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deprecate df_hmc5883_wrapper and replace with in tree hmc5883 

- deprecate DriverFramework hmc5883 driver (df_hmc5883_wrapper)
 - update aerotenna ocpoc and snapdragon flight eagle boards to use in tree hmc5883
This commit is contained in:
Daniel Agar 2020-01-05 13:48:01 -05:00
parent 7241eebd80
commit ce1e9762b0
17 changed files with 60 additions and 542 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
Tools/serial/generate_config.py
View File

@ -107,6 +107,11 @@ serial_ports = {
"index": 202,
"default_baudrate": 0,
},
"GPS3": {
"label": "GPS 3",
"index": 203,
"default_baudrate": 0,
},
# RC Port
"RC": {

9
boards/aerotenna/ocpoc/default.cmake
View File

@ -7,6 +7,14 @@ px4_add_board(
ARCHITECTURE cortex-a9
TOOLCHAIN arm-linux-gnueabihf
TESTING
SERIAL_PORTS
GPS1:/dev/ttyS3 # GPS/Compass #1 (OcPoC Port 6)
GPS2:/dev/ttyS7 # GPS/Compass #2 (OcPoC Port 7)
GPS3:/dev/ttyS1 # GPS/Compass #3 (OcPoC Port 9)
TEL1:/dev/ttyPS1 # Radio Telemetry (OcPoC Port 4)
TEL2:/dev/ttyS6 # uLanding Radar Altimeter (OcPoC Port 8)
TEL3:/dev/ttyS2 # (OcPoC Port 2)
TEL4:/dev/ttyS0 # uSharp-Patch (OcPoC Port 5)
DRIVERS
#barometer # all available barometer drivers
barometer/ms5611
@ -26,7 +34,6 @@ px4_add_board(
pwm_out_sim
#telemetry # all available telemetry drivers
DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
hmc5883
mpu9250
MODULES
airspeed_selector

28
boards/aerotenna/ocpoc/src/board_config.h
View File

@ -34,7 +34,7 @@
/**
* @file board_config.h
*
* OCPOC internal definitions
* Aerotenna Ocpoc internal definitions
*/
#pragma once
@ -43,22 +43,36 @@
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_OCPOC
#define BOARD_BATTERY1_V_DIV (10.177939394f)
#define BOARD_HAS_NO_RESET
#define BOARD_HAS_NO_BOOTLOADER
#define BOARD_NUMBER_I2C_BUSES 4
#define BOARD_MAX_LEDS 1 // Number of external LED's this board has
/*
* I2C busses
*/
#define PX4_I2C_BUS_EXPANSION 2 // i2c-2: Air Data Probe or I2C Splitter
#define PX4_I2C_BUS_EXPANSION1 4 // i2c-4: GPS/Compass #1
#define PX4_I2C_BUS_EXPANSION2 5 // i2c-5: GPS/Compass #2
#define PX4_I2C_BUS_EXPANSION3 3 // i2c-3: GPS/Compass #3
#define PX4_NUMBER_I2C_BUSES 4
#define PX4_I2C_BUS_LED 1
#define PX4_I2C_BUS_EXPANSION 1
// SPI
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev1.0 - mpu9250
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spidev1.1 - ms5611
//#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) // TODO: where is the 2nd mpu9250?
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
// Battery ADC channels
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11
// SPI
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#include <system_config.h>
#include <px4_platform_common/board_common.h>

1
boards/atlflight/eagle/qurt-default.cmake
View File

@ -52,7 +52,6 @@ px4_add_board(
snapdragon_pwm_out
spektrum_rc
DF_DRIVERS
hmc5883
isl29501
ltc2946
mpu9250

6
boards/atlflight/eagle/src/board_config.h
View File

@ -57,8 +57,10 @@
#define PX4_I2C_OBDEV_BMP280 0x76
// SPI
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spi-1 - mpu9250
// Battery ADC channels
#include <system_config.h>
#include <px4_platform_common/board_common.h>

1
boards/atlflight/excelsior/qurt-default.cmake
View File

@ -52,7 +52,6 @@ px4_add_board(
snapdragon_pwm_out
spektrum_rc
DF_DRIVERS
hmc5883
isl29501
ltc2946
mpu9250

1
boards/emlid/navio2/default.cmake
View File

@ -25,7 +25,6 @@ px4_add_board(
pwm_out_sim
#telemetry # all available telemetry drivers
DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
hmc5883
isl29501
lsm9ds1
mpu9250

