bmi160_main.cpp

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 *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 *    used to endorse or promote products derived from this software
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#include "bmi160.hpp"

/** driver 'main' command */
extern "C" { __EXPORT int bmi160_main(int argc, char *argv[]); }

/**
 * Local functions in support of the shell command.
 */
namespace bmi160
{

BMI160  *g_dev_int; // on internal bus
BMI160  *g_dev_ext; // on external bus

void    start(bool, enum Rotation);
void    stop(bool);
void    info(bool);
void    regdump(bool);
void    testerror(bool);
void    usage();


/**
 * Start the driver.
 *
 * This function only returns if the driver is up and running
 * or failed to detect the sensor.
 */
void
start(bool external_bus, enum Rotation rotation)
{
    BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;

    if (*g_dev_ptr != nullptr)
        /* if already started, the still command succeeded */
    {
        errx(0, "already started");
    }

    /* create the driver */
    if (external_bus) {
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
        *g_dev_ptr = new BMI160(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BMI, rotation);
#else
        errx(0, "External SPI not available");
#endif

    } else {
#if defined(PX4_SPIDEV_BMI)
        *g_dev_ptr = new BMI160(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BMI, rotation);
#else
        errx(0, "No Internal SPI CS");
#endif
    }

    if (*g_dev_ptr == nullptr) {
        goto fail;
    }

    if (OK != (*g_dev_ptr)->init()) {
        goto fail;
    }

    exit(0);
fail:

    if (*g_dev_ptr != nullptr) {
        delete (*g_dev_ptr);
        *g_dev_ptr = nullptr;
    }

    errx(1, "driver start failed");
}

void
stop(bool external_bus)
{
    BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;

    if (*g_dev_ptr != nullptr) {
        delete *g_dev_ptr;
        *g_dev_ptr = nullptr;

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

    exit(0);
}

/**
 * Print a little info about the driver.
 */
void
info(bool external_bus)
{
    BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;

    if (*g_dev_ptr == nullptr) {
        errx(1, "driver not running");
    }

    printf("state @ %p\n", *g_dev_ptr);
    (*g_dev_ptr)->print_info();

    exit(0);
}

/**
 * Dump the register information
 */
void
regdump(bool external_bus)
{
    BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;

    if (*g_dev_ptr == nullptr) {
        errx(1, "driver not running");
    }

    printf("regdump @ %p\n", *g_dev_ptr);
    (*g_dev_ptr)->print_registers();

    exit(0);
}


/**
 * deliberately produce an error to test recovery
 */
void
testerror(bool external_bus)
{
    BMI160 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;

    if (*g_dev_ptr == nullptr) {
        errx(1, "driver not running");
    }

    (*g_dev_ptr)->test_error();

    exit(0);
}

void
usage()
{
    warnx("missing command: try 'start', 'info', 'stop', 'regdump', 'testerror'");
    warnx("options:");
    warnx("    -X    (external bus)");
    warnx("    -R rotation");
}

} // namespace

int
bmi160_main(int argc, char *argv[])
{
    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;
    bool external_bus = false;
    enum Rotation rotation = ROTATION_NONE;

    while ((ch = px4_getopt(argc, argv, "XR:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'X':
            external_bus = true;
            break;

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

        default:
            bmi160::usage();
            return 0;
        }
    }

    if (myoptind >= argc) {
        bmi160::usage();
        return -1;
    }

    const char *verb = argv[myoptind];

    /*
     * Start/load the driver.
     */
    if (!strcmp(verb, "start")) {
        bmi160::start(external_bus, rotation);
    }

    if (!strcmp(verb, "stop")) {
        bmi160::stop(external_bus);
    }

    /*
     * Print driver information.
     */
    if (!strcmp(verb, "info")) {
        bmi160::info(external_bus);
    }

    /*
     * Print register information.
     */
    if (!strcmp(verb, "regdump")) {
        bmi160::regdump(external_bus);
    }

    if (!strcmp(verb, "testerror")) {
        bmi160::testerror(external_bus);
    }

    bmi160::usage();
    return -1;
}