bizhang_-obav/src/drivers/imu/l3gd20/l3gd20_main.cpp

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#include "L3GD20.hpp"

#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>

void
L3GD20::print_usage()
{
	PRINT_MODULE_USAGE_NAME("l3gd20", "driver");
	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
	PRINT_MODULE_USAGE_COMMAND("start");
	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
	PRINT_MODULE_USAGE_COMMAND("regdump");
	PRINT_MODULE_USAGE_COMMAND("testerror");
	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}

I2CSPIDriverBase *L3GD20::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
				      int runtime_instance)
{
	L3GD20 *instance = new L3GD20(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
				      cli.bus_frequency, cli.spi_mode);

	if (!instance) {
		PX4_ERR("alloc failed");
		return nullptr;
	}

	if (OK != instance->init()) {
		delete instance;
		return nullptr;
	}

	return instance;
}

void L3GD20::custom_method(const BusCLIArguments &cli)
{
	switch (cli.custom1) {
	case 0: print_registers(); break;

	case 1: test_error(); break;
	}
}

extern "C" int l3gd20_main(int argc, char *argv[])
{
	int ch;
	using ThisDriver = L3GD20;
	BusCLIArguments cli{false, true};
	cli.default_spi_frequency = 11 * 1000 * 1000;

	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
		switch (ch) {
		case 'R':
			cli.rotation = (enum Rotation)atoi(cli.optArg());
			break;
		}
	}

	const char *verb = cli.optArg();

	if (!verb) {
		ThisDriver::print_usage();
		return -1;
	}

	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_GYR_DEVTYPE_L3GD20);

	if (!strcmp(verb, "start")) {
		return ThisDriver::module_start(cli, iterator);
	}

	if (!strcmp(verb, "stop")) {
		return ThisDriver::module_stop(iterator);
	}

	if (!strcmp(verb, "status")) {
		return ThisDriver::module_status(iterator);
	}

	if (!strcmp(verb, "regdump")) {
		cli.custom1 = 0;
		return ThisDriver::module_custom_method(cli, iterator);
	}

	if (!strcmp(verb, "testerror")) {
		cli.custom1 = 1;
		return ThisDriver::module_custom_method(cli, iterator);
	}

	ThisDriver::print_usage();
	return -1;
}