21
boards/emlid/navio2/src/board_config.h
View File

@ -34,7 +34,7 @@
/**
* @file board_config.h
*
* Emlid Navio2 RPI internal definitions
* Emlid Navio2 internal definitions
*/
#pragma once
@ -42,9 +42,6 @@
#define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_RPI
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
#define BOARD_BATTERY1_V_DIV (10.177939394f)
#define BOARD_BATTERY1_A_PER_V (15.391030303f)
@ -56,12 +53,20 @@
/*
* I2C busses
*/
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_NUMBER_I2C_BUSES 1
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_NUMBER_I2C_BUSES 1
// SPI
#define PX4_SPI_BUS_SENSORS 0
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#define PX4_SPI_BUS_SENSORS 0
#define PX4_SPIDEV_UBLOX PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev0.0 - ublox m8n
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spidev0.1 - mpu9250
#define PX4_SPIDEV_LSM9DS1_M PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) // spidev0.2 - lsm9ds1 mag
#define PX4_SPIDEV_LSM9DS1_AG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3) // spidev0.3 - lsm9ds1 accel/gyro
// Battery ADC channels
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
#include <system_config.h>
#include <px4_platform_common/board_common.h>

2
boards/px4/raspberrypi/default.cmake
View File

@ -28,7 +28,7 @@ px4_add_board(
MODULES
airspeed_selector
attitude_estimator_q
battery_status
#battery_status
camera_feedback
commander
dataman

13
boards/px4/raspberrypi/src/board_config.h
View File

@ -48,17 +48,14 @@
/*
* I2C busses
*/
#define PX4_I2C_BUS_ONBOARD 1
#define PX4_I2C_BUS_EXPANSION 0
#define PX4_I2C_BUS_ONBOARD 1
#define PX4_I2C_BUS_EXPANSION 0
#define PX4_NUMBER_I2C_BUSES 2
#define PX4_NUMBER_I2C_BUSES 2
// SPI
#define PX4_SPI_BUS_SENSORS 0
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0)
#define ADC_BATTERY_VOLTAGE_CHANNEL 0
#define ADC_BATTERY_CURRENT_CHANNEL 1
#define PX4_SPI_BUS_SENSORS 0
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev0.0
#include <system_config.h>
#include <px4_platform_common/board_common.h>

2
posix-configs/eagle/flight/px4.config
View File

@ -5,7 +5,7 @@ sleep 1
gps start -d /dev/tty-4
param set MAV_TYPE 2
sleep 1
df_hmc5883_wrapper start
hmc5883 start
df_mpu9250_wrapper start_without_mag
bmp280 start
df_trone_wrapper start

2
posix-configs/eagle/init/rcS
View File

@ -19,7 +19,7 @@ then
qshell pwm_out_rc_in start -d /dev/tty-2
qshell gps start -d /dev/tty-4
qshell df_hmc5883_wrapper start
qshell hmc5883 start
qshell df_trone_wrapper start
#qshell df_isl29501_wrapper start

2
posix-configs/ocpoc/px4.config
View File

@ -16,7 +16,7 @@ param set MAV_TYPE 2
param set MAV_SYS_ID 1
df_mpu9250_wrapper start_without_mag -R 10
df_hmc5883_wrapper start -D /dev/i2c-4
hmc5883 start
ms5611 start
rgbled start -b 1
ocpoc_adc start

1
posix-configs/rpi/px4.config
View File

@ -19,7 +19,6 @@ param set BAT_A_PER_V 15.391030303
dataman start
df_lsm9ds1_wrapper start -R 4
#df_mpu9250_wrapper start -R 10
#df_hmc5883_wrapper start
ms5611 start
navio_rgbled start
navio_adc start

1
posix-configs/rpi/px4_test.config
View File

@ -19,7 +19,6 @@ param set BAT_A_PER_V 15.391030303
dataman start
df_lsm9ds1_wrapper start -R 4
#df_mpu9250_wrapper start -R 10
#df_hmc5883_wrapper start
ms5611 start
navio_rgbled start
navio_adc start

45
src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/CMakeLists.txt
View File

@ -1,45 +0,0 @@
############################################################################
#
# Copyright (c) 2016 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_directories(../../../lib/DriverFramework/drivers)
px4_add_module(
MODULE platforms__posix__drivers__df_hmc5883_wrapper
MAIN df_hmc5883_wrapper
SRCS
df_hmc5883_wrapper.cpp
DEPENDS
git_driverframework
df_driver_framework
df_hmc5883
)

