voxlpm_main.cpp

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 * modification, are permitted provided that the following conditions
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#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>

#include "voxlpm.hpp"

enum VOXLPM_BUS {
    VOXLPM_BUS_I2C_EXTERNAL,
    VOXLPM_BUS_I2C_EXTERNAL1,
    VOXLPM_BUS_I2C_EXTERNAL2
};

/**
 * Local functions in support of the shell command.
 */
namespace voxlpm
{
struct voxlpm_chan {
    const char *devpath;
    uint32_t device;
    VOXLPM *dev;
};

struct voxlpm_bus_option {
    enum VOXLPM_BUS busid;
    uint8_t busnum;
    bool external;
    struct voxlpm_chan vbat;
    struct voxlpm_chan vpwr;
} bus_options[] = {
#if defined(PX4_I2C_BUS_EXPANSION)
    {
        VOXLPM_BUS_I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION, true,
        {"/dev/voxlpm_vbat", VOXLPM_LTC2946_ADDR_VBATT, NULL },
        {"/dev/voxlpm_p5vd", VOXLPM_LTC2946_ADDR_P5VD, NULL}
    },
#endif
#if defined(PX4_I2C_BUS_EXPANSION1)
    {
        VOXLPM_BUS_I2C_EXTERNAL1, PX4_I2C_BUS_EXPANSION1, true,
        {"/dev/voxlpm_vbat", VOXLPM_LTC2946_ADDR_VBATT, NULL },
        {"/dev/voxlpm_p5vd", VOXLPM_LTC2946_ADDR_P5VD, NULL}
    },
#endif
#if defined(PX4_I2C_BUS_EXPANSION2)
    {
        VOXLPM_BUS_I2C_EXTERNAL2, PX4_I2C_BUS_EXPANSION2, true,
        {"/dev/voxlpm_vbat", VOXLPM_LTC2946_ADDR_VBATT, NULL },
        {"/dev/voxlpm_p5vd", VOXLPM_LTC2946_ADDR_P5VD, NULL}
    },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))


/**
 * Start the driver.
 */
bool
start_bus(struct voxlpm_bus_option &bus)
{
    /* assume if we've got the battery channel we have the output channel as well */
    if (bus.vbat.dev != nullptr) {
        PX4_ERR("bus option already started");
        exit(1);
    }

    /* create the battery voltage / current channel */
    bus.vbat.dev = new VOXLPM(bus.vbat.devpath, bus.busnum, bus.vbat.device, VOXLPM_CH_TYPE_VBATT);

    if (bus.vbat.dev == nullptr) {
        return false;
    }

    /* create the 5VDC output / compute current channel */
    bus.vpwr.dev = new VOXLPM(bus.vpwr.devpath, bus.busnum, bus.vpwr.device, VOXLPM_CH_TYPE_P5VDC);

    if (bus.vbat.dev == nullptr) {
        return false;
    }

    if (bus.vbat.dev->init() != OK || bus.vpwr.dev->init() != OK) {
        delete bus.vbat.dev;
        bus.vbat.dev = nullptr;
        delete bus.vpwr.dev;
        bus.vpwr.dev = nullptr;
        return false;
    }

    return true;
}

void
start(enum VOXLPM_BUS busid)
{
    bool started = false;
    uint8_t i;

    for (i = 0; i < NUM_BUS_OPTIONS; i++) {
        if (bus_options[i].busid == busid) {
            started = start_bus(bus_options[i]);
            break; // one bus only...
        }
    }

    if (!started) {
        PX4_WARN("bus option number is %d", i);
        PX4_ERR("driver start failed");
        exit(1);
    }

    exit(0);
}

void
info()
{
    uint8_t i;

    for (i = 0; i < NUM_BUS_OPTIONS; i++) {
        if (bus_options[i].vbat.dev) {
            bus_options[i].vbat.dev->print_info();
        }

        if (bus_options[i].vpwr.dev) {
            bus_options[i].vpwr.dev->print_info();
        }
    }

    exit(0);
}

void
usage()
{
    PRINT_MODULE_USAGE_NAME_SIMPLE("voxlpm", "command");

    PRINT_MODULE_USAGE_COMMAND_DESCR("start", "start monitoring");
    PRINT_MODULE_USAGE_COMMAND_DESCR("info", "display info");;
    PRINT_MODULE_USAGE_COMMAND_DESCR("-X", "PX4_I2C_BUS_EXPANSION");
    PRINT_MODULE_USAGE_COMMAND_DESCR("-T", "PX4_I2C_BUS_EXPANSION1");
    PRINT_MODULE_USAGE_COMMAND_DESCR("-R", "PX4_I2C_BUS_EXPANSION2 (default)");
}

} // namespace

extern "C" __EXPORT int voxlpm_main(int argc, char *argv[])
{
    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;
    enum VOXLPM_BUS busid = VOXLPM_BUS_I2C_EXTERNAL2;

    while ((ch = px4_getopt(argc, argv, "XTR", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'X':
            busid = VOXLPM_BUS_I2C_EXTERNAL;
            break;

        case 'T':
            busid = VOXLPM_BUS_I2C_EXTERNAL1;
            break;

        case 'R':
            busid = VOXLPM_BUS_I2C_EXTERNAL2;
            break;

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

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

    const char *verb = argv[myoptind];

    if (!strcmp(verb, "start")) {
        voxlpm::start(busid);
    }

    if (!strcmp(verb, "info")) {
        voxlpm::info();
    }

    voxlpm::usage();
    return -1;
}