adis16497_main.cpp

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#include "ADIS16497.hpp"

#include <px4_platform_common/getopt.h>

namespace adis16497
{
ADIS16497 *g_dev{nullptr};

static int start(enum Rotation rotation)
{
    if (g_dev != nullptr) {
        PX4_WARN("already started");
        return 0;
    }

    // create the driver
#if defined(PX4_SPIDEV_EXTERNAL1_1)
    g_dev = new ADIS16497(PX4_SPI_BUS_EXTERNAL1, PX4_SPIDEV_EXTERNAL1_1, rotation);
#else
    PX4_ERR("External SPI not available");
    return -1;
#endif

    if (g_dev == nullptr) {
        PX4_ERR("driver start failed");
        return -1;
    }

    if (g_dev->init() != PX4_OK) {
        PX4_ERR("driver init failed");
        delete g_dev;
        g_dev = nullptr;
        return -1;
    }

    return 0;
}

static int stop()
{
    if (g_dev == nullptr) {
        PX4_WARN("driver not running");
        return -1;
    }

    delete g_dev;
    g_dev = nullptr;

    return 0;
}

static int status()
{
    if (g_dev == nullptr) {
        PX4_INFO("driver not running");
        return 0;
    }

    g_dev->print_info();

    return 0;
}

static int usage()
{
    PX4_INFO("missing command: try 'start', 'stop', 'status'");
    PX4_INFO("options:");
    PX4_INFO("    -R rotation");

    return 0;
}

} // namespace adis16497

extern "C" int adis16497_main(int argc, char *argv[])
{
    enum Rotation rotation = ROTATION_NONE;
    int myoptind = 1;
    int ch = 0;
    const char *myoptarg = nullptr;

    // start options
    while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'R':
            rotation = (enum Rotation)atoi(myoptarg);
            break;

        default:
            return adis16497::usage();
        }
    }

    const char *verb = argv[myoptind];

    if (!strcmp(verb, "start")) {
        return adis16497::start(rotation);

    } else if (!strcmp(verb, "stop")) {
        return adis16497::stop();

    } else if (!strcmp(verb, "status")) {
        return adis16497::status();
    }

    return adis16497::usage();
}