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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 09:22:18 +00:00
refactor l3gd20: use driver base class
This commit is contained in:
Beat Küng
Daniel Agar
@@ -33,161 +33,96 @@
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#include "L3GD20.hpp"
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/**
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* Local functions in support of the shell command.
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*/
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namespace l3gd20
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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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L3GD20::print_usage()
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{
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L3GD20 *g_dev{nullptr};
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/**
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* Start the driver.
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*
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* This function call only returns once the driver
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* started or failed to detect the sensor.
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*/
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static void start(bool external_bus, enum Rotation rotation)
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{
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if (g_dev != nullptr) {
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errx(0, "already started");
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}
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/* create the driver */
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if (external_bus) {
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#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_GYRO)
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g_dev = new L3GD20(PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_GYRO, rotation);
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#else
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errx(0, "External SPI not available");
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#endif
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} else {
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g_dev = new L3GD20(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_GYRO, rotation);
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}
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if (g_dev == nullptr) {
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goto fail;
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}
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if (OK != g_dev->init()) {
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goto fail;
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}
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exit(0);
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fail:
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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}
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errx(1, "driver start failed");
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PRINT_MODULE_USAGE_NAME("l3gd20", "driver");
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PRINT_MODULE_USAGE_SUBCATEGORY("imu");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
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PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
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PRINT_MODULE_USAGE_COMMAND("regdump");
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PRINT_MODULE_USAGE_COMMAND("testerror");
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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}
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/**
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* Print a little info about the driver.
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*/
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static void info()
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I2CSPIDriverBase *L3GD20::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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int runtime_instance)
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{
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if (g_dev == nullptr) {
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errx(1, "driver not running\n");
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L3GD20 *instance = new L3GD20(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation,
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cli.bus_frequency, cli.spi_mode);
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if (!instance) {
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PX4_ERR("alloc failed");
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return nullptr;
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}
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printf("state @ %p\n", g_dev);
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g_dev->print_info();
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exit(0);
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}
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/**
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* Dump the register information
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*/
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static void regdump()
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{
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if (g_dev == nullptr) {
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errx(1, "driver not running");
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if (OK != instance->init()) {
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delete instance;
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return nullptr;
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}
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printf("regdump @ %p\n", g_dev);
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g_dev->print_registers();
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exit(0);
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return instance;
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}
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/**
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* trigger an error
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*/
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static void test_error()
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void L3GD20::custom_method(const BusCLIArguments &cli)
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{
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if (g_dev == nullptr) {
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errx(1, "driver not running");
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switch (cli.custom1) {
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case 0: print_registers(); break;
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case 1: test_error(); break;
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}
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printf("regdump @ %p\n", g_dev);
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g_dev->test_error();
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exit(0);
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}
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static void usage()
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extern "C" int l3gd20_main(int argc, char *argv[])
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{
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warnx("missing command: try 'start', 'info', 'testerror' or 'regdump'");
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warnx("options:");
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warnx(" -X (external bus)");
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warnx(" -R rotation");
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}
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} // namespace
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extern "C" __EXPORT int l3gd20_main(int argc, char *argv[])
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{
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int myoptind = 1;
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int ch;
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const char *myoptarg = nullptr;
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bool external_bus = false;
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enum Rotation rotation = ROTATION_NONE;
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using ThisDriver = L3GD20;
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BusCLIArguments cli{false, true};
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cli.default_spi_frequency = 11 * 1000 * 1000;
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while ((ch = px4_getopt(argc, argv, "XR:", &myoptind, &myoptarg)) != EOF) {
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while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
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switch (ch) {
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case 'X':
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external_bus = true;
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break;
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case 'R':
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rotation = (enum Rotation)atoi(myoptarg);
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cli.rotation = (enum Rotation)atoi(cli.optarg());
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break;
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default:
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l3gd20::usage();
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return 0;
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}
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}
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if (myoptind >= argc) {
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l3gd20::usage();
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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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const char *verb = argv[myoptind];
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BusInstanceIterator iterator(MODULE_NAME, cli, DRV_GYR_DEVTYPE_L3GD20);
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/*
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* Start/load the driver.
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*/
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if (!strcmp(verb, "start")) {
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l3gd20::start(external_bus, rotation);
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} else if (!strcmp(verb, "info")) {
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l3gd20::info();
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} else if (!strcmp(verb, "regdump")) {
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l3gd20::regdump();
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} else if (!strcmp(verb, "testerror")) {
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l3gd20::test_error();
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return ThisDriver::module_start(cli, iterator);
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}
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l3gd20::usage();
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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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if (!strcmp(verb, "regdump")) {
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cli.custom1 = 0;
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return ThisDriver::module_custom_method(cli, iterator);
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}
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if (!strcmp(verb, "testerror")) {
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cli.custom1 = 1;
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return ThisDriver::module_custom_method(cli, 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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