icm20689_main.cpp 3.33 KB
/****************************************************************************
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 * modification, are permitted provided that the following conditions
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 *    used to endorse or promote products derived from this software
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#include "ICM20689.hpp"

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

void ICM20689::print_usage()
{
	PRINT_MODULE_USAGE_NAME("icm20689", "driver");
	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
	PRINT_MODULE_USAGE_COMMAND("start");
	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}

I2CSPIDriverBase *ICM20689::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
					int runtime_instance)
{
	ICM20689 *instance = new ICM20689(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
					  cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO());

	if (!instance) {
		PX4_ERR("alloc failed");
		return nullptr;
	}

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

	return instance;
}

extern "C" int icm20689_main(int argc, char *argv[])
{
	int ch;
	using ThisDriver = ICM20689;
	BusCLIArguments cli{false, true};
	cli.default_spi_frequency = SPI_SPEED;

	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_IMU_DEVTYPE_ICM20689);

	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;
}