rm3100_main.cpp

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/**
 * @file rm3100_main.cpp
 *
 * Driver for the RM3100 magnetometer connected via I2C or SPI.
 */

#include "rm3100_main.h"
#include <px4_platform_common/getopt.h>

/**
 * Driver 'main' command.
 */
extern "C" __EXPORT int rm3100_main(int argc, char *argv[]);

int
rm3100::info(RM3100_BUS bus_id)
{
    struct rm3100_bus_option &bus = find_bus(bus_id);

    PX4_WARN("running on bus: %u (%s)\n", (unsigned)bus.bus_id, bus.devpath);
    bus.dev->print_info();
    return 1;
}

bool
rm3100::init(RM3100_BUS bus_id)
{
    struct rm3100_bus_option &bus = find_bus(bus_id);
    const char *path = bus.devpath;

    int fd = open(path, O_RDONLY);

    if (fd < 0) {
        return false;
    }

    if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
        close(fd);
        errx(1, "Failed to setup poll rate");
        return false;

    } else {
        PX4_INFO("Poll rate set to 100 Hz");
    }

    close(fd);

    return true;
}

bool
rm3100::start_bus(struct rm3100_bus_option &bus, Rotation rotation)
{
    if (bus.dev != nullptr) {
        errx(1, "bus option already started");
        return false;
    }

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

    if (interface->init() != OK) {
        delete interface;
        warnx("no device on bus %u", (unsigned)bus.bus_id);

        return false;
    }

    bus.dev = new RM3100(interface, bus.devpath, rotation);

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

    return true;
}

int
rm3100::start(RM3100_BUS bus_id, Rotation rotation)
{
    bool started = false;

    for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
        if (bus_id == RM3100_BUS_ALL && bus_options[i].dev != NULL) {
            // this device is already started
            continue;
        }

        if (bus_id != RM3100_BUS_ALL && bus_options[i].bus_id != bus_id) {
            // not the one that is asked for
            continue;
        }

        started |= start_bus(bus_options[i], rotation);
        //init(bus_id);
    }

    return started;
}

int
rm3100::stop()
{
    bool stopped = false;

    for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
        if (bus_options[i].dev != nullptr) {
            bus_options[i].dev->stop();
            delete bus_options[i].dev;
            bus_options[i].dev = nullptr;
            stopped = true;
        }
    }

    return !stopped;
}

bool
rm3100::test(RM3100_BUS bus_id)
{
    struct rm3100_bus_option &bus = find_bus(bus_id);
    struct mag_report report;
    ssize_t sz;
    int ret;
    const char *path = bus.devpath;

    int fd = open(path, O_RDONLY);

    if (fd < 0) {
        PX4_WARN("%s open failed (try 'rm3100 start')", path);
        return 1;
    }

    /* do a simple demand read */
    sz = read(fd, &report, sizeof(report));

    if (sz != sizeof(report)) {
        PX4_WARN("immediate read failed");
        return 1;
    }

    print_message(report);

    /* check if mag is onboard or external */
    if (ioctl(fd, MAGIOCGEXTERNAL, 0) < 0) {
        PX4_WARN("failed to get if mag is onboard or external");
        return 1;
    }

    struct pollfd fds;

    /* read the sensor 5x and report each value */
    for (unsigned i = 0; i < 5; i++) {

        /* wait for data to be ready */
        fds.fd = fd;
        fds.events = POLLIN;
        ret = poll(&fds, 1, 2000);

        if (ret != 1) {
            PX4_WARN("timed out waiting for sensor data");
            return 1;
        }

        /* now go get it */
        sz = read(fd, &report, sizeof(report));

        if (sz != sizeof(report)) {
            PX4_WARN("periodic read failed");
            return 1;
        }

        print_message(report);
    }

    PX4_INFO("PASS");
    return 1;
}

bool
rm3100::reset(RM3100_BUS bus_id)
{
    struct rm3100_bus_option &bus = find_bus(bus_id);
    const char *path = bus.devpath;

    int fd = open(path, O_RDONLY);

    if (fd < 0) {
        PX4_WARN("open failed ");
        return 1;
    }

    if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
        PX4_WARN("driver reset failed");
        return 1;
    }

    if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
        PX4_WARN("driver poll restart failed");
        return 1;
    }

    return 0;
}

void
rm3100::usage()
{
    PX4_WARN("missing command: try 'start', 'info', 'test', 'reset', 'info'");
    PX4_WARN("options:");
    PX4_WARN("    -R rotation");
    PX4_WARN("    -X external I2C bus");
    PX4_WARN("    -I internal I2C bus");
    PX4_WARN("    -S external SPI bus");
    PX4_WARN("    -s internal SPI bus");
}

int
rm3100_main(int argc, char *argv[])
{
    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;

    enum RM3100_BUS bus_id = RM3100_BUS_ALL;
    enum Rotation rotation = ROTATION_NONE;

    while ((ch = px4_getopt(argc, argv, "XISR:T", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'R':
            rotation = (enum Rotation)atoi(myoptarg);
            break;

        case 'I':
            bus_id = RM3100_BUS_I2C_INTERNAL;
            break;

        case 'X':
            bus_id = RM3100_BUS_I2C_EXTERNAL;
            break;

        case 'S':
            bus_id = RM3100_BUS_SPI_EXTERNAL;
            break;

        case 's':
            bus_id = RM3100_BUS_SPI_INTERNAL;
            break;

        default:
            rm3100::usage();
            return 0;
        }
    }

    if (myoptind >= argc) {
        rm3100::usage();
        return -1;
    }

    const char *verb = argv[myoptind];

    // Start/load the driver
    if (!strcmp(verb, "start")) {

        if (rm3100::start(bus_id, rotation)) {

            rm3100::init(bus_id);

            return 0;

        } else {
            return 1;
        }
    }

    // Stop the driver
    if (!strcmp(verb, "stop")) {
        return rm3100::stop();
    }

    // Test the driver/device
    if (!strcmp(verb, "test")) {
        return rm3100::test(bus_id);
    }

    // Reset the driver
    if (!strcmp(verb, "reset")) {
        return rm3100::reset(bus_id);
    }

    // Print driver information
    if (!strcmp(verb, "info") ||
        !strcmp(verb, "status")) {
        return rm3100::info(bus_id);
    }

    PX4_INFO("unrecognized command, try 'start', 'test', 'reset' or 'info'");
    return 1;
}

struct
rm3100::rm3100_bus_option &rm3100::find_bus(RM3100_BUS bus_id)
{
    for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
        if ((bus_id == RM3100_BUS_ALL ||
             bus_id == bus_options[i].bus_id) && bus_options[i].dev != NULL) {
            return bus_options[i];
        }
    }

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