lis3mdl_main.cpp
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/****************************************************************************
*
* Copyright (c) 2012-2015 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.
*
****************************************************************************/
/**
* @file lis3mdl_main.cpp
*
* Driver for the LIS3MDL magnetometer connected via I2C or SPI.
*/
#include "lis3mdl.h"
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
I2CSPIDriverBase *LIS3MDL::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
device::Device *interface = nullptr;
if (iterator.busType() == BOARD_I2C_BUS) {
interface = LIS3MDL_I2C_interface(iterator.bus(), cli.bus_frequency);
} else if (iterator.busType() == BOARD_SPI_BUS) {
interface = LIS3MDL_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;
}
LIS3MDL *dev = new LIS3MDL(interface, cli.rotation, iterator.configuredBusOption(), iterator.bus());
if (dev == nullptr) {
delete interface;
return nullptr;
}
if (OK != dev->init()) {
delete dev;
return nullptr;
}
return dev;
}
void
LIS3MDL::custom_method(const BusCLIArguments &cli)
{
reset();
}
void LIS3MDL::print_usage()
{
PRINT_MODULE_USAGE_NAME("lis3mdl", "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_COMMAND("reset");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
extern "C" int lis3mdl_main(int argc, char *argv[])
{
using ThisDriver = LIS3MDL;
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:")) != EOF) {
switch (ch) {
case 'R':
cli.rotation = (enum Rotation)atoi(cli.optarg());
break;
}
}
const char *verb = cli.optarg();
if (!verb) {
ThisDriver::print_usage();
return -1;
}
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_LIS3MDL);
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);
}
if (!strcmp(verb, "reset")) {
return ThisDriver::module_custom_method(cli, iterator);
}
ThisDriver::print_usage();
return -1;
}