SDP3X_main.cpp

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/****************************************************************************
 *
 *   Copyright (c) 2017 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
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 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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#include "SDP3X.hpp"

// Driver 'main' command.
extern "C" __EXPORT int sdp3x_airspeed_main(int argc, char *argv[]);

// Local functions in support of the shell command.
namespace sdp3x_airspeed
{
SDP3X *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_WARN("already started");
        return PX4_ERROR;
    }

    g_dev = new SDP3X(i2c_bus, I2C_ADDRESS_1_SDP3X, PATH_SDP3X);

    /* check if the SDP3XDSO was instantiated */
    if (g_dev == nullptr) {
        goto fail;
    }

    /* try the next SDP3XDSO if init fails */
    if (g_dev->init() != PX4_OK) {
        delete g_dev;

        g_dev = new SDP3X(i2c_bus, I2C_ADDRESS_2_SDP3X, PATH_SDP3X);

        /* check if the SDP3XDSO was instantiated */
        if (g_dev == nullptr) {
            PX4_ERR("SDP3X was not instantiated (RAM)");
            goto fail;
        }

        /* both versions failed if the init for the SDP3XDSO fails, give up */
        if (g_dev->init() != PX4_OK) {
            goto fail;
        }
    }

    /* set the poll rate to default, starts automatic data collection */
    fd = px4_open(PATH_SDP3X, 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_SDP3X, 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 sdp3x_airspeed


static void
sdp3x_airspeed_usage()
{
    PX4_INFO("usage: sdp3x_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
sdp3x_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:
            sdp3x_airspeed_usage();
            return 0;
        }
    }

    if (myoptind >= argc) {
        sdp3x_airspeed_usage();
        return -1;
    }


    /*
     * Start/load the driver.
     */
    if (!strcmp(argv[myoptind], "start")) {
        if (start_all) {
            return sdp3x_airspeed::start();

        } else {
            return sdp3x_airspeed::start_bus(i2c_bus);
        }
    }

    /*
     * Stop the driver
     */
    if (!strcmp(argv[myoptind], "stop")) {
        return sdp3x_airspeed::stop();
    }

    /*
     * Reset the driver.
     */
    if (!strcmp(argv[myoptind], "reset")) {
        return sdp3x_airspeed::reset();
    }

    sdp3x_airspeed_usage();
    return 0;
}