mpu6000_main.cpp

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#include "MPU6000.hpp"

/**
 * Local functions in support of the shell command.
 */
namespace mpu6000
{

/*
  list of supported bus configurations
 */

struct mpu6000_bus_option {
    enum MPU6000_BUS busid;
    MPU_DEVICE_TYPE device_type;
    MPU6000_constructor interface_constructor;
    uint8_t busnum;
    bool external;
    MPU6000 *dev;
} bus_options[] = {
#if defined (USE_I2C)
#   if defined(PX4_I2C_BUS_ONBOARD)
    { MPU6000_BUS_I2C_INTERNAL, MPU_DEVICE_TYPE_MPU6000,  &MPU6000_I2C_interface, PX4_I2C_BUS_ONBOARD, false, NULL },
#   endif
#   if defined(PX4_I2C_BUS_EXPANSION)
    { MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION,  true, NULL },
#   endif
#   if defined(PX4_I2C_BUS_EXPANSION1)
    { MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION1,  true, NULL },
#   endif
#   if defined(PX4_I2C_BUS_EXPANSION2)
    { MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION2,  true, NULL },
#   endif
#endif
#ifdef PX4_SPIDEV_MPU
    { MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_MPU6000, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS,  false, NULL },
#endif
#if defined(PX4_SPI_BUS_EXT)
    { MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_TYPE_MPU6000, &MPU6000_SPI_interface, PX4_SPI_BUS_EXT,  true, NULL },
#endif
#if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_SENSORS)
    { MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS,  false, NULL },
#endif
#if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_SENSORS1)
    { MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS1,  false, NULL },
#endif
#if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_1)
    { MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, &MPU6000_SPI_interface, PX4_SPI_BUS_1,  false, NULL },
#endif
#ifdef PX4_SPIDEV_ICM_20608
    { MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20608, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS,  false, NULL },
#endif
#ifdef PX4_SPIDEV_ICM_20689
    { MPU6000_BUS_SPI_INTERNAL2, MPU_DEVICE_TYPE_ICM20689, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS,  false, NULL },
#endif
#if defined(PX4_SPI_BUS_EXTERNAL)
    { MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_TYPE_MPU6000, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true,  NULL },
    { MPU6000_BUS_SPI_EXTERNAL2, MPU_DEVICE_TYPE_MPU6000, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true,  NULL },
#endif
};

#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))


void    start(enum MPU6000_BUS busid, enum Rotation rotation, int device_type);
bool    start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int device_type);
void    stop(enum MPU6000_BUS busid);
static struct mpu6000_bus_option &find_bus(enum MPU6000_BUS busid);
void    reset(enum MPU6000_BUS busid);
void    info(enum MPU6000_BUS busid);
void    regdump(enum MPU6000_BUS busid);
void    testerror(enum MPU6000_BUS busid);
#ifndef CONSTRAINED_FLASH
void    factorytest(enum MPU6000_BUS busid);
#endif
void    usage();

/**
 * find a bus structure for a busid
 */
struct mpu6000_bus_option &find_bus(enum MPU6000_BUS busid)
{
    for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
        if ((busid == MPU6000_BUS_ALL ||
             busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
            return bus_options[i];
        }
    }

    errx(1, "bus %u not started", (unsigned)busid);
}

/**
 * start driver for a specific bus option
 */
bool
start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int device_type)
{
    if (bus.dev != nullptr) {
        warnx("%s SPI not available", bus.external ? "External" : "Internal");
        return false;
    }

    device::Device *interface = bus.interface_constructor(bus.busnum, device_type, bus.external);

    if (interface == nullptr) {
        warnx("failed creating interface for bus #%u (SPI%u)", (unsigned)bus.busid, (unsigned)bus.busnum);
        return false;
    }

    if (interface->init() != OK) {
        delete interface;
        warnx("no device on bus #%u (SPI%u)", (unsigned)bus.busid, (unsigned)bus.busnum);
        return false;
    }

    bus.dev = new MPU6000(interface, rotation, device_type);

    if (bus.dev == nullptr) {
        delete interface;
        return false;
    }

    if (OK != bus.dev->init()) {
        goto fail;
    }

    /* set the poll rate to default, starts automatic data collection */

    bus.dev->start();

    return true;

fail:

    if (bus.dev != nullptr) {
        delete bus.dev;
        bus.dev = nullptr;
    }

    return false;
}

/**
 * Start the driver.
 *
 * This function only returns if the driver is up and running
 * or failed to detect the sensor.
 */
void
start(enum MPU6000_BUS busid, enum Rotation rotation, int device_type)
{
    bool started = false;

    for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
        if (busid == MPU6000_BUS_ALL && bus_options[i].dev != NULL) {
            // this device is already started
            continue;
        }

        if (busid != MPU6000_BUS_ALL && bus_options[i].busid != busid) {
            // not the one that is asked for
            continue;
        }

        if (bus_options[i].device_type != device_type) {
            // not the one that is asked for
            continue;
        }

        started |= start_bus(bus_options[i], rotation, device_type);
    }

    exit(started ? 0 : 1);
}

void
stop(enum MPU6000_BUS busid)
{
    struct mpu6000_bus_option &bus = find_bus(busid);

    if (bus.dev != nullptr) {
        delete bus.dev;
        bus.dev = nullptr;

