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refactor bmi088: use driver base class

This commit is contained in:
Beat Küng 2020-03-17 18:06:56 +01:00 committed by Daniel Agar
parent aad6fe6f03
commit 54da4997ad
10 changed files with 130 additions and 416 deletions
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4
boards/holybro/durandal-v1/init/rc.board_sensors
View File

@ -8,10 +8,10 @@ adc start
mpu6000 -R 8 -s -T 20689 start
# Internal SPI bus BMI088 accel
bmi088 -A -R 10 start
bmi088 -A -R 10 -s start
# Internal SPI bus BMI088 gyro
bmi088 -G -R 10 start
bmi088 -G -R 10 -s start
# Possible external compasses
ist8310 -X start

4
boards/modalai/fc-v1/init/rc.board_sensors
View File

@ -16,10 +16,10 @@ mpu6000 -R 6 -s -T 20602 start
icm42688p -R 12 start
# Internal SPI bus BMI088 accel
bmi088 -A -R 4 start
bmi088 -A -R 4 -s start
# Internal SPI bus BMI088 gyro
bmi088 -G -R 4 start
bmi088 -G -R 4 -s start
# Possible external compasses
ist8310 -X start

4
boards/mro/ctrl-zero-f7/init/rc.board_sensors
View File

@ -12,10 +12,10 @@ mpu6000 -R 10 -s -T 20602 start
#icm20689 -R 10 20689 start
# Internal SPI bus BMI088 accel
bmi088 -A -R 10 start
bmi088 -A -R 10 -s start
# Internal SPI bus BMI088 gyro
bmi088 -G -R 10 start
bmi088 -G -R 10 -s start
# Interal DPS310 (barometer)
dps310 -s start

8
boards/px4/fmu-v5x/init/rc.board_sensors
View File

@ -16,10 +16,10 @@ mpu6000 -R 8 -s -T 20602 start
ism330dlc start
# Internal SPI bus BMI088 accel
bmi088 -A -R 12 start
bmi088 -A -R 12 -s start
# Internal SPI bus BMI088 gyro
bmi088 -G -R 12 start
bmi088 -G -R 12 -s start
# Possible external compasses
ist8310 -X start
@ -36,5 +36,5 @@ bmp388 -I -a 0x77 start
# Baro on I2C3
ms5611 -X start
# External RM3100 (I2C or SPI)
rm3100 start
# External RM3100
rm3100 -X start

35
src/drivers/imu/bmi088/BMI088.hpp
View File

@ -38,7 +38,7 @@
#include <lib/conversion/rotation.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/i2c_spi_buses.h>
#define DIR_READ 0x80
#define DIR_WRITE 0x00
@ -50,12 +50,28 @@
#define BMI088_TIMER_REDUCTION 200
class BMI088 : public device::SPI
class BMI088 : public device::SPI, public I2CSPIDriver<BMI088>
{
public:
BMI088(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, int type, uint32_t device,
enum spi_mode_e mode, uint32_t frequency, enum Rotation rotation);
virtual ~BMI088() = default;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
virtual void start() = 0;
virtual void RunImpl() = 0;
protected:
virtual void print_registers() = 0;
virtual void test_error() = 0;
uint8_t _whoami; /** whoami result */
void custom_method(const BusCLIArguments &cli) override;
uint8_t _whoami; ///< whoami result
uint8_t _register_wait;
uint64_t _reset_wait;
@ -80,17 +96,4 @@ protected:
* @param value The new value to write.
*/
void write_reg(unsigned reg, uint8_t value);
/* do not allow to copy this class due to pointer data members */
BMI088(const BMI088 &);
BMI088 operator=(const BMI088 &);
public:
BMI088(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency,
enum Rotation rotation);
virtual ~BMI088() = default;
};

