rm3100_main.h

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/**
 * @file rm3100_main.h
 */

#pragma once

#include "rm3100.h"

namespace rm3100
{
/**
 * @struct List of supported bus configurations
 */
struct rm3100_bus_option {
    RM3100_BUS bus_id;
    const char *devpath;
    RM3100_constructor interface_constructor;
    uint8_t busnum;
    RM3100 *dev;
} bus_options[] = {
#ifdef PX4_I2C_BUS_EXPANSION
    { RM3100_BUS_I2C_EXTERNAL, "/dev/rm3100_ext", &RM3100_I2C_interface, PX4_I2C_BUS_EXPANSION, NULL },
#endif /* PX4_I2C_BUS_EXPANSION */
#ifdef PX4_I2C_BUS_EXPANSION1
    { RM3100_BUS_I2C_EXTERNAL, "/dev/rm3100_ext1", &RM3100_I2C_interface, PX4_I2C_BUS_EXPANSION1, NULL },
#endif /* PX4_I2C_BUS_EXPANSION1 */
#ifdef PX4_I2C_BUS_EXPANSION2
    { RM3100_BUS_I2C_EXTERNAL, "/dev/rm3100_ext2", &RM3100_I2C_interface, PX4_I2C_BUS_EXPANSION2, NULL },
#endif /* PX4_I2C_BUS_EXPANSION2 */
#ifdef PX4_I2C_BUS_ONBOARD
    { RM3100_BUS_I2C_INTERNAL, "/dev/rm3100_int", &RM3100_I2C_interface, PX4_I2C_BUS_ONBOARD, NULL },
#endif /* PX4_I2C_BUS_ONBOARD */
#ifdef PX4_SPIDEV_RM
    { RM3100_BUS_SPI_INTERNAL, "/dev/rm3100_spi_int", &RM3100_SPI_interface, PX4_SPI_BUS_SENSORS, NULL },
#endif /* PX4_SPIDEV_RM */
#ifdef PX4_SPIDEV_RM_EXT
    { RM3100_BUS_SPI_EXTERNAL, "/dev/rm3100_spi_ext", &RM3100_SPI_interface, PX4_SPI_BUS_EXT, NULL },
#endif /* PX4_SPIDEV_RM_EXT */
};

/**
 * @brief Finds a bus structure for a bus_id
 */
rm3100_bus_option &find_bus(RM3100_BUS bus_id);

/**
 * @brief Prints info about the driver.
 */
int info(RM3100_BUS bus_id);

/**
 * @brief Initializes the driver -- sets defaults and starts a cycle
 */
bool init(RM3100_BUS bus_id);

/**
 * @brief Resets the driver.
 */
bool reset(RM3100_BUS bus_id);

/**
 * @brief Starts the driver for a specific bus option
 */
bool start_bus(struct rm3100_bus_option &bus, Rotation rotation);

/**
 * @brief Starts the driver. This function call only returns once the driver
 *        is either successfully up and running or failed to start.
 */
int start(RM3100_BUS bus_id, Rotation rotation);

/**
 * @brief Stop the driver.
 */
int stop();

/**
 * @brief Perform some basic functional tests on the driver;
 *    make sure we can collect data from the sensor in polled
 *    and automatic modes.
 */
bool test(RM3100_BUS bus_id);

/**
 * @brief Prints info about the driver argument usage.
 */
void usage();

} // namespace RM3100