bmp388_main.cpp

Go to the documentation of this file.

/****************************************************************************
 *
 *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

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

#include "bmp388.h"

enum class BMP388_BUS {
    ALL = 0,
    I2C_INTERNAL,
    I2C_INTERNAL1,
    I2C_EXTERNAL,
    SPI_INTERNAL,
    SPI_EXTERNAL
};

namespace bmp388
{

// list of supported bus configurations
struct bmp388_bus_option {
    BMP388_BUS busid;
    BMP388_constructor interface_constructor;
    uint8_t busnum;
    uint32_t address;
    BMP388 *dev;
} bus_options[] = {
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
    { BMP388_BUS::SPI_EXTERNAL, &bmp388_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, nullptr },
#endif
#if defined(PX4_SPIDEV_BARO)
#  if defined(PX4_SPIDEV_BARO_BUS)
    { BMP388_BUS::SPI_INTERNAL, &bmp388_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, nullptr },
#  else
    { BMP388_BUS::SPI_INTERNAL, &bmp388_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, nullptr },
#  endif
#endif
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_BMP388)
    { BMP388_BUS::I2C_INTERNAL, &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP388, nullptr },
#endif
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV1_BMP388)
    { BMP388_BUS::I2C_INTERNAL1, &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV1_BMP388, nullptr },
#endif
#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_BMP388)
    { BMP388_BUS::I2C_EXTERNAL, &bmp388_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP388, nullptr },
#endif
};

// find a bus structure for a busid
static struct bmp388_bus_option *find_bus(BMP388_BUS busid)
{
    for (bmp388_bus_option &bus_option : bus_options) {
        if ((busid == BMP388_BUS::ALL ||
             busid == bus_option.busid) && bus_option.dev != nullptr) {

            return &bus_option;
        }
    }

    return nullptr;
}

static bool start_bus(bmp388_bus_option &bus)
{
    IBMP388 *interface = bus.interface_constructor(bus.busnum, bus.address);

    if ((interface == nullptr) || (interface->init() != PX4_OK)) {
        PX4_WARN("no device on bus %u", (unsigned)bus.busid);
        delete interface;
        return false;
    }

    BMP388 *dev = new BMP388(interface);

    if (dev == nullptr || (dev->init() != PX4_OK)) {
        PX4_ERR("driver start failed");
        delete dev;
        delete interface;
        return false;
    }

    bus.dev = dev;

    return true;
}

static int start(BMP388_BUS busid)
{
    for (bmp388_bus_option &bus_option : bus_options) {
        if (bus_option.dev != nullptr) {
            // this device is already started
            PX4_WARN("already started");
            continue;
        }

        if (busid != BMP388_BUS::ALL && bus_option.busid != busid) {
            // not the one that is asked for
            continue;
        }

        if (start_bus(bus_option)) {
            return PX4_OK;
        }
    }

    return PX4_ERROR;
}

static int stop(BMP388_BUS busid)
{
    bmp388_bus_option *bus = find_bus(busid);

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

    } else {
        PX4_WARN("driver not running");
        return PX4_ERROR;
    }

    return PX4_OK;
}

static int status(BMP388_BUS busid)
{
    bmp388_bus_option *bus = find_bus(busid);

    if (bus != nullptr && bus->dev != nullptr) {
        bus->dev->print_info();
        return PX4_OK;
    }

    PX4_WARN("driver not running");
    return PX4_ERROR;
}

static int usage()
{
    PX4_INFO("missing command: try 'start', 'stop', 'status'");
    PX4_INFO("options:");
    PX4_INFO("    -X    (i2c external bus)");
    PX4_INFO("    -I    (i2c internal bus)");
    PX4_INFO("    -J    (i2c internal bus 2)");
    PX4_INFO("    -s    (spi internal bus)");
    PX4_INFO("    -S    (spi external bus)");

    return 0;
}

} // namespace

extern "C" int bmp388_main(int argc, char *argv[])
{
    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;
    BMP388_BUS busid = BMP388_BUS::ALL;

    while ((ch = px4_getopt(argc, argv, "XIJSs", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'X':
            busid = BMP388_BUS::I2C_EXTERNAL;
            break;

        case 'I':
            busid = BMP388_BUS::I2C_INTERNAL;
            break;

        case 'J':
            busid = BMP388_BUS::I2C_INTERNAL1;
            break;

        case 'S':
            busid = BMP388_BUS::SPI_EXTERNAL;
            break;

        case 's':
            busid = BMP388_BUS::SPI_INTERNAL;
            break;

        default:
            return bmp388::usage();
        }
    }

    if (myoptind >= argc) {
        return bmp388::usage();
    }

    const char *verb = argv[myoptind];

    if (!strcmp(verb, "start")) {
        return bmp388::start(busid);

    } else if (!strcmp(verb, "stop")) {
        return bmp388::stop(busid);

    } else if (!strcmp(verb, "status")) {
        return bmp388::status(busid);
    }

    return bmp388::usage();
}