31
src/drivers/imu/bmi088/BMI088_accel.cpp
View File

@ -52,9 +52,10 @@ const uint8_t BMI088_accel::_checked_registers[BMI088_ACCEL_NUM_CHECKED_REGISTER
BMI088_ACC_PWR_CTRL,
};
BMI088_accel::BMI088_accel(int bus, const char *path_accel, uint32_t device, enum Rotation rotation) :
BMI088("BMI088_ACCEL", path_accel, bus, device, SPIDEV_MODE3, BMI088_BUS_SPEED, rotation),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
BMI088_accel::BMI088_accel(I2CSPIBusOption bus_option, int bus, const char *path_accel, uint32_t device,
enum Rotation rotation,
int bus_frequency, spi_mode_e spi_mode) :
BMI088("bmi088_accel", path_accel, bus_option, bus, DRV_ACC_DEVTYPE_BMI088, device, spi_mode, bus_frequency, rotation),
_px4_accel(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi088_accel_read")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi088_accel_bad_transfers")),
@ -67,9 +68,6 @@ BMI088_accel::BMI088_accel(int bus, const char *path_accel, uint32_t device, enu
BMI088_accel::~BMI088_accel()
{
/* make sure we are truly inactive */
stop();
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_bad_transfers);
@ -326,9 +324,6 @@ BMI088_accel::set_accel_range(unsigned max_g)
void
BMI088_accel::start()
{
/* make sure we are stopped first */
stop();
// Reset the accelerometer
reset();
@ -337,19 +332,6 @@ BMI088_accel::start()
}
void
BMI088_accel::stop()
{
ScheduleClear();
}
void
BMI088_accel::Run()
{
/* make another measurement */
measure();
}
void
BMI088_accel::check_registers(void)
{
@ -394,7 +376,7 @@ BMI088_accel::check_registers(void)
}
void
BMI088_accel::measure()
BMI088_accel::RunImpl()
{
if (hrt_absolute_time() < _reset_wait) {
// we're waiting for a reset to complete
@ -530,8 +512,9 @@ BMI088_accel::measure()
}
void
BMI088_accel::print_info()
BMI088_accel::print_status()
{
I2CSPIDriverBase::print_status();
PX4_INFO("Accel");
perf_print_counter(_sample_perf);

31
src/drivers/imu/bmi088/BMI088_accel.hpp
View File

@ -154,36 +154,35 @@
#define BMI088_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 50
class BMI088_accel : public BMI088, public px4::ScheduledWorkItem
class BMI088_accel : public BMI088
{
public:
BMI088_accel(int bus, const char *path_accel, uint32_t device, enum Rotation rotation);
BMI088_accel(I2CSPIBusOption bus_option, int bus, const char *path_accel, uint32_t device, enum Rotation rotation,
int bus_frequency, spi_mode_e spi_mode);
virtual ~BMI088_accel();
virtual int init();
int init() override;
// Start automatic measurement.
void start();
// We need to override the read_reg function from the BMI088 base class, because the accelerometer requires a dummy byte read before each read operation
virtual uint8_t read_reg(unsigned reg);
uint8_t read_reg(unsigned reg) override;
// We need to override the read_reg16 function from the BMI088 base class, because the accelerometer requires a dummy byte read before each read operation
virtual uint16_t read_reg16(unsigned reg);
uint16_t read_reg16(unsigned reg) override;
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
void print_status() override;
void print_registers();
// deliberately cause a sensor error
void test_error();
void RunImpl() override;
protected:
virtual int probe();
int probe() override;
private:
@ -204,11 +203,6 @@ private:
bool _got_duplicate;
/**
* Stop automatic measurement.
*/
void stop();
/**
* Reset chip.
*
@ -216,13 +210,6 @@ private:
*/
int reset();
void Run() override;
/**
* Fetch measurements from the sensor and update the report buffers.
*/
void measure();
/**
* Modify a register in the BMI088_accel
*

