mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-16 08:17:35 +08:00
Daniel Agar
143 lines
4.2 KiB
C++
143 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019-2021 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 "DPS310.hpp"
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namespace dps310
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{
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extern device::Device *DPS310_SPI_interface(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
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#if defined(CONFIG_I2C)
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extern device::Device *DPS310_I2C_interface(uint8_t bus, uint32_t device, int bus_frequency);
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#endif // CONFIG_I2C
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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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using namespace dps310;
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void
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DPS310::print_usage()
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{
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PRINT_MODULE_USAGE_NAME("dps310", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("baro");
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PRINT_MODULE_USAGE_COMMAND("start");
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#if defined(CONFIG_I2C)
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
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PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x77);
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#else
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
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#endif
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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}
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I2CSPIDriverBase *DPS310::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
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{
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device::Device *interface = nullptr;
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#if defined(CONFIG_I2C)
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if (config.bus_type == BOARD_I2C_BUS) {
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interface = DPS310_I2C_interface(config.bus, config.i2c_address, config.bus_frequency);
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} else
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#endif // CONFIG_I2C
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if (config.bus_type == BOARD_SPI_BUS) {
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interface = DPS310_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("failed creating interface for bus %i (devid 0x%" PRIx32 ")", config.bus, config.spi_devid);
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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%" PRIx32 ")", config.bus, config.spi_devid);
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return nullptr;
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}
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DPS310 *dev = new DPS310(config, interface);
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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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return dev;
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}
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extern "C" int dps310_main(int argc, char *argv[])
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{
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using ThisDriver = DPS310;
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#if defined(CONFIG_I2C)
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BusCLIArguments cli {true, true};
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cli.i2c_address = 0x77;
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cli.default_i2c_frequency = 400000;
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#else
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BusCLIArguments cli {false, true};
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#endif // CONFIG_I2C
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cli.default_spi_frequency = 10 * 1000 * 1000;
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const char *verb = cli.parseDefaultArguments(argc, argv);
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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_BARO_DEVTYPE_DPS310);
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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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