mpu9250_main.cpp

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

#include "mpu9250.h"

enum class MPU9250_BUS {
    ALL = 0,
    I2C_INTERNAL,
    I2C_EXTERNAL,
    SPI_INTERNAL,
    SPI_INTERNAL2,
    SPI_EXTERNAL
};

namespace mpu9250
{

// list of supported bus configurations
struct mpu9250_bus_option {
    MPU9250_BUS busid;
    MPU9250_constructor interface_constructor;
    bool magpassthrough;
    uint8_t busnum;
    uint32_t address;
    MPU9250 *dev;
} bus_options[] = {
#if defined(USE_I2C)
#  if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_MPU9250)
    { MPU9250_BUS::I2C_INTERNAL, &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, nullptr },
#  endif
#  if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_MPU9250)
    { MPU9250_BUS::I2C_EXTERNAL, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_MPU9250, nullptr },
#  endif
#  if defined(PX4_I2C_BUS_EXPANSION1) && defined(PX4_I2C_OBDEV_MPU9250)
    { MPU9250_BUS::I2C_EXTERNAL, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION1, PX4_I2C_OBDEV_MPU9250, nullptr },
#  endif
#  if defined(PX4_I2C_BUS_EXPANSION2) && defined(PX4_I2C_OBDEV_MPU9250)
    { MPU9250_BUS::I2C_EXTERNAL, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION2, PX4_I2C_OBDEV_MPU9250, nullptr },
#  endif
#endif
#if defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_MPU)
    { MPU9250_BUS::SPI_INTERNAL, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, nullptr },
#endif
#if defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_MPU2)
    { MPU9250_BUS::SPI_INTERNAL2, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, nullptr },
#endif
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU)
    { MPU9250_BUS::SPI_EXTERNAL, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, nullptr },
#endif
};

// find a bus structure for a busid
static struct mpu9250_bus_option *find_bus(MPU9250_BUS busid)
{
    for (mpu9250_bus_option &bus_option : bus_options) {
        if ((busid == MPU9250_BUS::ALL ||
             busid == bus_option.busid) && bus_option.dev != nullptr) {

            return &bus_option;
        }
    }

    return nullptr;
}

static bool start_bus(mpu9250_bus_option &bus, enum Rotation rotation)
{
    device::Device *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;
    }

    device::Device *mag_interface = nullptr;

#ifdef USE_I2C

    // For i2c interfaces, connect to the magnetomer directly
    if ((bus.busid == MPU9250_BUS::I2C_INTERNAL) || (bus.busid == MPU9250_BUS::I2C_EXTERNAL)) {
        mag_interface = AK8963_I2C_interface(bus.busnum);
    }

#endif // USE_I2C

    MPU9250 *dev = new MPU9250(interface, mag_interface, rotation);

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

    bus.dev = dev;

    return true;
}

static int start(MPU9250_BUS busid, enum Rotation rotation)
{
    for (mpu9250_bus_option &bus_option : bus_options) {
        if (bus_option.dev != nullptr) {
            // this device is already started
            PX4_WARN("already started");
            continue;
        }

        if (busid != MPU9250_BUS::ALL && bus_option.busid != busid) {
            // not the one that is asked for
            continue;
        }

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

    return PX4_ERROR;
}

static int stop(MPU9250_BUS busid)
{
    mpu9250_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(MPU9250_BUS busid)
{
    mpu9250_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("    -s    (spi internal bus)");
    PX4_INFO("    -S    (spi external bus)");
    PX4_INFO("    -t    (spi internal bus, 2nd instance)");
    PX4_INFO("    -R rotation");

    return 0;
}

} // namespace

extern "C" int mpu9250_main(int argc, char *argv[])
{
    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;

    MPU9250_BUS busid = MPU9250_BUS::ALL;
    enum Rotation rotation = ROTATION_NONE;

    while ((ch = px4_getopt(argc, argv, "XISstMR:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'X':
            busid = MPU9250_BUS::I2C_EXTERNAL;
            break;

        case 'I':
            busid = MPU9250_BUS::I2C_INTERNAL;
            break;

        case 'S':
            busid = MPU9250_BUS::SPI_EXTERNAL;
            break;

        case 's':
            busid = MPU9250_BUS::SPI_INTERNAL;
            break;

        case 't':
            busid = MPU9250_BUS::SPI_INTERNAL2;
            break;

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

        default:
            return mpu9250::usage();
        }
    }

    if (myoptind >= argc) {
        return mpu9250::usage();
    }

    const char *verb = argv[myoptind];

    if (!strcmp(verb, "start")) {
        return mpu9250::start(busid, rotation);

    } else if (!strcmp(verb, "stop")) {
        return mpu9250::stop(busid);

    } else if (!strcmp(verb, "status")) {
        return mpu9250::status(busid);
    }

    return mpu9250::usage();
}