40
src/drivers/imu/bmi088/BMI088_gyro.cpp
View File

@ -55,9 +55,10 @@ const uint8_t BMI088_gyro::_checked_registers[BMI088_GYRO_NUM_CHECKED_REGISTERS]
BMI088_GYR_INT_MAP_1
};
BMI088_gyro::BMI088_gyro(int bus, const char *path_gyro, uint32_t device, enum Rotation rotation) :
BMI088("BMI088_GYRO", path_gyro, bus, device, SPIDEV_MODE3, BMI088_BUS_SPEED, rotation),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
BMI088_gyro::BMI088_gyro(I2CSPIBusOption bus_option, int bus, const char *path_gyro, uint32_t device,
enum Rotation rotation, int bus_frequency, spi_mode_e spi_mode) :
BMI088("bmi088_gyro", path_gyro, bus_option, bus, DRV_GYR_DEVTYPE_BMI088, device, spi_mode, bus_frequency,
rotation),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi088_gyro_read")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_transfers")),
@ -68,9 +69,6 @@ BMI088_gyro::BMI088_gyro(int bus, const char *path_gyro, uint32_t device, enum R
BMI088_gyro::~BMI088_gyro()
{
/* make sure we are truly inactive */
stop();
/* delete the perf counter */
perf_free(_sample_perf);
perf_free(_bad_transfers);
@ -263,35 +261,10 @@ BMI088_gyro::set_gyro_range(unsigned max_dps)
void
BMI088_gyro::start()
{
/* make sure we are stopped first */
stop();
/* start polling at the specified rate */
ScheduleOnInterval(BMI088_GYRO_DEFAULT_RATE - BMI088_TIMER_REDUCTION, 1000);
}
void
BMI088_gyro::stop()
{
ScheduleClear();
}
void
BMI088_gyro::Run()
{
/* make another measurement */
measure();
}
void
BMI088_gyro::measure_trampoline(void *arg)
{
BMI088_gyro *dev = static_cast<BMI088_gyro *>(arg);
/* make another measurement */
dev->measure();
}
void
BMI088_gyro::check_registers(void)
{
@ -336,7 +309,7 @@ BMI088_gyro::check_registers(void)
}
void
BMI088_gyro::measure()
BMI088_gyro::RunImpl()
{
if (hrt_absolute_time() < _reset_wait) {
// we're waiting for a reset to complete
@ -424,8 +397,9 @@ BMI088_gyro::measure()
}
void
BMI088_gyro::print_info()
BMI088_gyro::print_status()
{
I2CSPIDriverBase::print_status();
PX4_INFO("Gyro");
perf_print_counter(_sample_perf);

33
src/drivers/imu/bmi088/BMI088_gyro.hpp
View File

@ -129,30 +129,29 @@
/* Mask definitions for Gyro bandwidth */
#define BMI088_GYRO_BW_MASK 0x0F
class BMI088_gyro : public BMI088, public px4::ScheduledWorkItem
class BMI088_gyro : public BMI088
{
public:
BMI088_gyro(int bus, const char *path_gyro, uint32_t device, enum Rotation rotation);
BMI088_gyro(I2CSPIBusOption bus_option, int bus, const char *path_accel, uint32_t device, enum Rotation rotation,
int bus_frequency, spi_mode_e spi_mode);
virtual ~BMI088_gyro();
virtual int init();
int init() override;
// Start automatic measurement.
void start();
void start() override;
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
void print_status() override;
void print_registers();
void print_registers() override;
// deliberately cause a sensor error
void test_error();
void test_error() override;
void RunImpl() override;
protected:
virtual int probe();
int probe() override;
private:
@ -173,11 +172,6 @@ private:
// last temperature reading for print_info()
float _last_temperature;
/**
* Stop automatic measurement.
*/
void stop();
/**
* Reset chip.
*
@ -185,8 +179,6 @@ private:
*/
int reset();
void Run() override;
/**
* Static trampoline from the hrt_call context; because we don't have a
* generic hrt wrapper yet.
@ -198,11 +190,6 @@ private:
*/
static void measure_trampoline(void *arg);
/**
* Fetch measurements from the sensor and update the report buffers.
*/
void measure();
/**
* Modify a register in the BMI088_gyro
*

