /**
  * Print a little info about the driver.
  */
-void
+int
 info()
 {
 	if (g_dev == nullptr) {
 		PX4_ERR("driver not running");
+		return PX4_ERROR;
 	}
 
 	PX4_INFO("state @ %p", g_dev);
 	g_dev->print_info();
+	return PX4_OK;
 }
 
 } // namespace
@@ -445,35 +461,35 @@ ets_airspeed_main(int argc, char *argv[])
 	 * Start/load the driver.
 	 */
 	if (!strcmp(argv[1], "start")) {
-		ets_airspeed::start(i2c_bus);
+		return ets_airspeed::start(i2c_bus);
 	}
 
 	/*
 	 * Stop the driver
 	 */
 	if (!strcmp(argv[1], "stop")) {
-		ets_airspeed::stop();
+		return ets_airspeed::stop();
 	}
 
 	/*
 	 * Test the driver/device.
 	 */
 	if (!strcmp(argv[1], "test")) {
-		ets_airspeed::test();
+		return ets_airspeed::test();
 	}
 
 	/*
 	 * Reset the driver.
 	 */
 	if (!strcmp(argv[1], "reset")) {
-		ets_airspeed::reset();
+		return ets_airspeed::reset();
 	}
 
 	/*
 	 * Print driver information.
 	 */
 	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
-		ets_airspeed::info();
+		return ets_airspeed::info();
 	}
 
 	ets_airspeed_usage();