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lsm303agr split main

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This commit is contained in:
Daniel Agar
2018-07-09 01:50:05 -04:00
committed by Lorenz Meier
parent 3d3855e87b
commit 14cf92d8b2
3 changed files with 173 additions and 135 deletions
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1
src/drivers/magnetometer/lsm303agr/CMakeLists.txt
View File

@@ -34,5 +34,6 @@ px4_add_module(
MODULE drivers__magnetometer__lsm303agr
MAIN lsm303agr
SRCS
lsm303agr_main.cpp
LSM303AGR.cpp
)

135
src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
View File

@@ -48,8 +48,6 @@
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
#define LSM303AGR_DEVICE_PATH_MAG "/dev/lsm303agr_mag"
/* Max measurement rate is 100Hz */
#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */
@@ -63,8 +61,6 @@ static constexpr uint8_t LSM303AGR_WHO_AM_I_M = 0x40;
*/
#define LSM303AGR_TIMER_REDUCTION 200
extern "C" { __EXPORT int lsm303agr_main(int argc, char *argv[]); }
LSM303AGR::LSM303AGR(int bus, const char *path, uint32_t device, enum Rotation rotation) :
SPI("LSM303AGR", path, bus, device, SPIDEV_MODE3, 8 * 1000 * 1000),
_mag_sample_perf(perf_alloc(PC_ELAPSED, "LSM303AGR_mag_read")),
@@ -524,134 +520,3 @@ LSM303AGR::print_info()
perf_print_counter(_bad_registers);
perf_print_counter(_bad_values);
}
/**
* Local functions in support of the shell command.
*/
namespace lsm303agr
{
LSM303AGR *g_dev;
void start(enum Rotation rotation);
void info();
void usage();
/**
* Start the driver.
*
* This function call only returns once the driver is
* up and running or failed to detect the sensor.
*/
void
start(enum Rotation rotation)
{
int fd_mag = -1;
if (g_dev != nullptr) {
errx(0, "already started");
}
/* create the driver */
#if defined(PX4_SPIDEV_LSM303A_M) && defined(PX4_SPIDEV_LSM303A_X)
g_dev = new LSM303AGR(PX4_SPI_BUS_SENSOR5, LSM303AGR_DEVICE_PATH_MAG, PX4_SPIDEV_LSM303A_M, rotation);
#else
errx(0, "External SPI not available");
#endif
if (g_dev == nullptr) {
PX4_ERR("alloc failed");
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
}
fd_mag = px4_open(LSM303AGR_DEVICE_PATH_MAG, O_RDONLY);
/* don't fail if open cannot be opened */
if (0 <= fd_mag) {
if (px4_ioctl(fd_mag, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
}
px4_close(fd_mag);
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr) {
errx(1, "driver not running\n");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
void
usage()
{
PX4_INFO("missing command: try 'start', 'info', 'reset'");
PX4_INFO("options:");
PX4_INFO(" -X (external bus)");
PX4_INFO(" -R rotation");
}
} // namespace
int
lsm303agr_main(int argc, char *argv[])
{
int ch;
enum Rotation rotation = ROTATION_NONE;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "XR:a:")) != EOF) {
switch (ch) {
case 'R':
rotation = (enum Rotation)atoi(optarg);
break;
default:
lsm303agr::usage();
exit(0);
}
}
const char *verb = argv[optind];
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
lsm303agr::start(rotation);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info")) {
lsm303agr::info();
}
errx(1, "unrecognized command, try 'start', 'info'");
}

172
src/drivers/magnetometer/lsm303agr/lsm303agr_main.cpp Normal file
View File

@@ -0,0 +1,172 @@
/****************************************************************************
*
* Copyright (c) 2018 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 "LSM303AGR.hpp"
#include <px4_config.h>
#include <px4_defines.h>
#define LSM303AGR_DEVICE_PATH_MAG "/dev/lsm303agr_mag"
extern "C" { __EXPORT int lsm303agr_main(int argc, char *argv[]); }
/**
* Local functions in support of the shell command.
*/
namespace lsm303agr
{
LSM303AGR *g_dev;
void start(enum Rotation rotation);
void info();
void usage();
/**
* Start the driver.
*
* This function call only returns once the driver is
* up and running or failed to detect the sensor.
*/
void
start(enum Rotation rotation)
{
int fd_mag = -1;
if (g_dev != nullptr) {
errx(0, "already started");
}
/* create the driver */
#if defined(PX4_SPIDEV_LSM303A_M) && defined(PX4_SPIDEV_LSM303A_X)
g_dev = new LSM303AGR(PX4_SPI_BUS_SENSOR5, LSM303AGR_DEVICE_PATH_MAG, PX4_SPIDEV_LSM303A_M, rotation);
#else
errx(0, "External SPI not available");
#endif
if (g_dev == nullptr) {
PX4_ERR("alloc failed");
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
}
fd_mag = px4_open(LSM303AGR_DEVICE_PATH_MAG, O_RDONLY);
/* don't fail if open cannot be opened */
if (0 <= fd_mag) {
if (px4_ioctl(fd_mag, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
}
px4_close(fd_mag);
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr) {
errx(1, "driver not running\n");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
void
usage()
{
PX4_INFO("missing command: try 'start', 'info', 'reset'");
PX4_INFO("options:");
PX4_INFO(" -X (external bus)");
PX4_INFO(" -R rotation");
}
} // namespace
int
lsm303agr_main(int argc, char *argv[])
{
int ch;
enum Rotation rotation = ROTATION_NONE;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "XR:a:")) != EOF) {
switch (ch) {
case 'R':
rotation = (enum Rotation)atoi(optarg);
break;
default:
lsm303agr::usage();
exit(0);
}
}
const char *verb = argv[optind];
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
lsm303agr::start(rotation);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info")) {
lsm303agr::info();
}
errx(1, "unrecognized command, try 'start', 'info'");
}