360
src/drivers/imu/bmi088/bmi088_main.cpp
View File

@ -33,276 +33,74 @@
#include "BMI088_accel.hpp"
#include "BMI088_gyro.hpp"
#include <px4_platform_common/i2c_spi_buses.h>
#include <px4_platform_common/module.h>
/** driver 'main' command */
extern "C" { __EXPORT int bmi088_main(int argc, char *argv[]); }
extern "C" __EXPORT int bmi088_main(int argc, char *argv[]);
enum sensor_type {
BMI088_NONE = 0,
BMI088_ACCEL = 1,
BMI088_GYRO
};
namespace bmi088
{
BMI088_accel *g_acc_dev_int; // on internal bus (accel)
BMI088_accel *g_acc_dev_ext; // on external bus (accel)
BMI088_gyro *g_gyr_dev_int; // on internal bus (gyro)
BMI088_gyro *g_gyr_dev_ext; // on external bus (gyro)
void start(bool, enum Rotation, enum sensor_type);
void stop(bool, enum sensor_type);
void info(bool, enum sensor_type);
void regdump(bool, enum sensor_type);
void testerror(bool, enum sensor_type);
void usage();
/**
* Start the driver.
*
* This function only returns if the driver is up and running
* or failed to detect the sensor.
*/
void
start(bool external_bus, enum Rotation rotation, enum sensor_type sensor)
BMI088::print_usage()
{
PRINT_MODULE_USAGE_NAME("bmi088", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_FLAG('A', "Accel", true);
PRINT_MODULE_USAGE_PARAM_FLAG('G', "Gyro", true);
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
BMI088_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
const char *path_accel = external_bus ? BMI088_DEVICE_PATH_ACCEL_EXT : BMI088_DEVICE_PATH_ACCEL;
PRINT_MODULE_USAGE_COMMAND("regdump");
PRINT_MODULE_USAGE_COMMAND("testerror");
BMI088_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
const char *path_gyro = external_bus ? BMI088_DEVICE_PATH_GYRO_EXT : BMI088_DEVICE_PATH_GYRO;
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
if (sensor == BMI088_ACCEL) {
if (*g_dev_acc_ptr != nullptr)
/* if already started, the still command succeeded */
{
errx(0, "bmi088 accel sensor already started");
I2CSPIDriverBase *BMI088::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
BMI088 *instance = nullptr;
if (cli.type == DRV_ACC_DEVTYPE_BMI088) {
instance = new BMI088_accel(iterator.configuredBusOption(), iterator.bus(), BMI088_DEVICE_PATH_ACCEL, iterator.devid(),
cli.rotation, cli.bus_frequency, cli.spi_mode);
} else if (cli.type == DRV_GYR_DEVTYPE_BMI088) {
instance = new BMI088_gyro(iterator.configuredBusOption(), iterator.bus(), BMI088_DEVICE_PATH_GYRO, iterator.devid(),
cli.rotation, cli.bus_frequency, cli.spi_mode);
}
/* create the driver */
if (external_bus) {
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
*g_dev_acc_ptr = new BMI088_accel(PX4_SPI_BUS_EXT, path_accel, PX4_SPIDEV_EXT_BMI, rotation);
#else
errx(0, "External SPI not available");
#endif
} else {
#if defined(PX4_SPI_BUS_SENSORS3) && defined(PX4_SPIDEV_BMI088_ACC)
*g_dev_acc_ptr = new BMI088_accel(PX4_SPI_BUS_SENSORS3, path_accel, PX4_SPIDEV_BMI088_ACC, rotation);
#elif defined(PX4_SPI_BUS_5) && defined(PX4_SPIDEV_BMI088_ACC)
*g_dev_acc_ptr = new BMI088_accel(PX4_SPI_BUS_5, path_accel, PX4_SPIDEV_BMI088_ACC, rotation);
#endif
if (instance == nullptr) {
return nullptr;
}
if (*g_dev_acc_ptr == nullptr) {
goto fail_accel;
if (OK != instance->init()) {
PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
delete instance;
