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/**
 * @file main.cpp
 *
 * Driver for the Invensense mpu9250 connected via SPI.
 *
 * @authors Andrew Tridgell
 *          Robert Dickenson
 *
 * based on the mpu6000 driver
 */

#include <px4_config.h>

#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <fcntl.h>
#include <errno.h>
#include <stdio.h>
#include <getopt.h>

#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/conversions.h>

#include <board_config.h>
#include <drivers/drv_hrt.h>

#include <drivers/device/spi.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>

#include "mag.h"
#include "gyro.h"
#include "mpu9250.h"

#define MPU_DEVICE_PATH_ACCEL		"/dev/mpu9250_accel"
#define MPU_DEVICE_PATH_GYRO		"/dev/mpu9250_gyro"
#define MPU_DEVICE_PATH_MAG		"/dev/mpu9250_mag"
#define MPU_DEVICE_PATH_ACCEL_EXT	"/dev/mpu9250_accel_ext"
#define MPU_DEVICE_PATH_GYRO_EXT	"/dev/mpu9250_gyro_ext"
#define MPU_DEVICE_PATH_MAG_EXT 	"/dev/mpu9250_mag_ext"

/** driver 'main' command */
extern "C" { __EXPORT int mpu9250_main(int argc, char *argv[]); }

/**
 * Local functions in support of the shell command.
 */
namespace mpu9250
{

MPU9250	*g_dev_int; // on internal bus
MPU9250	*g_dev_ext; // on external bus

void	start(bool, enum Rotation);
void	stop(bool);
void	test(bool);
void	reset(bool);
void	info(bool);
void	regdump(bool);
void	testerror(bool);
void	usage();

/**
 * Start the driver.
 *
 * This function only returns if the driver is up and running
 * or failed to detect the sensor.
 */
void
start(bool external_bus, enum Rotation rotation)
{
	int fd;
	MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
	const char *path_accel = external_bus ? MPU_DEVICE_PATH_ACCEL_EXT : MPU_DEVICE_PATH_ACCEL;
	const char *path_gyro  = external_bus ? MPU_DEVICE_PATH_GYRO_EXT : MPU_DEVICE_PATH_GYRO;
	const char *path_mag   = external_bus ? MPU_DEVICE_PATH_MAG_EXT : MPU_DEVICE_PATH_MAG;

	if (*g_dev_ptr != nullptr)
		/* if already started, the still command succeeded */
	{
		errx(0, "already started");
	}

	/* create the driver */
	if (external_bus) {
#ifdef PX4_SPI_BUS_EXT
		*g_dev_ptr = new MPU9250(PX4_SPI_BUS_EXT, path_accel, path_gyro, path_mag, (spi_dev_e)PX4_SPIDEV_EXT_MPU, rotation);
#else
		errx(0, "External SPI not available");
#endif

	} else {
		*g_dev_ptr = new MPU9250(PX4_SPI_BUS_SENSORS, path_accel, path_gyro, path_mag, (spi_dev_e)PX4_SPIDEV_MPU, rotation);
	}

	if (*g_dev_ptr == nullptr) {
		goto fail;
	}

	if (OK != (*g_dev_ptr)->init()) {
		goto fail;
	}

	/* set the poll rate to default, starts automatic data collection */
	fd = open(path_accel, O_RDONLY);

	if (fd < 0) {
		goto fail;
	}

	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
		goto fail;
	}

	close(fd);

	exit(0);
fail:

	if (*g_dev_ptr != nullptr) {
		delete(*g_dev_ptr);
		*g_dev_ptr = nullptr;
	}

	errx(1, "driver start failed");
}

void
stop(bool external_bus)
{
	MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;

	if (*g_dev_ptr != nullptr) {
		delete *g_dev_ptr;
		*g_dev_ptr = nullptr;

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

	exit(0);
}

/**
 * Perform some basic functional tests on the driver;
 * make sure we can collect data from the sensor in polled
 * and automatic modes.
 */
void
test(bool external_bus)
{
	const char *path_accel = external_bus ? MPU_DEVICE_PATH_ACCEL_EXT : MPU_DEVICE_PATH_ACCEL;
	const char *path_gyro  = external_bus ? MPU_DEVICE_PATH_GYRO_EXT : MPU_DEVICE_PATH_GYRO;
	const char *path_mag   = external_bus ? MPU_DEVICE_PATH_MAG_EXT : MPU_DEVICE_PATH_MAG;
	accel_report a_report;
	gyro_report g_report;
	mag_report m_report;
	ssize_t sz;

	/* get the driver */
	int fd = open(path_accel, O_RDONLY);

	if (fd < 0) {
		err(1, "%s open failed (try 'm start')", path_accel);
	}

	/* get the driver */
	int fd_gyro = open(path_gyro, O_RDONLY);

	if (fd_gyro < 0) {
		err(1, "%s open failed", path_gyro);
	}

	/* get the driver */
	int fd_mag = open(path_mag, O_RDONLY);

	if (fd_mag < 0) {
		err(1, "%s open failed", path_mag);
	}

	/* reset to manual polling */
	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
		err(1, "reset to manual polling");
	}

