mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 19:13:33 +08:00
Beat Küng
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
183 lines
4.2 KiB
C++
183 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file lsm303d_main.cpp
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* Driver for the ST LSM303D MEMS accelerometer / magnetometer connected via SPI.
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*/
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#include "LSM303D.hpp"
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#include <px4_platform_common/getopt.h>
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/**
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* Local functions in support of the shell command.
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*/
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namespace lsm303d
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{
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LSM303D *g_dev;
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void start(bool external_bus, enum Rotation rotation, unsigned range);
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void info();
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void usage();
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/**
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* Start the driver.
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*
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* This function call only returns once the driver is
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* up and running or failed to detect the sensor.
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*/
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void
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start(bool external_bus, enum Rotation rotation, unsigned range)
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{
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if (g_dev != nullptr) {
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errx(0, "already started");
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}
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/* create the driver */
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if (external_bus) {
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#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_ACCEL_MAG)
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g_dev = new LSM303D(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_ACCEL_MAG, rotation);
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#else
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errx(0, "External SPI not available");
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#endif
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} else {
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g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_ACCEL_MAG, rotation);
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}
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if (g_dev == nullptr) {
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PX4_ERR("failed instantiating LSM303D obj");
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goto fail;
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}
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if (OK != g_dev->init()) {
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goto fail;
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}
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exit(0);
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fail:
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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}
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errx(1, "driver start failed");
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}
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/**
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* Print a little info about the driver.
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*/
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void
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info()
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{
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if (g_dev == nullptr) {
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errx(1, "driver not running\n");
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}
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printf("state @ %p\n", g_dev);
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g_dev->print_info();
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exit(0);
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}
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void
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usage()
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{
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PX4_INFO("missing command: try 'start', 'info'");
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PX4_INFO("options:");
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PX4_INFO(" -X (external bus)");
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PX4_INFO(" -R rotation");
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}
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} // namespace
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int
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lsm303d_main(int argc, char *argv[])
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{
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bool external_bus = false;
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enum Rotation rotation = ROTATION_NONE;
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int accel_range = 8;
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int myoptind = 1;
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int ch;
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const char *myoptarg = nullptr;
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/* jump over start/off/etc and look at options first */
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while ((ch = px4_getopt(argc, argv, "XR:a:", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'X':
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external_bus = true;
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break;
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case 'R':
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rotation = (enum Rotation)atoi(myoptarg);
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break;
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case 'a':
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accel_range = atoi(myoptarg);
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break;
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default:
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lsm303d::usage();
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exit(0);
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}
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}
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if (myoptind >= argc) {
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lsm303d::usage();
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exit(0);
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}
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const char *verb = argv[myoptind];
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/*
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* Start/load the driver.
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*/
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if (!strcmp(verb, "start")) {
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lsm303d::start(external_bus, rotation, accel_range);
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}
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/*
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* Print driver information.
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*/
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if (!strcmp(verb, "info")) {
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lsm303d::info();
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}
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errx(1, "unrecognized command, try 'start', info'");
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}
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