mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 11:43:34 +08:00
156 lines
3.5 KiB
C++
156 lines
3.5 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2018-2019 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 "ADIS16497.hpp"
|
|
|
|
#include <px4_getopt.h>
|
|
|
|
extern "C" { __EXPORT int adis16497_main(int argc, char *argv[]); }
|
|
|
|
/**
|
|
* Local functions in support of the shell command.
|
|
*/
|
|
namespace adis16497
|
|
{
|
|
|
|
ADIS16497 *g_dev{nullptr};
|
|
|
|
void start(enum Rotation rotation);
|
|
void info();
|
|
void usage();
|
|
/**
|
|
* Start the driver.
|
|
*/
|
|
void
|
|
start(enum Rotation rotation)
|
|
{
|
|
if (g_dev != nullptr)
|
|
/* if already started, the still command succeeded */
|
|
{
|
|
errx(0, "already started");
|
|
}
|
|
|
|
/* create the driver */
|
|
#if defined(PX4_SPIDEV_EXTERNAL1_1)
|
|
g_dev = new ADIS16497(PX4_SPI_BUS_EXTERNAL1, PX4_SPIDEV_EXTERNAL1_1, rotation);
|
|
#else
|
|
PX4_ERR("External SPI not available");
|
|
exit(0);
|
|
#endif
|
|
|
|
if (g_dev == nullptr) {
|
|
goto fail;
|
|
}
|
|
|
|
if (OK != g_dev->init()) {
|
|
goto fail;
|
|
}
|
|
|
|
exit(0);
|
|
fail:
|
|
|
|
if (g_dev != nullptr) {
|
|
delete g_dev;
|
|
g_dev = nullptr;
|
|
}
|
|
|
|
PX4_ERR("driver start failed");
|
|
}
|
|
|
|
/**
|
|
* Print a little info about the driver.
|
|
*/
|
|
void
|
|
info()
|
|
{
|
|
if (g_dev == nullptr) {
|
|
PX4_WARN("driver not running");
|
|
}
|
|
|
|
g_dev->print_info();
|
|
}
|
|
|
|
void
|
|
usage()
|
|
{
|
|
PX4_INFO("missing command: try 'start', 'info'");
|
|
PX4_INFO("options:");
|
|
PX4_INFO(" -R rotation");
|
|
}
|
|
|
|
}
|
|
// namespace
|
|
|
|
int
|
|
adis16497_main(int argc, char *argv[])
|
|
{
|
|
enum Rotation rotation = ROTATION_NONE;
|
|
int myoptind = 1;
|
|
int ch = 0;
|
|
const char *myoptarg = nullptr;
|
|
|
|
/* start options */
|
|
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
|
|
switch (ch) {
|
|
case 'R':
|
|
rotation = (enum Rotation)atoi(myoptarg);
|
|
break;
|
|
|
|
default:
|
|
adis16497::usage();
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
const char *verb = argv[myoptind];
|
|
|
|
/*
|
|
* Start/load the driver.
|
|
|
|
*/
|
|
if (!strcmp(verb, "start")) {
|
|
adis16497::start(rotation);
|
|
}
|
|
|
|
/*
|
|
* Print driver information.
|
|
*/
|
|
if (!strcmp(verb, "info")) {
|
|
adis16497::info();
|
|
}
|
|
|
|
adis16497::usage();
|
|
|
|
return 0;
|
|
}
|