	/* do a simple demand read */
	sz = read(fd, &a_report, sizeof(a_report));

	if (sz != sizeof(a_report)) {
		warnx("ret: %d, expected: %d", sz, sizeof(a_report));
		err(1, "immediate acc read failed");
	}

	warnx("single read");
	warnx("time:     %lld", a_report.timestamp);
	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
	      (double)(a_report.range_m_s2 / MPU9250_ONE_G));

	/* do a simple demand read */
	sz = read(fd_gyro, &g_report, sizeof(g_report));

	if (sz != sizeof(g_report)) {
		warnx("ret: %d, expected: %d", sz, sizeof(g_report));
		err(1, "immediate gyro read failed");
	}

	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));

	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);

	/* do a simple demand read */
	sz = read(fd_mag, &m_report, sizeof(m_report));

	if (sz != sizeof(m_report)) {
		warnx("ret: %d, expected: %d", sz, sizeof(m_report));
		err(1, "immediate mag read failed");
	}

	warnx("mag x: \t% 9.5f\trad/s", (double)m_report.x);
	warnx("mag y: \t% 9.5f\trad/s", (double)m_report.y);
	warnx("mag z: \t% 9.5f\trad/s", (double)m_report.z);
	warnx("mag x: \t%d\traw", (int)m_report.x_raw);
	warnx("mag y: \t%d\traw", (int)m_report.y_raw);
	warnx("mag z: \t%d\traw", (int)m_report.z_raw);
	warnx("mag range: %8.4f Ga", (double)m_report.range_ga);
	warnx("mag temp:  %8.4f\tdeg celsius", (double)m_report.temperature);

	/* reset to default polling */
	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
		err(1, "reset to default polling");
	}

	close(fd);
	close(fd_gyro);
	close(fd_mag);

	/* XXX add poll-rate tests here too */

	reset(external_bus);
	errx(0, "PASS");
}

/**
 * Reset the driver.
 */
void
reset(bool external_bus)
{
	const char *path_accel = external_bus ? MPU_DEVICE_PATH_ACCEL_EXT : MPU_DEVICE_PATH_ACCEL;
	int fd = open(path_accel, O_RDONLY);

	if (fd < 0) {
		err(1, "failed ");
	}

	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
		err(1, "driver reset failed");
	}

	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
		err(1, "driver poll restart failed");
	}

	close(fd);

	exit(0);
}

/**
 * Print a little info about the driver.
 */
void
info(bool external_bus)
{
	MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;

	if (*g_dev_ptr == nullptr) {
		errx(1, "driver not running");
	}

	(*g_dev_ptr)->print_info();

	exit(0);
}

/**
 * Dump the register information
 */
void
regdump(bool external_bus)
{
	MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;

	if (*g_dev_ptr == nullptr) {
		errx(1, "driver not running");
	}

	(*g_dev_ptr)->print_registers();

	exit(0);
}

/**
 * deliberately produce an error to test recovery
 */
void
testerror(bool external_bus)
{
	MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;

	if (*g_dev_ptr == nullptr) {
		errx(1, "driver not running");
	}

	(*g_dev_ptr)->test_error();

	exit(0);
}

void
usage()
{
	warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
	warnx("options:");
	warnx("    -X    (external bus)");
	warnx("    -R rotation");
}

} // namespace

int
mpu9250_main(int argc, char *argv[])
{
	bool external_bus = false;
	int ch;
	enum Rotation rotation = ROTATION_NONE;

	/* jump over start/off/etc and look at options first */
	while ((ch = getopt(argc, argv, "XR:")) != EOF) {
		switch (ch) {
		case 'X':
			external_bus = true;
			break;

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

		default:
			mpu9250::usage();
			exit(0);
		}
	}

	const char *verb = argv[optind];

	/*
	 * Start/load the driver.
	 */
	if (!strcmp(verb, "start")) {
		mpu9250::start(external_bus, rotation);
	}

	if (!strcmp(verb, "stop")) {
		mpu9250::stop(external_bus);
	}

	/*
	 * Test the driver/device.
	 */
	if (!strcmp(verb, "test")) {
		mpu9250::test(external_bus);
	}

	/*
	 * Reset the driver.
	 */
	if (!strcmp(verb, "reset")) {
		mpu9250::reset(external_bus);
	}

	/*
	 * Print driver information.
	 */
	if (!strcmp(verb, "info")) {
		mpu9250::info(external_bus);
	}

	/*
	 * Print register information.
	 */
	if (!strcmp(verb, "regdump")) {
		mpu9250::regdump(external_bus);
	}

	if (!strcmp(verb, "testerror")) {
		mpu9250::testerror(external_bus);
	}

	mpu9250::usage();
	exit(1);
}