lsm303agr_main.cpp

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#include "LSM303AGR.hpp"

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/getopt.h>

#define LSM303AGR_DEVICE_PATH_MAG   "/dev/lsm303agr_mag"

extern "C" { __EXPORT int lsm303agr_main(int argc, char *argv[]); }

/**
 * Local functions in support of the shell command.
 */
namespace lsm303agr
{

LSM303AGR   *g_dev;

void    start(enum Rotation rotation);
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(enum Rotation rotation)
{
    int fd_mag = -1;

    if (g_dev != nullptr) {
        errx(0, "already started");
    }

    /* create the driver */
#if defined(PX4_SPIDEV_LSM303A_M) && defined(PX4_SPIDEV_LSM303A_X)
    g_dev = new LSM303AGR(PX4_SPI_BUS_SENSOR5, LSM303AGR_DEVICE_PATH_MAG, PX4_SPIDEV_LSM303A_M, rotation);
#else
    errx(0, "External SPI not available");
#endif

    if (g_dev == nullptr) {
        PX4_ERR("alloc failed");
        goto fail;
    }

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

    fd_mag = px4_open(LSM303AGR_DEVICE_PATH_MAG, O_RDONLY);

    /* don't fail if open cannot be opened */
    if (0 <= fd_mag) {
        if (px4_ioctl(fd_mag, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
            goto fail;
        }
    }

    px4_close(fd_mag);

    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', 'reset'");
    PX4_INFO("options:");
    PX4_INFO("    -X    (external bus)");
    PX4_INFO("    -R rotation");
}

} // namespace

int
lsm303agr_main(int argc, char *argv[])
{
    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;

    enum Rotation rotation = ROTATION_NONE;

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

        default:
            lsm303agr::usage();
            exit(0);
        }
    }

    if (myoptind >= argc) {
        lsm303agr::usage();
        exit(0);
    }

    const char *verb = argv[myoptind];

    /*
     * Start/load the driver.

     */
    if (!strcmp(verb, "start")) {
        lsm303agr::start(rotation);
    }

    /*
     * Print driver information.
     */
    if (!strcmp(verb, "info")) {
        lsm303agr::info();
    }

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