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

    exit(0);
}

/**
 * Reset the driver.
 */
void
reset(enum MPU6000_BUS busid)
{
    struct mpu6000_bus_option &bus = find_bus(busid);

    if (bus.dev == nullptr) {
        errx(1, "driver not running");
    }

    bus.dev->reset();

    exit(0);
}

/**
 * Print a little info about the driver.
 */
void
info(enum MPU6000_BUS busid)
{
    struct mpu6000_bus_option &bus = find_bus(busid);

    if (bus.dev == nullptr) {
        errx(1, "driver not running");
    }

    bus.dev->print_info();

    exit(0);
}

/**
 * Dump the register information
 */
void
regdump(enum MPU6000_BUS busid)
{
    struct mpu6000_bus_option &bus = find_bus(busid);

    if (bus.dev == nullptr) {
        errx(1, "driver not running");
    }

    printf("regdump @ %p\n", bus.dev);
    bus.dev->print_registers();

    exit(0);
}

/**
 * deliberately produce an error to test recovery
 */
void
testerror(enum MPU6000_BUS busid)
{
    struct mpu6000_bus_option &bus = find_bus(busid);


    if (bus.dev == nullptr) {
        errx(1, "driver not running");
    }

    bus.dev->test_error();

    exit(0);
}

#ifndef CONSTRAINED_FLASH
/**
 * Dump the register information
 */
void
factorytest(enum MPU6000_BUS busid)
{
    struct mpu6000_bus_option &bus = find_bus(busid);


    if (bus.dev == nullptr) {
        errx(1, "driver not running");
    }

    bus.dev->factory_self_test();

    exit(0);
}
#endif

void
usage()
{
    warnx("missing command: try 'start', 'info', 'stop',\n'reset', 'regdump', 'testerror'"
#ifndef CONSTRAINED_FLASH
          ", 'factorytest'"
#endif
         );
    warnx("options:");
    warnx("    -X external I2C bus");
    warnx("    -I internal I2C bus");
    warnx("    -S external SPI bus");
    warnx("    -s internal SPI bus");
    warnx("    -Z external1 SPI bus");
    warnx("    -z internal2 SPI bus");
    warnx("    -T 6000|20608|20602 (default 6000)");
    warnx("    -R rotation");
}

} // namespace

/** driver 'main' command */
extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); }

int
mpu6000_main(int argc, char *argv[])
{
    int myoptind = 1;
    int ch;
    const char *myoptarg = nullptr;

    enum MPU6000_BUS busid = MPU6000_BUS_ALL;
    int device_type = MPU_DEVICE_TYPE_MPU6000;
    enum Rotation rotation = ROTATION_NONE;

    while ((ch = px4_getopt(argc, argv, "T:XISsZzR:a:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'X':
            busid = MPU6000_BUS_I2C_EXTERNAL;
            break;

        case 'I':
            busid = MPU6000_BUS_I2C_INTERNAL;
            break;

        case 'S':
            busid = MPU6000_BUS_SPI_EXTERNAL1;
            break;

        case 's':
            busid = MPU6000_BUS_SPI_INTERNAL1;
            break;

        case 'Z':
            busid = MPU6000_BUS_SPI_EXTERNAL2;
            break;

        case 'z':
            busid = MPU6000_BUS_SPI_INTERNAL2;
            break;

        case 'T':
            device_type = atoi(myoptarg);
            break;

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

        default:
            mpu6000::usage();
            return 0;
        }
    }

    if (myoptind >= argc) {
        mpu6000::usage();
        return -1;
    }

    const char *verb = argv[myoptind];

    /*
     * Start/load the driver.
     */
    if (!strcmp(verb, "start")) {
        mpu6000::start(busid, rotation, device_type);
    }

    if (!strcmp(verb, "stop")) {
        mpu6000::stop(busid);
    }

    /*
     * Reset the driver.
     */
    if (!strcmp(verb, "reset")) {
        mpu6000::reset(busid);
    }

    /*
     * Print driver information.
     */
    if (!strcmp(verb, "info") || !strcmp(verb, "status")) {
        mpu6000::info(busid);
    }

    /*
     * Print register information.
     */
    if (!strcmp(verb, "regdump")) {
        mpu6000::regdump(busid);
    }

#ifndef CONSTRAINED_FLASH

    if (!strcmp(verb, "factorytest")) {
        mpu6000::factorytest(busid);
    }

#endif

    if (!strcmp(verb, "testerror")) {
        mpu6000::testerror(busid);
    }

    mpu6000::usage();
    return -1;
}