462
src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
View File

@ -1,462 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 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.
*
****************************************************************************/
/**
* @file df_hmc5883_wrapper.cpp
* Lightweight driver to access the HMC5883 of the DriverFramework.
*
* @author Julian Oes <julian@oes.ch>
*/
#include <px4_platform_common/px4_config.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <stdint.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <unistd.h>
#include <px4_platform_common/getopt.h>
#include <errno.h>
#include <lib/parameters/param.h>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/parameter_update.h>
#include <board_config.h>
#include <lib/conversion/rotation.h>
#include <hmc5883/HMC5883.hpp>
#include <DevMgr.hpp>
extern "C" { __EXPORT int df_hmc5883_wrapper_main(int argc, char *argv[]); }
using namespace DriverFramework;
class DfHmc5883Wrapper : public HMC5883
{
public:
DfHmc5883Wrapper(enum Rotation rotation, const char *path);
~DfHmc5883Wrapper();
/**
* Start automatic measurement.
*
* @return 0 on success
*/
int start();
/**
* Stop automatic measurement.
*
* @return 0 on success
*/
int stop();
private:
int _publish(struct mag_sensor_data &data);
void _update_mag_calibration();
orb_advert_t _mag_topic;
int _param_update_sub;
struct mag_calibration_s {
float x_offset;
float x_scale;
float y_offset;
float y_scale;
float z_offset;
float z_scale;
} _mag_calibration;
matrix::Dcmf _rotation_matrix;
int _mag_orb_class_instance;
perf_counter_t _mag_sample_perf;
};
DfHmc5883Wrapper::DfHmc5883Wrapper(enum Rotation rotation, const char *path) :
HMC5883(path),
_mag_topic(nullptr),
_param_update_sub(-1),
_mag_calibration{},
_mag_orb_class_instance(-1),
_mag_sample_perf(perf_alloc(PC_ELAPSED, "df_mag_read"))
{
// Set sane default calibration values
_mag_calibration.x_scale = 1.0f;
_mag_calibration.y_scale = 1.0f;
_mag_calibration.z_scale = 1.0f;
_mag_calibration.x_offset = 0.0f;
_mag_calibration.y_offset = 0.0f;
_mag_calibration.z_offset = 0.0f;
// Get sensor rotation matrix
_rotation_matrix = get_rot_matrix(rotation);
}
DfHmc5883Wrapper::~DfHmc5883Wrapper()
{
perf_free(_mag_sample_perf);
}
int DfHmc5883Wrapper::start()
{
/* Subscribe to param update topic. */
if (_param_update_sub < 0) {
_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
}
/* Init device and start sensor. */
int ret = init();
if (ret != 0) {
PX4_ERR("HMC5883 init fail: %d", ret);
return ret;
}
ret = HMC5883::start();
if (ret != 0) {
PX4_ERR("HMC5883 start fail: %d", ret);
return ret;
}
/* Force getting the calibration values. */
_update_mag_calibration();
return 0;
}
int DfHmc5883Wrapper::stop()
{
/* Stop sensor. */
int ret = HMC5883::stop();
if (ret != 0) {
PX4_ERR("HMC5883 stop fail: %d", ret);
return ret;
}
return 0;
}
void DfHmc5883Wrapper::_update_mag_calibration()
{
// TODO: replace magic number
for (unsigned i = 0; i < 3; ++i) {
// TODO: remove printfs and add error counter
char str[30];
(void)sprintf(str, "CAL_MAG%u_ID", i);
int32_t device_id;
int res = param_get(param_find(str), &device_id);
if (res != OK) {
PX4_ERR("Could not access param %s", str);
continue;
}
if ((uint32_t)device_id != m_id.dev_id) {
continue;
}
(void)sprintf(str, "CAL_MAG%u_XSCALE", i);
res = param_get(param_find(str), &_mag_calibration.x_scale);
if (res != OK) {
PX4_ERR("Could not access param %s", str);
}
(void)sprintf(str, "CAL_MAG%u_YSCALE", i);
res = param_get(param_find(str), &_mag_calibration.y_scale);
if (res != OK) {
PX4_ERR("Could not access param %s", str);
}
(void)sprintf(str, "CAL_MAG%u_ZSCALE", i);
res = param_get(param_find(str), &_mag_calibration.z_scale);
if (res != OK) {
PX4_ERR("Could not access param %s", str);
}
(void)sprintf(str, "CAL_MAG%u_XOFF", i);
res = param_get(param_find(str), &_mag_calibration.x_offset);
if (res != OK) {
PX4_ERR("Could not access param %s", str);
}
(void)sprintf(str, "CAL_MAG%u_YOFF", i);
res = param_get(param_find(str), &_mag_calibration.y_offset);