return nullptr;
}
if (OK != (*g_dev_acc_ptr)->init()) {
goto fail_accel;
}
instance->start();
// start automatic data collection
(*g_dev_acc_ptr)->start();
}
if (sensor == BMI088_GYRO) {
if (*g_dev_gyr_ptr != nullptr) {
errx(0, "bmi088 gyro sensor already started");
}
/* create the driver */
if (external_bus) {
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_BMI)
*g_dev_ptr = new BMI088_gyro(PX4_SPI_BUS_EXT, path_gyro, PX4_SPIDEV_EXT_BMI, rotation);
#else
errx(0, "External SPI not available");
#endif
} else {
#if defined(PX4_SPI_BUS_SENSORS3) && defined(PX4_SPIDEV_BMI088_GYR)
*g_dev_gyr_ptr = new BMI088_gyro(PX4_SPI_BUS_SENSORS3, path_gyro, PX4_SPIDEV_BMI088_GYR, rotation);
#elif defined(PX4_SPI_BUS_5) && defined(PX4_SPIDEV_BMI088_GYR)
*g_dev_gyr_ptr = new BMI088_gyro(PX4_SPI_BUS_5, path_gyro, PX4_SPIDEV_BMI088_GYR, rotation);
#endif
}
if (*g_dev_gyr_ptr == nullptr) {
goto fail_gyro;
}
if (OK != (*g_dev_gyr_ptr)->init()) {
goto fail_gyro;
}
// start automatic data collection
(*g_dev_gyr_ptr)->start();
}
exit(PX4_OK);
fail_accel:
if (*g_dev_acc_ptr != nullptr) {
delete (*g_dev_acc_ptr);
*g_dev_acc_ptr = nullptr;
}
PX4_WARN("No BMI088 accel found");
exit(PX4_ERROR);
fail_gyro:
if (*g_dev_gyr_ptr != nullptr) {
delete (*g_dev_gyr_ptr);
*g_dev_gyr_ptr = nullptr;
}
PX4_WARN("No BMI088 gyro found");
exit(PX4_ERROR);
return instance;
}
void
stop(bool external_bus, enum sensor_type sensor)
BMI088::custom_method(const BusCLIArguments &cli)
{
BMI088_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
BMI088_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
switch (cli.custom1) {
case 0: print_registers();
break;
if (sensor == BMI088_ACCEL) {
if (*g_dev_acc_ptr != nullptr) {
delete *g_dev_acc_ptr;
*g_dev_acc_ptr = nullptr;
} else {
/* warn, but not an error */
warnx("bmi088 accel sensor already stopped.");
case 1: test_error();
break;
}
}
if (sensor == BMI088_GYRO) {
if (*g_dev_gyr_ptr != nullptr) {
delete *g_dev_gyr_ptr;
*g_dev_gyr_ptr = nullptr;
} else {
/* warn, but not an error */
warnx("bmi088 gyro sensor already stopped.");
}
}
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info(bool external_bus, enum sensor_type sensor)
{
BMI088_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
BMI088_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
if (sensor == BMI088_ACCEL) {
if (*g_dev_acc_ptr == nullptr) {
errx(1, "bmi088 accel driver not running");
}
printf("state @ %p\n", *g_dev_acc_ptr);
(*g_dev_acc_ptr)->print_info();
}
if (sensor == BMI088_GYRO) {
if (*g_dev_gyr_ptr == nullptr) {
errx(1, "bmi088 gyro driver not running");
}
printf("state @ %p\n", *g_dev_gyr_ptr);
(*g_dev_gyr_ptr)->print_info();
}
exit(0);
}
/**
* Dump the register information
*/
void
regdump(bool external_bus, enum sensor_type sensor)
{
BMI088_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
BMI088_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
if (sensor == BMI088_ACCEL) {
if (*g_dev_acc_ptr == nullptr) {
errx(1, "bmi088 accel driver not running");
}
printf("regdump @ %p\n", *g_dev_acc_ptr);
(*g_dev_acc_ptr)->print_registers();
}
if (sensor == BMI088_GYRO) {
if (*g_dev_gyr_ptr == nullptr) {
errx(1, "bmi088 gyro driver not running");
}
printf("regdump @ %p\n", *g_dev_gyr_ptr);
(*g_dev_gyr_ptr)->print_registers();
}
