mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 00:13:33 +08:00
Daniel Agar
44df0fb7a2
- new IMU driver structure with state machine (no sleeps in bus thread) - verify all configured registers and trigger reset on failure - detect if DIO1 or DIO2 are actually connected for data ready interrupt usage - don't use CRC-16 on burst transfers except for verified lots
105 lines
3.3 KiB
C++
105 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 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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#include "ADIS16448.hpp"
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/module.h>
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void ADIS16448::print_usage()
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{
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PRINT_MODULE_USAGE_NAME("adis16448", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("imu");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
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PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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}
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I2CSPIDriverBase *ADIS16448::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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int runtime_instance)
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{
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ADIS16448 *instance = new ADIS16448(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
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cli.bus_frequency, iterator.DRDYGPIO());
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if (!instance) {
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PX4_ERR("alloc failed");
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return nullptr;
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}
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if (OK != instance->init()) {
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delete instance;
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return nullptr;
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}
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return instance;
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}
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extern "C" int adis16448_main(int argc, char *argv[])
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{
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int ch;
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using ThisDriver = ADIS16448;
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BusCLIArguments cli{false, true};
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cli.default_spi_frequency = SPI_SPEED;
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while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
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switch (ch) {
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case 'R':
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cli.rotation = (enum Rotation)atoi(cli.optarg());
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break;
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}
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}
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const char *verb = cli.optarg();
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if (!verb) {
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ThisDriver::print_usage();
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return -1;
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}
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BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ADIS16448);
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if (!strcmp(verb, "start")) {
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return ThisDriver::module_start(cli, iterator);
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} else if (!strcmp(verb, "stop")) {
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return ThisDriver::module_stop(iterator);
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} else if (!strcmp(verb, "status")) {
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return ThisDriver::module_status(iterator);
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}
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ThisDriver::print_usage();
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return -1;
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}
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