if (res != OK) {
PX4_ERR("Could not access param %s", str);
}
(void)sprintf(str, "CAL_MAG%u_ZOFF", i);
res = param_get(param_find(str), &_mag_calibration.z_offset);
if (res != OK) {
PX4_ERR("Could not access param %s", str);
}
}
}
int DfHmc5883Wrapper::_publish(struct mag_sensor_data &data)
{
/* Check if calibration values are still up-to-date. */
bool updated;
orb_check(_param_update_sub, &updated);
if (updated) {
parameter_update_s parameter_update;
orb_copy(ORB_ID(parameter_update), _param_update_sub, &parameter_update);
_update_mag_calibration();
}
/* Publish mag first. */
perf_begin(_mag_sample_perf);
mag_report mag_report = {};
mag_report.timestamp = hrt_absolute_time();
mag_report.is_external = true;
/* The standard external mag by 3DR has x pointing to the
* right, y pointing backwards, and z down, therefore switch x
* and y and invert y. */
const float tmp = data.field_x_ga;
data.field_x_ga = -data.field_y_ga;
data.field_y_ga = tmp;
// TODO: remove these (or get the values)
mag_report.x_raw = 0;
mag_report.y_raw = 0;
mag_report.z_raw = 0;
matrix::Vector3f mag_val(data.field_x_ga,
data.field_y_ga,
data.field_z_ga);
// apply sensor rotation on the accel measurement
mag_val = _rotation_matrix * mag_val;
// Apply calibration after rotation.
mag_report.x = (mag_val(0) - _mag_calibration.x_offset) * _mag_calibration.x_scale;
mag_report.y = (mag_val(1) - _mag_calibration.y_offset) * _mag_calibration.y_scale;
mag_report.z = (mag_val(2) - _mag_calibration.z_offset) * _mag_calibration.z_scale;
// TODO: get these right
//mag_report.scaling = -1.0f;
mag_report.device_id = m_id.dev_id;
// TODO: when is this ever blocked?
if (!(m_pub_blocked)) {
if (_mag_topic == nullptr) {
_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mag_report,
&_mag_orb_class_instance, ORB_PRIO_HIGH);
} else {
orb_publish(ORB_ID(sensor_mag), _mag_topic, &mag_report);
}
}
perf_end(_mag_sample_perf);
return 0;
};
namespace df_hmc5883_wrapper
{
DfHmc5883Wrapper *g_dev = nullptr;
int start(enum Rotation rotation, const char *path);
int stop();
int info();
void usage();
int start(enum Rotation rotation, const char *path)
{
g_dev = new DfHmc5883Wrapper(rotation, path);
if (g_dev == nullptr) {
PX4_ERR("failed instantiating DfHmc5883Wrapper object");
return -1;
}
int ret = g_dev->start();
if (ret != 0) {
PX4_ERR("DfHmc5883Wrapper start failed");
return ret;
}
// Open the MAG sensor
DevHandle h;
DevMgr::getHandle(path, h);
if (!h.isValid()) {
DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
path, h.getError());
return -1;
}
DevMgr::releaseHandle(h);
return 0;
}
int stop()
{
if (g_dev == nullptr) {
PX4_ERR("driver not running");
return 1;
}
int ret = g_dev->stop();
if (ret != 0) {
PX4_ERR("driver could not be stopped");
return ret;
}
delete g_dev;
g_dev = nullptr;
return 0;
}
/**
* Print a little info about the driver.
*/
int
info()
{
if (g_dev == nullptr) {
PX4_ERR("driver not running");
return 1;
}
PX4_DEBUG("state @ %p", g_dev);
return 0;
}
void
usage()
{
PX4_INFO("Usage: df_hmc5883_wrapper 'start', 'info', 'stop'");
PX4_INFO("options:");
PX4_INFO(" -R rotation");
}
} // namespace df_hmc5883_wrapper
int
df_hmc5883_wrapper_main(int argc, char *argv[])
{
int ch;
enum Rotation rotation = ROTATION_NONE;
int ret = 0;
int myoptind = 1;
const char *myoptarg = NULL;
const char *device_path = MAG_DEVICE_PATH;
/* jump over start/off/etc and look at options first */
while ((ch = px4_getopt(argc, argv, "R:D:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'R':
rotation = (enum Rotation)atoi(myoptarg);
break;
case 'D':
device_path = myoptarg;
break;
default:
df_hmc5883_wrapper::usage();
return 0;
}
}
if (argc <= 1) {
df_hmc5883_wrapper::usage();
return 1;
}
const char *verb = argv[myoptind];
if (!strcmp(verb, "start")) {
ret = df_hmc5883_wrapper::start(rotation, device_path);
}
else if (!strcmp(verb, "stop")) {
ret = df_hmc5883_wrapper::stop();
}
else if (!strcmp(verb, "info")) {
ret = df_hmc5883_wrapper::info();
}
else {
df_hmc5883_wrapper::usage();
return 1;
}
return ret;
}