exit(0);
}
/**
* deliberately produce an error to test recovery
*/
void
testerror(bool external_bus, enum sensor_type sensor)
{
BMI088_accel **g_dev_acc_ptr = external_bus ? &g_acc_dev_ext : &g_acc_dev_int;
BMI088_gyro **g_dev_gyr_ptr = external_bus ? &g_gyr_dev_ext : &g_gyr_dev_int;
if (sensor == BMI088_ACCEL) {
if (*g_dev_acc_ptr == nullptr) {
errx(1, "bmi088 accel driver not running");
}
(*g_dev_acc_ptr)->test_error();
}
if (sensor == BMI088_GYRO) {
if (*g_dev_gyr_ptr == nullptr) {
errx(1, "bmi088 gyro driver not running");
}
(*g_dev_gyr_ptr)->test_error();
}
exit(0);
}
void
usage()
{
warnx("missing command: try 'start', 'info', 'stop', 'regdump', 'testerror'");
warnx("options:");
warnx(" -X (external bus)");
warnx(" -R rotation");
warnx(" -A (Enable Accelerometer)");
warnx(" -G (Enable Gyroscope)");
}
}//namespace ends
BMI088::BMI088(const char *name, const char *devname, int bus, uint32_t device, enum spi_mode_e mode,
BMI088::BMI088(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, int type, uint32_t device,
enum spi_mode_e mode,
uint32_t frequency, enum Rotation rotation):
SPI(name, devname, bus, device, mode, frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, type),
_whoami(0),
_register_wait(0),
_reset_wait(0),
@ -345,77 +143,59 @@ BMI088::write_reg(unsigned reg, uint8_t value)
int
bmi088_main(int argc, char *argv[])
{
bool external_bus = false;
using ThisDriver = BMI088;
int ch;
enum Rotation rotation = ROTATION_NONE;
enum sensor_type sensor = BMI088_NONE;
int myoptind = 1;
const char *myoptarg = NULL;
BusCLIArguments cli{false, true};
cli.type = 0;
cli.default_spi_frequency = BMI088_BUS_SPEED;
/* jump over start/off/etc and look at options first */
while ((ch = px4_getopt(argc, argv, "XR:AG", &myoptind, &myoptarg)) != EOF) {
while ((ch = cli.getopt(argc, argv, "AGR:")) != EOF) {
switch (ch) {
case 'X':
external_bus = true;
break;
case 'R':
rotation = (enum Rotation)atoi(myoptarg);
break;
case 'A':
sensor = BMI088_ACCEL;
cli.type = DRV_ACC_DEVTYPE_BMI088;
break;
case 'G':
sensor = BMI088_GYRO;
cli.type = DRV_GYR_DEVTYPE_BMI088;
break;
default:
bmi088::usage();
exit(0);
case 'R':
cli.rotation = (enum Rotation)atoi(cli.optarg());
break;
}
}
const char *verb = argv[myoptind];
const char *verb = cli.optarg();
if (sensor == BMI088_NONE) {
bmi088::usage();
exit(0);
if (!verb) {
ThisDriver::print_usage();
return -1;
}
/*
* Start/load the driver.
*/
BusInstanceIterator iterator(MODULE_NAME, cli, cli.type);
if (!strcmp(verb, "start")) {
bmi088::start(external_bus, rotation, sensor);
return ThisDriver::module_start(cli, iterator);
}
/*
* Stop the driver.
*/
if (!strcmp(verb, "stop")) {
bmi088::stop(external_bus, sensor);
return ThisDriver::module_stop(iterator);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info")) {
bmi088::info(external_bus, sensor);
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
/*
* Print register information.
*/
if (!strcmp(verb, "regdump")) {
bmi088::regdump(external_bus, sensor);
cli.custom1 = 0;
return ThisDriver::module_custom_method(cli, iterator);
}
if (!strcmp(verb, "testerror")) {
bmi088::testerror(external_bus, sensor);
cli.custom1 = 1;
return ThisDriver::module_custom_method(cli, iterator);
}
bmi088::usage();
exit(1);
ThisDriver::print_usage();
return -1;
}