mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-17 14:00:34 +08:00
Hamish Willee
30e2490d5b
* Fix links to docs in source to point to docs on main not master * More docs and scripts that need to point to main
102 lines
3.4 KiB
C++
102 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2020, 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 "TERARANGER.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
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TERARANGER::print_usage()
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{
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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I2C bus driver for TeraRanger rangefinders.
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The sensor/driver must be enabled using the parameter SENS_EN_TRANGER.
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Setup/usage information: https://docs.px4.io/main/en/sensor/rangefinders.html#teraranger-rangefinders
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("teraranger", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
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PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x30);
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PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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}
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extern "C" __EXPORT int teraranger_main(int argc, char *argv[])
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{
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int ch;
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using ThisDriver = TERARANGER;
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BusCLIArguments cli{true, false};
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cli.rotation = (Rotation)distance_sensor_s::ROTATION_DOWNWARD_FACING;
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cli.default_i2c_frequency = 100000;
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cli.i2c_address = TERARANGER_ONE_BASEADDR;
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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 = (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_DIST_DEVTYPE_TERARANGER);
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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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