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150 lines
3.9 KiB
C++
150 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2016 Intel Corporation. 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 <px4_platform_common/px4_config.h>
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#include <px4_platform_common/getopt.h>
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#include "AEROFC_ADC.hpp"
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enum AEROFC_ADC_BUS {
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AEROFC_ADC_BUS_ALL = 0,
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AEROFC_ADC_BUS_I2C_INTERNAL,
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AEROFC_ADC_BUS_I2C_EXTERNAL
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};
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static constexpr struct aerofc_adc_bus_option {
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enum AEROFC_ADC_BUS busid;
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uint8_t busnum;
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} bus_options[] = {
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#ifdef PX4_I2C_BUS_EXPANSION
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{ AEROFC_ADC_BUS_I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION },
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#endif
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#ifdef PX4_I2C_BUS_EXPANSION1
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{ AEROFC_ADC_BUS_I2C_EXTERNAL, PX4_I2C_BUS_EXPANSION1 },
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#endif
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#ifdef PX4_I2C_BUS_ONBOARD
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{ AEROFC_ADC_BUS_I2C_INTERNAL, PX4_I2C_BUS_ONBOARD },
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#endif
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};
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extern "C" { __EXPORT int aerofc_adc_main(int argc, char *argv[]); }
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static AEROFC_ADC *instance = nullptr;
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static int test()
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{
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PX4_INFO("test is currently unavailable");
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return 0;
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}
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static void help()
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{
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printf("missing command: try 'start' or 'test'\n");
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printf("options:\n");
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printf(" -I only internal I2C bus\n");
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printf(" -X only external I2C bus\n");
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}
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int aerofc_adc_main(int argc, char *argv[])
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{
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int ch;
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enum AEROFC_ADC_BUS busid = AEROFC_ADC_BUS_ALL;
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while ((ch = getopt(argc, argv, "XI")) != EOF) {
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switch (ch) {
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case 'X':
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busid = AEROFC_ADC_BUS_I2C_EXTERNAL;
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break;
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case 'I':
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busid = AEROFC_ADC_BUS_I2C_INTERNAL;
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break;
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default:
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help();
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return -1;
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}
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}
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if (optind >= argc) {
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help();
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return PX4_ERROR;
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}
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const char *verb = argv[optind];
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if (!strcmp(verb, "start")) {
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if (instance) {
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PX4_WARN("AEROFC_ADC was already started");
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return PX4_OK;
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}
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for (uint8_t i = 0; i < (sizeof(bus_options) / sizeof(bus_options[0])); i++) {
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if (busid != AEROFC_ADC_BUS_ALL && busid != bus_options[i].busid) {
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continue;
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}
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instance = new AEROFC_ADC(bus_options[i].busnum);
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if (!instance) {
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PX4_WARN("No memory to instance AEROFC_ADC");
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return PX4_ERROR;
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}
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if (instance->init() == PX4_OK) {
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break;
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}
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PX4_WARN("AEROFC_ADC not found on busnum=%u", bus_options[i].busnum);
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delete instance;
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instance = nullptr;
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}
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if (!instance) {
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PX4_WARN("AEROFC_ADC not found");
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return PX4_ERROR;
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}
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} else if (!strcmp(verb, "test")) {
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return test();
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} else {
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PX4_WARN("Action not supported");
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help();
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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