icm20948_main.cpp

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/**
 * @file main.cpp
 *
 * Driver for the Invensense icm20948 connected via I2C or SPI.
 *
 * based on the icm20948 driver
 */

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <lib/perf/perf_counter.h>
#include <lib/systemlib/conversions.h>
#include <board_config.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <lib/conversion/rotation.h>

#include "icm20948.h"

/** driver 'main' command */
extern "C" { __EXPORT int icm20948_main(int argc, char *argv[]); }

enum ICM20948_BUS {
    ICM20948_BUS_ALL = 0,
    ICM20948_BUS_I2C_INTERNAL,
    ICM20948_BUS_I2C_EXTERNAL,
    ICM20948_BUS_SPI_INTERNAL,
    ICM20948_BUS_SPI_EXTERNAL
};

/**
 * Local functions in support of the shell command.
 */
namespace icm20948
{

// list of supported bus configurations
struct icm20948_bus_option {
    enum ICM20948_BUS busid;
    ICM20948_constructor interface_constructor;
    bool magpassthrough;
    uint8_t busnum;
    uint32_t address;
    ICM20948 *dev;
} bus_options[] = {

#if defined(PX4_SPIDEV_ICM_20948) && defined(PX4_SPI_BUS_1)
    { ICM20948_BUS_SPI_INTERNAL, &ICM20948_SPI_interface, true, PX4_SPI_BUS_1, PX4_SPIDEV_ICM_20948, nullptr },
#endif

#if defined (USE_I2C)
#  if defined(PX4_I2C_BUS_EXPANSION)
    { ICM20948_BUS_I2C_EXTERNAL, &ICM20948_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_EXT_ICM20948_1, nullptr },
#  endif
#endif
};

#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))


bool    start_bus(icm20948_bus_option &bus, enum Rotation rotation);
icm20948_bus_option *find_bus(enum ICM20948_BUS busid);

int start(enum ICM20948_BUS busid, enum Rotation rotation);
int stop(enum ICM20948_BUS busid);
int info(enum ICM20948_BUS busid);
int usage();

/**
 * find a bus structure for a busid
 */
struct icm20948_bus_option *find_bus(enum ICM20948_BUS busid)
{
    for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
        if ((busid == ICM20948_BUS_ALL ||
             busid == bus_options[i].busid) && bus_options[i].dev != nullptr) {
            return &bus_options[i];
        }
    }

    PX4_ERR("bus %u not started", (unsigned)busid);
    return nullptr;
}

/**
 * start driver for a specific bus option
 */
bool
start_bus(icm20948_bus_option &bus, enum Rotation rotation)
{
    PX4_INFO("Bus probed: %d", bus.busid);

    if (bus.dev != nullptr) {
        PX4_ERR("SPI %d not available", bus.busid);
        return false;
    }

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

    if (interface == nullptr) {
        PX4_WARN("no device on bus %u", (unsigned)bus.busid);
        return false;
    }

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

    device::Device *mag_interface = nullptr;

#ifdef USE_I2C
    /* For i2c interfaces, connect to the magnetomer directly */
    const bool is_i2c = bus.busid == ICM20948_BUS_I2C_INTERNAL || bus.busid == ICM20948_BUS_I2C_EXTERNAL;

    if (is_i2c) {
        mag_interface = AK09916_I2C_interface(bus.busnum);
    }

#endif

    bus.dev = new ICM20948(interface, mag_interface, rotation);

    if (bus.dev == nullptr) {
        delete interface;

        if (mag_interface != nullptr) {
            delete mag_interface;
        }

        return false;
    }

    if (OK != bus.dev->init()) {
        goto fail;
    }

    return true;

fail:

    if (bus.dev != nullptr) {
        delete (bus.dev);
        bus.dev = nullptr;
    }

    PX4_ERR("driver start failed");

    return false;
}

/**
 * Start the driver.
 *
 * This function only returns if the driver is up and running
 * or failed to detect the sensor.
 */
int
start(enum ICM20948_BUS busid, enum Rotation rotation)
{
    bool started = false;

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

        if (busid != ICM20948_BUS_ALL && bus_options[i].busid != busid) {
            // not the one that is asked for
            continue;
        }

        started |= start_bus(bus_options[i], rotation);

        if (started) { break; }
    }

    return PX4_OK;
}

int
stop(enum ICM20948_BUS busid)
{
    icm20948_bus_option *bus = find_bus(busid);

    if (bus != nullptr && bus->dev != nullptr) {
        delete bus->dev;
        bus->dev = nullptr;

    } else {
        /* warn, but not an error */
        PX4_WARN("already stopped.");
    }

    return PX4_OK;
}

/**
 * Print a little info about the driver.
 */
int
info(enum ICM20948_BUS busid)
{
    icm20948_bus_option *bus = find_bus(busid);

    if (bus != nullptr && bus->dev != nullptr) {
        PX4_WARN("driver not running");
        return PX4_ERROR;
    }

    bus->dev->print_info();

    return PX4_OK;
}

int
usage()
{
    PX4_INFO("missing command: try 'start', 'stop', 'info'");
    PX4_INFO("options:");
    PX4_INFO("    -X    (i2c external bus)");
    PX4_INFO("    -I    (i2c internal bus)");
    PX4_INFO("    -s    (spi internal bus)");
    PX4_INFO("    -S    (spi external bus)");
    PX4_INFO("    -t    (spi internal bus, 2nd instance)");
    PX4_INFO("    -R rotation");

    return PX4_OK;
}

} // namespace icm20948

int
icm20948_main(int argc, char *argv[])
{
    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;

    enum ICM20948_BUS busid = ICM20948_BUS_ALL;
    enum Rotation rotation = ROTATION_NONE;

    while ((ch = px4_getopt(argc, argv, "XISstMR:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'X':
            busid = ICM20948_BUS_I2C_EXTERNAL;
            break;

        case 'R':
            rotation = (enum Rotation)atoi(myoptarg);
            break;

        default:
            return icm20948::usage();
        }
    }

    if (myoptind >= argc) {
        return icm20948::usage();
    }

    const char *verb = argv[myoptind];

    /*
     * Start/load the driver.
     */
    if (!strcmp(verb, "start")) {
        return icm20948::start(busid, rotation);
    }

    if (!strcmp(verb, "stop")) {
        return icm20948::stop(busid);
    }

    /*
     * Print driver information.
     */
    if (!strcmp(verb, "info")) {
        return icm20948::info(busid);
    }

    return icm20948::usage();
}