1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
|
/****************************************************************************
*
* Copyright (c) 2013-2015 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 px4flow.cpp
* @author Dominik Honegger
*
* Driver for the PX4FLOW module connected via I2C.
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <conversion/rotation.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_px4flow.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/optical_flow.h>
#include <board_config.h>
/* Configuration Constants */
#define I2C_FLOW_ADDRESS 0x42 ///< 7-bit address. 8-bit address is 0x84, range 0x42 - 0x49
/* PX4FLOW Registers addresses */
#define PX4FLOW_REG 0x16 ///< Measure Register 22
#define PX4FLOW_CONVERSION_INTERVAL 100000 ///< in microseconds! 20000 = 50 Hz 100000 = 10Hz
#define PX4FLOW_I2C_MAX_BUS_SPEED 400000 ///< 400 KHz maximum speed
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
#include "i2c_frame.h"
struct i2c_frame f;
struct i2c_integral_frame f_integral;
class PX4FLOW: public device::I2C
{
public:
PX4FLOW(int bus, int address = I2C_FLOW_ADDRESS, enum Rotation rotation = (enum Rotation)0);
virtual ~PX4FLOW();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
private:
work_s _work;
RingBuffer *_reports;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
orb_advert_t _px4flow_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
enum Rotation _sensor_rotation;
/**
* Test whether the device supported by the driver is present at a
* specific address.
*
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
int probe_address(uint8_t address);
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
int measure();
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int px4flow_main(int argc, char *argv[]);
PX4FLOW::PX4FLOW(int bus, int address, enum Rotation rotation) :
I2C("PX4FLOW", PX4FLOW0_DEVICE_PATH, bus, address, PX4FLOW_I2C_MAX_BUS_SPEED), /* 100-400 KHz */
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_px4flow_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "px4flow_read")),
_comms_errors(perf_alloc(PC_COUNT, "px4flow_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows")),
_sensor_rotation(rotation)
{
// enable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
PX4FLOW::~PX4FLOW()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr) {
delete _reports;
}
}
int
PX4FLOW::init()
{
int ret = ERROR;
/* do I2C init (and probe) first */
if (I2C::init() != OK) {
goto out;
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(optical_flow_s));
if (_reports == nullptr) {
goto out;
}
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
out:
return ret;
}
int
PX4FLOW::probe()
{
uint8_t val[I2C_FRAME_SIZE];
// to be sure this is not a ll40ls Lidar (which can also be on
// 0x42) we check if a I2C_FRAME_SIZE byte transfer works from address
// 0. The ll40ls gives an error for that, whereas the flow
// happily returns some data
if (transfer(nullptr, 0, &val[0], 22) != OK) {
return -EIO;
}
// that worked, so start a measurement cycle
return measure();
}
int
PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCSROTATION:
_sensor_rotation = (enum Rotation)arg;
return OK;
case SENSORIOCGROTATION:
return _sensor_rotation;
case SENSORIOCRESET:
/* XXX implement this */
return -EINVAL;
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
}
}
ssize_t
PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct optical_flow_s);
struct optical_flow_s *rbuf = reinterpret_cast<struct optical_flow_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_reports->get(rbuf)) {
ret += sizeof(*rbuf);
rbuf++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
do {
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
if (_reports->get(rbuf)) {
ret = sizeof(*rbuf);
}
} while (0);
return ret;
}
int
PX4FLOW::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
uint8_t cmd = PX4FLOW_REG;
ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret) {
perf_count(_comms_errors);
debug("i2c::transfer returned %d", ret);
return ret;
}
ret = OK;
return ret;
}
int
PX4FLOW::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[I2C_FRAME_SIZE + I2C_INTEGRAL_FRAME_SIZE] = { 0 };
perf_begin(_sample_perf);
if (PX4FLOW_REG == 0x00) {
ret = transfer(nullptr, 0, &val[0], I2C_FRAME_SIZE + I2C_INTEGRAL_FRAME_SIZE);
}
if (PX4FLOW_REG == 0x16) {
ret = transfer(nullptr, 0, &val[0], I2C_INTEGRAL_FRAME_SIZE);
}
if (ret < 0) {
debug("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
if (PX4FLOW_REG == 0) {
memcpy(&f, val, I2C_FRAME_SIZE);
memcpy(&f_integral, &(val[I2C_FRAME_SIZE]), I2C_INTEGRAL_FRAME_SIZE);
}
if (PX4FLOW_REG == 0x16) {
memcpy(&f_integral, val, I2C_INTEGRAL_FRAME_SIZE);
}
struct optical_flow_s report;
report.timestamp = hrt_absolute_time();
report.pixel_flow_x_integral = static_cast<float>(f_integral.pixel_flow_x_integral) / 10000.0f;//convert to radians
report.pixel_flow_y_integral = static_cast<float>(f_integral.pixel_flow_y_integral) / 10000.0f;//convert to radians
