lsm303d_main.cpp

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/**
 * @file lsm303d_main.cpp
 * Driver for the ST LSM303D MEMS accelerometer / magnetometer connected via SPI.
 */

#include "LSM303D.hpp"

#include <px4_platform_common/getopt.h>

/**
 * Local functions in support of the shell command.
 */
namespace lsm303d
{

LSM303D *g_dev;

void    start(bool external_bus, enum Rotation rotation, unsigned range);
void    info();
void    usage();

/**
 * Start the driver.
 *
 * This function call only returns once the driver is
 * up and running or failed to detect the sensor.
 */
void
start(bool external_bus, enum Rotation rotation, unsigned range)
{
    if (g_dev != nullptr) {
        errx(0, "already started");
    }

    /* create the driver */
    if (external_bus) {
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_ACCEL_MAG)
        g_dev = new LSM303D(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_ACCEL_MAG, rotation);
#else
        errx(0, "External SPI not available");
#endif

    } else {
        g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_ACCEL_MAG, rotation);
    }

    if (g_dev == nullptr) {
        PX4_ERR("failed instantiating LSM303D obj");
        goto fail;
    }

    if (OK != g_dev->init()) {
        goto fail;
    }

    exit(0);
fail:

    if (g_dev != nullptr) {
        delete g_dev;
        g_dev = nullptr;
    }

    errx(1, "driver start failed");
}

/**
 * Print a little info about the driver.
 */
void
info()
{
    if (g_dev == nullptr) {
        errx(1, "driver not running\n");
    }

    printf("state @ %p\n", g_dev);
    g_dev->print_info();

    exit(0);
}

void
usage()
{
    PX4_INFO("missing command: try 'start', 'info'");
    PX4_INFO("options:");
    PX4_INFO("    -X    (external bus)");
    PX4_INFO("    -R rotation");
}

} // namespace

int
lsm303d_main(int argc, char *argv[])
{
    bool external_bus = false;
    enum Rotation rotation = ROTATION_NONE;
    int accel_range = 8;

    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;

    /* jump over start/off/etc and look at options first */
    while ((ch = px4_getopt(argc, argv, "XR:a:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'X':
            external_bus = true;
            break;

        case 'R':
            rotation = (enum Rotation)atoi(myoptarg);
            break;

        case 'a':
            accel_range = atoi(myoptarg);
            break;

        default:
            lsm303d::usage();
            exit(0);
        }
    }

    if (myoptind >= argc) {
        lsm303d::usage();
        exit(0);
    }

    const char *verb = argv[myoptind];

    /*
     * Start/load the driver.

     */
    if (!strcmp(verb, "start")) {
        lsm303d::start(external_bus, rotation, accel_range);
    }

    /*
     * Print driver information.
     */
    if (!strcmp(verb, "info")) {
        lsm303d::info();
    }

    errx(1, "unrecognized command, try 'start', info'");
}