mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
709961ec8c
- uses the FIFO and SPI DMA to transfer full raw data (8 kHz gyro, 4 kHz accel)
- new sensor messages for better visibility
- sensor_{accel, gyro}_fifo: full raw data for optional logging and analysis
- sensor_{accel, gyro}_status: metadata, clipping, etc
- currently not enabled by default
154 lines
3.7 KiB
C++
154 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 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 "ICM20602.hpp"
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#include <px4_platform_common/getopt.h>
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namespace icm20602
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{
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ICM20602 *g_dev{nullptr};
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static int start(enum Rotation rotation)
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{
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if (g_dev != nullptr) {
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PX4_WARN("already started");
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return 0;
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}
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// create the driver
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#if defined(PX4_SPI_BUS_SENSORS)
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g_dev = new ICM20602(PX4_SPI_BUS_SENSORS, PX4_SPIDEV_ICM_20602, rotation);
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#elif defined(PX4_SPI_BUS_SENSORS1)
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g_dev = new ICM20602(PX4_SPI_BUS_SENSORS1, PX4_SPIDEV_ICM_20602, rotation);
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#endif
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if (g_dev == nullptr) {
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PX4_ERR("driver start failed");
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return -1;
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}
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if (!g_dev->Init()) {
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PX4_ERR("driver init failed");
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delete g_dev;
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g_dev = nullptr;
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return -1;
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}
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return 0;
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}
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static int stop()
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{
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if (g_dev == nullptr) {
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PX4_WARN("driver not running");
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return -1;
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}
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g_dev->Stop();
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delete g_dev;
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g_dev = nullptr;
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return 0;
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}
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static int reset()
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{
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if (g_dev == nullptr) {
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PX4_WARN("driver not running");
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return 0;
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}
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return g_dev->Reset();
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}
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static int status()
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{
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if (g_dev == nullptr) {
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PX4_INFO("driver not running");
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return 0;
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}
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g_dev->PrintInfo();
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return 0;
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}
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static int usage()
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{
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PX4_INFO("missing command: try 'start', 'stop', 'reset', 'status'");
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PX4_INFO("options:");
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PX4_INFO(" -R rotation");
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return 0;
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}
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} // namespace icm20602
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extern "C" int icm20602_main(int argc, char *argv[])
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{
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enum Rotation rotation = ROTATION_NONE;
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int myoptind = 1;
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int ch = 0;
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const char *myoptarg = nullptr;
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// start options
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while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'R':
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rotation = (enum Rotation)atoi(myoptarg);
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break;
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default:
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return icm20602::usage();
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}
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}
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const char *verb = argv[myoptind];
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if (!strcmp(verb, "start")) {
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return icm20602::start(rotation);
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} else if (!strcmp(verb, "stop")) {
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return icm20602::stop();
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} else if (!strcmp(verb, "status")) {
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return icm20602::status();
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} else if (!strcmp(verb, "reset")) {
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return icm20602::reset();
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}
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return icm20602::usage();
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}
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