report.frame_count_since_last_readout = f_integral.frame_count_since_last_readout;
report.ground_distance_m = static_cast<float>(f_integral.ground_distance) / 1000.0f;//convert to meters
report.quality = f_integral.qual; //0:bad ; 255 max quality
report.gyro_x_rate_integral = static_cast<float>(f_integral.gyro_x_rate_integral) / 10000.0f; //convert to radians
report.gyro_y_rate_integral = static_cast<float>(f_integral.gyro_y_rate_integral) / 10000.0f; //convert to radians
report.gyro_z_rate_integral = static_cast<float>(f_integral.gyro_z_rate_integral) / 10000.0f; //convert to radians
report.integration_timespan = f_integral.integration_timespan; //microseconds
report.time_since_last_sonar_update = f_integral.sonar_timestamp;//microseconds
report.gyro_temperature = f_integral.gyro_temperature;//Temperature * 100 in centi-degrees Celsius
report.sensor_id = 0;
/* rotate measurements according to parameter */
float zeroval = 0.0f;
rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval);
if (_px4flow_topic < 0) {
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);
} else {
/* publish it */
orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report);
}
/* post a report to the ring */
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
void
PX4FLOW::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
SUBSYSTEM_TYPE_OPTICALFLOW
};
static orb_advert_t pub = -1;
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}
void
PX4FLOW::stop()
{
work_cancel(HPWORK, &_work);
}
void
PX4FLOW::cycle_trampoline(void *arg)
{
PX4FLOW *dev = (PX4FLOW *)arg;
dev->cycle();
}
void
PX4FLOW::cycle()
{
if (OK != measure()) {
debug("measure error");
}
/* perform collection */
if (OK != collect()) {
debug("collection error");
/* restart the measurement state machine */
start();
return;
}
work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this,
_measure_ticks);
}
void
PX4FLOW::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
_reports->print_info("report queue");
}
/**
* Local functions in support of the shell command.
*/
namespace px4flow
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
PX4FLOW *g_dev;
void start();
void stop();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start()
{
int fd;
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new PX4FLOW(PX4_I2C_BUS_EXPANSION);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
#ifdef PX4_I2C_BUS_ESC
delete g_dev;
/* try 2nd bus */
g_dev = new PX4FLOW(PX4_I2C_BUS_ESC);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
#endif
delete g_dev;
/* try 3rd bus */
g_dev = new PX4FLOW(PX4_I2C_BUS_ONBOARD);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
}
#ifdef PX4_I2C_BUS_ESC
}
#endif
}
/* set the poll rate to default, starts automatic data collection */
fd = open(PX4FLOW0_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0) {
goto fail;
}
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Stop the driver
*/
void
stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
} else {
errx(1, "driver not running");
}
exit(0);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
struct optical_flow_s report;
ssize_t sz;
int ret;
int fd = open(PX4FLOW0_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW0_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
{
warnx("immediate read failed");
}
warnx("single read");
warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
warnx("framecount_integral: %u",
f_integral.frame_count_since_last_readout);
/* start the sensor polling at 10Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 10)) {
errx(1, "failed to set 10Hz poll rate");
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 10; i++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("framecount_total: %u", f.frame_count);
warnx("framecount_integral: %u",
f_integral.frame_count_since_last_readout);
warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
warnx("gyro_x_rate_integral: %i", f_integral.gyro_x_rate_integral);
warnx("gyro_y_rate_integral: %i", f_integral.gyro_y_rate_integral);
warnx("gyro_z_rate_integral: %i", f_integral.gyro_z_rate_integral);
warnx("integration_timespan [us]: %u", f_integral.integration_timespan);
warnx("ground_distance: %0.2f m",
(double) f_integral.ground_distance / 1000);
warnx("time since last sonar update [us]: %i",
f_integral.sonar_timestamp);
warnx("quality integration average : %i", f_integral.qual);
warnx("quality : %i", f.qual);
}
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(PX4FLOW0_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr) {
errx(1, "driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace
int
px4flow_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
px4flow::start();
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
px4flow::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
px4flow::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset")) {
px4flow::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
px4flow::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}
|