mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 16:48:52 +08:00
247 lines
6.2 KiB
C++
247 lines
6.2 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2019 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include <px4_getopt.h>
|
|
|
|
#include "bmp388.h"
|
|
|
|
enum BMP388_BUS {
|
|
BMP388_BUS_ALL = 0,
|
|
BMP388_BUS_I2C_INTERNAL,
|
|
BMP388_BUS_I2C_INTERNAL1,
|
|
BMP388_BUS_I2C_EXTERNAL,
|
|
BMP388_BUS_SPI_INTERNAL,
|
|
BMP388_BUS_SPI_EXTERNAL
|
|
};
|
|
|
|
/**
|
|
* Local functions in support of the shell command.
|
|
*/
|
|
namespace bmp388
|
|
{
|
|
|
|
/*
|
|
* list of supported bus configurations
|
|
*/
|
|
struct bmp388_bus_option {
|
|
enum BMP388_BUS busid;
|
|
const char *devpath;
|
|
BMP388_constructor interface_constructor;
|
|
uint8_t busnum;
|
|
uint32_t device;
|
|
bool external;
|
|
BMP388 *dev;
|
|
} bus_options[] = {
|
|
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
|
|
{ BMP388_BUS_SPI_EXTERNAL, "/dev/bmp388_spi_ext", &bmp388_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, true, NULL },
|
|
#endif
|
|
#if defined(PX4_SPIDEV_BARO)
|
|
# if defined(PX4_SPIDEV_BARO_BUS)
|
|
{ BMP388_BUS_SPI_INTERNAL, "/dev/bmp388_spi_int", &bmp388_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, false, NULL },
|
|
# else
|
|
{ BMP388_BUS_SPI_INTERNAL, "/dev/bmp388_spi_int", &bmp388_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, false, NULL },
|
|
# endif
|
|
#endif
|
|
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_BMP388)
|
|
{ BMP388_BUS_I2C_INTERNAL, "/dev/bmp388_i2c_int", &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_BMP388, false, NULL },
|
|
#endif
|
|
#if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV1_BMP388)
|
|
{ BMP388_BUS_I2C_INTERNAL1, "/dev/bmp388_i2c_int1", &bmp388_i2c_interface, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV1_BMP388, false, NULL },
|
|
#endif
|
|
#if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_BMP388)
|
|
{ BMP388_BUS_I2C_EXTERNAL, "/dev/bmp388_i2c_ext", &bmp388_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP388, true, NULL },
|
|
#endif
|
|
};
|
|
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
|
|
|
|
/**
|
|
* Start the driver.
|
|
*/
|
|
bool
|
|
start_bus(struct bmp388_bus_option &bus)
|
|
{
|
|
if (bus.dev != nullptr) {
|
|
PX4_ERR("bus option already started");
|
|
exit(1);
|
|
}
|
|
|
|
IBMP388 *interface = bus.interface_constructor(bus.busnum, bus.device, bus.external);
|
|
|
|
if (interface->init() != OK) {
|
|
delete interface;
|
|
PX4_WARN("no device on bus %u", (unsigned)bus.busid);
|
|
return false;
|
|
}
|
|
|
|
bus.dev = new BMP388(interface, bus.devpath);
|
|
|
|
if (bus.dev == nullptr) {
|
|
return false;
|
|
}
|
|
|
|
if (OK != bus.dev->init()) {
|
|
delete bus.dev;
|
|
bus.dev = nullptr;
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
/**
|
|
* Start the driver.
|
|
*
|
|
* This function call only returns once the driver
|
|
* is either successfully up and running or failed to start.
|
|
*/
|
|
void
|
|
start(enum BMP388_BUS busid)
|
|
{
|
|
uint8_t i;
|
|
bool started = false;
|
|
|
|
for (i = 0; i < NUM_BUS_OPTIONS; i++) {
|
|
if (busid == BMP388_BUS_ALL && bus_options[i].dev != NULL) {
|
|
// this device is already started
|
|
continue;
|
|
}
|
|
|
|
if (busid != BMP388_BUS_ALL && bus_options[i].busid != busid) {
|
|
// not the one that is asked for
|
|
continue;
|
|
}
|
|
|
|
started |= start_bus(bus_options[i]);
|
|
}
|
|
|
|
if (!started) {
|
|
PX4_WARN("bus option number is %d", i);
|
|
PX4_ERR("driver start failed");
|
|
exit(1);
|
|
}
|
|
|
|
// one or more drivers started OK
|
|
exit(0);
|
|
}
|
|
|
|
/**
|
|
* Print a little info about the driver.
|
|
*/
|
|
void
|
|
info()
|
|
{
|
|
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
|
|
struct bmp388_bus_option &bus = bus_options[i];
|
|
|
|
if (bus.dev != nullptr) {
|
|
PX4_WARN("%s", bus.devpath);
|
|
bus.dev->print_info();
|
|
}
|
|
}
|
|
|
|
exit(0);
|
|
}
|
|
|
|
void
|
|
usage()
|
|
{
|
|
PX4_WARN("missing command: try 'start', 'info'");
|
|
PX4_WARN("options:");
|
|
PX4_WARN(" -X (external I2C bus TODO)");
|
|
PX4_WARN(" -I (internal I2C bus TODO)");
|
|
PX4_WARN(" -S (external SPI bus)");
|
|
PX4_WARN(" -s (internal SPI bus)");
|
|
}
|
|
|
|
} // namespace
|
|
|
|
extern "C" __EXPORT int bmp388_main(int argc, char *argv[])
|
|
{
|
|
int myoptind = 1;
|
|
int ch;
|
|
const char *myoptarg = nullptr;
|
|
enum BMP388_BUS busid = BMP388_BUS_ALL;
|
|
|
|
while ((ch = px4_getopt(argc, argv, "XIJSs", &myoptind, &myoptarg)) != EOF) {
|
|
switch (ch) {
|
|
case 'X':
|
|
busid = BMP388_BUS_I2C_EXTERNAL;
|
|
break;
|
|
|
|
case 'I':
|
|
busid = BMP388_BUS_I2C_INTERNAL;
|
|
break;
|
|
|
|
case 'J':
|
|
busid = BMP388_BUS_I2C_INTERNAL1;
|
|
break;
|
|
|
|
case 'S':
|
|
busid = BMP388_BUS_SPI_EXTERNAL;
|
|
break;
|
|
|
|
case 's':
|
|
busid = BMP388_BUS_SPI_INTERNAL;
|
|
break;
|
|
|
|
default:
|
|
bmp388::usage();
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
if (myoptind >= argc) {
|
|
bmp388::usage();
|
|
return -1;
|
|
}
|
|
|
|
const char *verb = argv[myoptind];
|
|
|
|
/*
|
|
* Start/load the driver.
|
|
*/
|
|
if (!strcmp(verb, "start")) {
|
|
bmp388::start(busid);
|
|
}
|
|
|
|
/*
|
|
* Print driver information.
|
|
*/
|
|
if (!strcmp(verb, "info")) {
|
|
bmp388::info();
|
|
}
|
|
|
|
PX4_ERR("unrecognized command, try 'start' or 'info'");
|
|
return -1;
|
|
}
|