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 * modification, are permitted provided that the following conditions
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/**
 * @file hmc5883.cpp
 *
 * Driver for the HMC5883 / HMC5983 magnetometer connected via I2C or SPI.
 */

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

#include "HMC5883.hpp"
#include "hmc5883.h"

extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]);

I2CSPIDriverBase *HMC5883::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
				       int runtime_instance)
{
	device::Device *interface = nullptr;

	if (iterator.busType() == BOARD_I2C_BUS) {
		interface = HMC5883_I2C_interface(iterator.bus(), cli.bus_frequency);

	} else if (iterator.busType() == BOARD_SPI_BUS) {
		interface = HMC5883_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
	}

	if (interface == nullptr) {
		PX4_ERR("alloc failed");
		return nullptr;
	}

	if (interface->init() != OK) {
		delete interface;
		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
		return nullptr;
	}

	HMC5883 *dev = new HMC5883(interface, cli.rotation, iterator.configuredBusOption(), iterator.bus());

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

	if (OK != dev->init()) {
		delete dev;
		return nullptr;
	}

	bool enable_temp_compensation = cli.custom1 == 1;

	if (enable_temp_compensation) {
		dev->set_temperature_compensation(1);
	}

	return dev;
}

void HMC5883::print_usage()
{
	PRINT_MODULE_USAGE_NAME("hmc5883", "driver");
	PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
	PRINT_MODULE_USAGE_COMMAND("start");
	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
	PRINT_MODULE_USAGE_PARAM_FLAG('T', "Enable temperature compensation", true);
	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}

extern "C" int hmc5883_main(int argc, char *argv[])
{
	using ThisDriver = HMC5883;
	int ch;
	BusCLIArguments cli{true, true};
	cli.default_i2c_frequency = 400000;
	cli.default_spi_frequency = 11 * 1000 * 1000;

	while ((ch = cli.getopt(argc, argv, "R:T")) != EOF) {
		switch (ch) {
		case 'R':
			cli.rotation = (enum Rotation)atoi(cli.optarg());
			break;

		case 'T':
			cli.custom1 = 1;
			break;
		}
	}

	const char *verb = cli.optarg();

	if (!verb) {
		ThisDriver::print_usage();
		return -1;
	}

	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_HMC5883);

	if (!strcmp(verb, "start")) {
		return ThisDriver::module_start(cli, iterator);
	}

	if (!strcmp(verb, "stop")) {
		return ThisDriver::module_stop(iterator);
	}

	if (!strcmp(verb, "status")) {
		return ThisDriver::module_status(iterator);
	}

	ThisDriver::print_usage();
	return -1;
}