Sensors: Clean up boot output

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();