adis16477_main.cpp

Go to the documentation of this file.

/****************************************************************************
 *
 *   Copyright (c) 2018-2019 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 "ADIS16477.hpp"

#include <px4_platform_common/getopt.h>

namespace adis16477
{
ADIS16477 *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_ADIS16477)
    g_dev = new ADIS16477(PX4_SPI_BUS_SENSOR1, PX4_SPIDEV_ADIS16477, rotation);
#elif defined(PX4_SPI_BUS_EXT)
    g_dev = new ADIS16477(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, rotation);
#elif defined(PX4_SPIDEV_EXTERNAL1_1)
    g_dev = new ADIS16477(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 adis16477

extern "C" int adis16477_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 adis16477::usage();
        }
    }

    const char *verb = argv[myoptind];

    if (!strcmp(verb, "start")) {
        return adis16477::start(rotation);

    } else if (!strcmp(verb, "stop")) {
        return adis16477::stop();

    } else if (!strcmp(verb, "status")) {
        return adis16477::status();
    }

    return adis16477::usage();
}