lps22hb_main.cpp

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/****************************************************************************
 *
 *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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#include "LPS22HB.hpp"

extern "C" __EXPORT int lps22hb_main(int argc, char *argv[]);

enum LPS22HB_BUS {
    LPS22HB_BUS_ALL = 0,
    LPS22HB_BUS_I2C_INTERNAL,
    LPS22HB_BUS_I2C_EXTERNAL,
    LPS22HB_BUS_SPI
};

/**
 * Local functions in support of the shell command.
 */
namespace lps22hb
{

struct lps22hb_bus_option {
    enum LPS22HB_BUS busid;
    const char *devpath;
    LPS22HB_constructor interface_constructor;
    uint8_t busnum;
    LPS22HB *dev;
} bus_options[] = {
    { LPS22HB_BUS_I2C_EXTERNAL, "/dev/lps22hb_ext", &LPS22HB_I2C_interface, PX4_I2C_BUS_EXPANSION, NULL },
#ifdef PX4_I2C_BUS_EXPANSION1
    { LPS22HB_BUS_I2C_EXTERNAL, "/dev/lps22hb_ext1", &LPS22HB_I2C_interface, PX4_I2C_BUS_EXPANSION1, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION2
    { LPS22HB_BUS_I2C_EXTERNAL, "/dev/lps22hb_ext2", &LPS22HB_I2C_interface, PX4_I2C_BUS_EXPANSION2, NULL },
#endif
#ifdef PX4_I2C_BUS_ONBOARD
    { LPS22HB_BUS_I2C_INTERNAL, "/dev/lps22hb_int", &LPS22HB_I2C_interface, PX4_I2C_BUS_ONBOARD, NULL },
#endif
#ifdef PX4_SPIDEV_LPS22HB
    { LPS22HB_BUS_SPI, "/dev/lps22hb_spi", &LPS22HB_SPI_interface, PX4_SPI_BUS_SENSOR4, NULL },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))

int     start(enum LPS22HB_BUS busid);
bool    start_bus(struct lps22hb_bus_option &bus);
struct lps22hb_bus_option &find_bus(enum LPS22HB_BUS busid);
int     reset(enum LPS22HB_BUS busid);
int     info();
void    usage();

/**
 * start driver for a specific bus option
 */
bool
start_bus(struct lps22hb_bus_option &bus)
{
    PX4_INFO("starting %s", bus.devpath);

    if (bus.dev != nullptr) {
        PX4_WARN("bus option already started");
        return false;
    }

    device::Device *interface = bus.interface_constructor(bus.busnum);

    if (interface->init() != OK) {
        delete interface;
        PX4_WARN("no device on bus %u", (unsigned)bus.busid);
        return false;
    }

    bus.dev = new LPS22HB(interface, bus.devpath);

    if (bus.dev != nullptr && OK != bus.dev->init()) {
        PX4_WARN("init failed");
        delete bus.dev;
        bus.dev = nullptr;
        return false;
    }

    int fd = px4_open(bus.devpath, O_RDONLY);

    /* set the poll rate to default, starts automatic data collection */
    if (fd == -1) {
        PX4_ERR("can't open baro device");
        return false;
    }

    if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
        px4_close(fd);
        PX4_ERR("failed setting default poll rate");
        return false;
    }

    px4_close(fd);

    return true;
}


/**
 * Start the driver.
 *
 * This function call only returns once the driver
 * is either successfully up and running or failed to start.
 */
int
start(enum LPS22HB_BUS busid)
{
    bool started = false;

    for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
        if (busid == LPS22HB_BUS_ALL && bus_options[i].dev != NULL) {
            // this device is already started
            continue;
        }

        if (busid != LPS22HB_BUS_ALL && bus_options[i].busid != busid) {
            // not the one that is asked for
            continue;
        }

        started |= start_bus(bus_options[i]);
    }

    if (!started) {
        return PX4_ERROR;
    }

    return PX4_OK;
}

/**
 * find a bus structure for a busid
 */
struct lps22hb_bus_option &find_bus(enum LPS22HB_BUS busid)
{
    for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
        if ((busid == LPS22HB_BUS_ALL ||
             busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
            return bus_options[i];
        }
    }

    errx(1, "bus %u not started", (unsigned)busid);
}

/**
 * Reset the driver.
 */
int
reset(enum LPS22HB_BUS busid)
{
    struct lps22hb_bus_option &bus = find_bus(busid);
    const char *path = bus.devpath;

    int fd = open(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 0;
}

/**
 * Print a little info about the driver.
 */
int
info()
{
    for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
        struct lps22hb_bus_option &bus = bus_options[i];

        if (bus.dev != nullptr) {
            warnx("%s", bus.devpath);
            bus.dev->print_info();
        }
    }

    return 0;
}

void
usage()
{
    PX4_INFO("missing command: try 'start', 'info', 'reset'");
    PX4_INFO("options:");
    PX4_INFO("    -X    (external I2C bus)");
    PX4_INFO("    -I    (internal I2C bus)");
    PX4_INFO("    -S    (external SPI bus)");
}

} // namespace

int
lps22hb_main(int argc, char *argv[])
{
    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;

    enum LPS22HB_BUS busid = LPS22HB_BUS_ALL;

    while ((ch = px4_getopt(argc, argv, "IXS", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
#if (PX4_I2C_BUS_ONBOARD)

        case 'I':
            busid = LPS22HB_BUS_I2C_INTERNAL;
            break;
#endif /* PX4_I2C_BUS_ONBOARD */

        case 'X':
            busid = LPS22HB_BUS_I2C_EXTERNAL;
            break;

        case 'S':
            busid = LPS22HB_BUS_SPI;
            break;

        default:
            lps22hb::usage();
            return 0;
        }
    }

    if (myoptind >= argc) {
        lps22hb::usage();
        return -1;
    }

    const char *verb = argv[myoptind];

    /*
     * Start/load the driver.
     */
    if (!strcmp(verb, "start")) {
        return lps22hb::start(busid);
    }

    /*
     * Reset the driver.
     */
    if (!strcmp(verb, "reset")) {
        return lps22hb::reset(busid);
    }

    /*
     * Print driver information.
     */
    if (!strcmp(verb, "info")) {
        return lps22hb::info();
    }

    PX4_WARN("unrecognised command, try 'start', 'reset' or 'info'");
    return 0;
}