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lsm303d: added -X option for external bus

This commit is contained in:
Andrew Tridgell 2014-06-26 12:14:17 +10:00 committed by Lorenz Meier
parent e7360f4016
commit e0dbc82d84
1 changed files with 40 additions and 11 deletions
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51
src/drivers/lsm303d/lsm303d.cpp
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@ -52,6 +52,7 @@
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <getopt.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
@ -85,6 +86,7 @@ static const int ERROR = -1;
#define ADDR_INCREMENT (1<<6)
#define LSM303D_DEVICE_PATH_ACCEL "/dev/lsm303d_accel"
#define LSM303D_DEVICE_PATH_ACCEL_EXT "/dev/lsm303d_accel_ext"
#define LSM303D_DEVICE_PATH_MAG "/dev/lsm303d_mag"
/* register addresses: A: accel, M: mag, T: temp */
@ -1791,16 +1793,18 @@ void logging();
* Start the driver.
*/
void
start()
start(bool external_bus)
{
int fd, fd_mag;
if (g_dev != nullptr)
errx(0, "already started");
/* create the driver */
g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG);
if (external_bus) {
g_dev = new LSM303D(PX4_SPI_BUS_EXT, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_EXT_ACCEL_MAG);
} else {
g_dev = new LSM303D(PX4_SPI_BUS_SENSORS, LSM303D_DEVICE_PATH_ACCEL, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG);
}
if (g_dev == nullptr) {
warnx("failed instantiating LSM303D obj");
goto fail;
@ -1998,44 +2002,69 @@ logging()
} // namespace
void
lsm303d_usage()
{
warnx("missing command: try 'start', 'info', 'test', 'reset', 'regdump', 'logging'");
warnx("options:");
warnx(" -X (external bus)");
}
int
lsm303d_main(int argc, char *argv[])
{
bool external_bus = false;
int ch;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "X")) != EOF) {
switch (ch) {
case 'X':
external_bus = true;
break;
default:
lsm303d_usage();
exit(0);
}
}
const char *verb = argv[optind];
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
lsm303d::start();
if (!strcmp(verb, "start"))
lsm303d::start(external_bus);
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
if (!strcmp(verb, "test"))
lsm303d::test();
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
if (!strcmp(verb, "reset"))
lsm303d::reset();
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info"))
if (!strcmp(verb, "info"))
lsm303d::info();
/*
* dump device registers
*/
if (!strcmp(argv[1], "regdump"))
if (!strcmp(verb, "regdump"))
lsm303d::regdump();
/*
* dump device registers
*/
if (!strcmp(argv[1], "logging"))
if (!strcmp(verb, "logging"))
lsm303d::logging();
errx(1, "unrecognized command, try 'start', 'test', 'reset', 'info', 'logging' or 'regdump'");