MS5525_main.cpp

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 *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
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 *
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 *    notice, this list of conditions and the following disclaimer.
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 *    distribution.
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 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#include "MS5525.hpp"

// Driver 'main' command.
extern "C" __EXPORT int ms5525_airspeed_main(int argc, char *argv[]);

// Local functions in support of the shell command.
namespace ms5525_airspeed
{
MS5525 *g_dev = nullptr;

int start();
int start_bus(uint8_t i2c_bus);
int stop();
int reset();

/**
* Attempt to start driver on all available I2C busses.
*
* This function will return as soon as the first sensor
* is detected on one of the available busses or if no
* sensors are detected.
*
*/
int
start()
{
    for (unsigned i = 0; i < NUM_I2C_BUS_OPTIONS; i++) {
        if (start_bus(i2c_bus_options[i]) == PX4_OK) {
            return PX4_OK;
        }
    }

    return PX4_ERROR;
}

/**
 * Start the driver on a specific bus.
 *
 * This function call only returns once the driver is up and running
 * or failed to detect the sensor.
 */
int
start_bus(uint8_t i2c_bus)
{
    int fd = -1;

    if (g_dev != nullptr) {
        PX4_ERR("already started");
        goto fail;
    }

    g_dev = new MS5525(i2c_bus, I2C_ADDRESS_1_MS5525DSO, PATH_MS5525);

    /* check if the MS4525DO was instantiated */
    if (g_dev == nullptr) {
        goto fail;
    }

    /* try to initialize */
    if (g_dev->init() != PX4_OK) {
        goto fail;
    }

    /* set the poll rate to default, starts automatic data collection */
    fd = px4_open(PATH_MS5525, O_RDONLY);

    if (fd < 0) {
        goto fail;
    }

    if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
        goto fail;
    }

    return PX4_OK;

fail:

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

    return PX4_ERROR;
}

// stop the driver
int stop()
{
    if (g_dev != nullptr) {
        delete g_dev;
        g_dev = nullptr;

    } else {
        PX4_ERR("driver not running");
        return PX4_ERROR;
    }

    return PX4_OK;
}

// reset the driver
int reset()
{
    int fd = px4_open(PATH_MS5525, O_RDONLY);

    if (fd < 0) {
        PX4_ERR("failed ");
        return PX4_ERROR;
    }

    if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
        PX4_ERR("driver reset failed");
        return PX4_ERROR;
    }

    if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
        PX4_ERR("driver poll restart failed");
        return PX4_ERROR;
    }

    return PX4_OK;
}

} // namespace ms5525_airspeed


static void
ms5525_airspeed_usage()
{
    PX4_INFO("usage: ms5525_airspeed command [options]");
    PX4_INFO("options:");
    PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
    PX4_INFO("\t-a --all");
    PX4_INFO("command:");
    PX4_INFO("\tstart|stop|reset");
}

int
ms5525_airspeed_main(int argc, char *argv[])
{
    uint8_t i2c_bus = PX4_I2C_BUS_DEFAULT;

    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;
    bool start_all = false;

    while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'b':
            i2c_bus = atoi(myoptarg);
            break;

        case 'a':
            start_all = true;
            break;

        default:
            ms5525_airspeed_usage();
            return 0;
        }
    }

    if (myoptind >= argc) {
        ms5525_airspeed_usage();
        return -1;
    }

    /*
     * Start/load the driver.
     */
    if (!strcmp(argv[myoptind], "start")) {
        if (start_all) {
            return ms5525_airspeed::start();

        } else {
            return ms5525_airspeed::start_bus(i2c_bus);
        }
    }

    /*
     * Stop the driver
     */
    if (!strcmp(argv[myoptind], "stop")) {
        return ms5525_airspeed::stop();
    }

    /*
     * Reset the driver.
     */
    if (!strcmp(argv[myoptind], "reset")) {
        return ms5525_airspeed::reset();
    }

    ms5525_airspeed_usage();
    return 0;
}