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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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148 lines
4.2 KiB
C++
148 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2021 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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/**
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* @file hmc5883_main.cpp
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*
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* Driver for the HMC5883 / HMC5983 magnetometer connected via I2C or SPI.
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*/
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/module.h>
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#include "HMC5883.hpp"
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#include "hmc5883.h"
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extern "C" __EXPORT int hmc5883_main(int argc, char *argv[]);
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I2CSPIDriverBase *HMC5883::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
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{
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device::Device *interface = nullptr;
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if (config.bus_type == BOARD_I2C_BUS) {
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interface = HMC5883_I2C_interface(config.bus, config.bus_frequency);
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} else if (config.bus_type == BOARD_SPI_BUS) {
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interface = HMC5883_SPI_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
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}
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if (interface == nullptr) {
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PX4_ERR("alloc failed");
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return nullptr;
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}
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if (interface->init() != OK) {
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delete interface;
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PX4_DEBUG("no device on bus %i (devid 0x%x)", config.bus, config.spi_devid);
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return nullptr;
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}
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HMC5883 *dev = new HMC5883(interface, config);
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if (dev == nullptr) {
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delete interface;
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return nullptr;
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}
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if (OK != dev->init()) {
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delete dev;
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return nullptr;
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}
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bool enable_temp_compensation = config.custom1 == 1;
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if (enable_temp_compensation) {
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dev->set_temperature_compensation(1);
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}
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return dev;
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}
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void HMC5883::print_usage()
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{
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PRINT_MODULE_USAGE_NAME("hmc5883", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
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PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
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PRINT_MODULE_USAGE_PARAM_FLAG('T', "Enable temperature compensation", true);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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}
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extern "C" int hmc5883_main(int argc, char *argv[])
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{
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using ThisDriver = HMC5883;
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int ch;
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BusCLIArguments cli{true, true};
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cli.default_i2c_frequency = 400000;
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cli.default_spi_frequency = 11 * 1000 * 1000;
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while ((ch = cli.getOpt(argc, argv, "R:T")) != 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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case 'T':
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cli.custom1 = 1;
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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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cli.i2c_address = HMC5883L_ADDRESS;
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BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_HMC5883);
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if (!strcmp(verb, "start")) {
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return ThisDriver::module_start(cli, iterator);
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}
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if (!strcmp(verb, "stop")) {
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return ThisDriver::module_stop(iterator);
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}
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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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