Enable BMI055 for FMUv5 and improve console handling

cmake/configs/nuttx_px4fmu-v5_default.cmake

@@ -13,6 +13,7 @@ set(config_module_list
 	drivers/airspeed
 	drivers/blinkm
 	drivers/bma180
+	drivers/bmi055
 	drivers/bmi160
 	drivers/bmp280
 	drivers/boards/px4fmu-v5

src/drivers/bmi055/CMakeLists.txt

@@ -35,7 +35,6 @@ px4_add_module(
 	MAIN bmi055
 	STACK_MAIN 1200
 	COMPILE_FLAGS
-		-Weffc++
 	SRCS		
 		bmi055_accel.cpp
 		bmi055_gyro.cpp

src/drivers/bmi055/bmi055_main.cpp

+#include <px4_config.h>
+#include <platforms/px4_getopt.h>
 #include "bmi055.hpp"
 
 /** driver 'main' command */
@@ -526,9 +528,11 @@ bmi055_main(int argc, char *argv[])
 	int ch;
 	enum Rotation rotation = ROTATION_NONE;
 	enum sensor_type sensor = BMI055_NONE;
+	int myoptind = 1;
+	const char *myoptarg = NULL;
 
 	/* jump over start/off/etc and look at options first */
-	while ((ch = getopt(argc, argv, "XR:AG")) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "XR:AG", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'X':
 			external_bus = true;
@@ -552,7 +556,7 @@ bmi055_main(int argc, char *argv[])
 		}
 	}
 
-	const char *verb = argv[optind];
+	const char *verb = argv[myoptind];
 
 	if (sensor == BMI055_NONE) {
 		bmi055::usage();

src/drivers/boards/px4fmu-v5/board_config.h

@@ -133,12 +133,12 @@ __BEGIN_DECLS
 
 #define PX4_SPIDEV_ICM_20689      PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
 #define PX4_SPIDEV_ICM_20602      PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
-#define PX4_SPIDEV_BMI055_GYRO    PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
-#define PX4_SPIDEV_BMI055_ACCEL   PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,3)
+#define PX4_SPIDEV_BMI055_GYR    PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
+#define PX4_SPIDEV_BMI055_ACC   PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,3)
 
 #define PX4_SENSOR_BUS_CS_GPIO    {GPIO_SPI_CS_ICM20689, GPIO_SPI_CS_ICM20602, GPIO_SPI_CS_BMI055_GYR, GPIO_SPI_CS_BMI055_ACC}
 #define PX4_SENSORS_BUS_FIRST_CS  PX4_SPIDEV_ICM_20689
-#define PX4_SENSORS_BUS_LAST_CS   PX4_SPIDEV_BMI055_ACCEL
+#define PX4_SENSORS_BUS_LAST_CS   PX4_SPIDEV_BMI055_ACC
 
 #define PX4_SPIDEV_MEMORY         PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0)
 #define PX4_MEMORY_BUS_CS_GPIO    {GPIO_SPI_CS_MEMORY}