int
fmu_main(int argc, char *argv[])
{
PortMode new_mode = PORT_MODE_UNSET;
const char *verb = argv[1];
if (!strcmp(verb, "stop")) {
fmu_stop();
errx(0, "FMU driver stopped");
}
if (!strcmp(verb, "id")) {
uint8_t id[12];
(void)get_board_serial(id);
errx(0, "Board serial:\n %02X%02X%02X%02X %02X%02X%02X%02X %02X%02X%02X%02X",
(unsigned)id[0], (unsigned)id[1], (unsigned)id[2], (unsigned)id[3], (unsigned)id[4], (unsigned)id[5],
(unsigned)id[6], (unsigned)id[7], (unsigned)id[8], (unsigned)id[9], (unsigned)id[10], (unsigned)id[11]);
}
if (fmu_start() != OK)
errx(1, "failed to start the FMU driver");
/*
* Mode switches.
*/
if (!strcmp(verb, "mode_gpio")) {
new_mode = PORT_FULL_GPIO;
} else if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT_FULL_PWM;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
} else if (!strcmp(verb, "mode_pwm4")) {
new_mode = PORT_PWM4;
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
} else if (!strcmp(verb, "mode_serial")) {
new_mode = PORT_FULL_SERIAL;
} else if (!strcmp(verb, "mode_gpio_serial")) {
new_mode = PORT_GPIO_AND_SERIAL;
} else if (!strcmp(verb, "mode_pwm_serial")) {
new_mode = PORT_PWM_AND_SERIAL;
} else if (!strcmp(verb, "mode_pwm_gpio")) {
new_mode = PORT_PWM_AND_GPIO;
#endif
}
/* was a new mode set? */
if (new_mode != PORT_MODE_UNSET) {
/* yes but it's the same mode */
if (new_mode == g_port_mode)
return OK;
/* switch modes */
int ret = fmu_new_mode(new_mode);
exit(ret == OK ? 0 : 1);
}
if (!strcmp(verb, "test"))
test();
if (!strcmp(verb, "fake"))
fake(argc - 1, argv + 1);
if (!strcmp(verb, "sensor_reset")) {
if (argc > 2) {
int reset_time = strtol(argv[2], 0, 0);
sensor_reset(reset_time);
} else {
sensor_reset(0);
warnx("resettet default time");
}
exit(0);
}
if (!strcmp(verb, "peripheral_reset")) {
if (argc > 2) {
int reset_time = strtol(argv[2], 0, 0);
peripheral_reset(reset_time);
} else {
peripheral_reset(0);
warnx("resettet default time");
}
exit(0);
}
if (!strcmp(verb, "i2c")) {
if (argc > 3) {
int bus = strtol(argv[2], 0, 0);
int clock_hz = strtol(argv[3], 0, 0);
int ret = fmu_new_i2c_speed(bus, clock_hz);
if (ret) {
errx(ret, "setting I2C clock failed");
}
exit(0);
} else {
warnx("i2c cmd args: <bus id> <clock Hz>");
}
}
fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb);
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, test, fake, sensor_reset, id\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_AEROCORE)
fprintf(stderr, " mode_gpio, mode_pwm, test, sensor_reset [milliseconds], i2c <bus> <hz>\n");
#endif
exit(1);
}
int
fmu_main(int argc, char *argv[])
{
PortMode new_mode = PORT_MODE_UNSET;
const char *verb = argv[1];
if (!strcmp(verb, "stop")) {
fmu_stop();
errx(0, "FMU driver stopped\n");
return 0;
}
if (!strcmp(verb, "id")) {
errx(0,"unsupport get board serial number\n");
return 0;
}
if (fmu_start() != OK) {
errx(1, "failed to start the FMU driver\n");
return 0;
}
/*
* Mode switches.
*/
if (!strcmp(verb, "mode_gpio")) {
errx(0,"unsupport mode_gpio\n");
return 0;
} else if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT_FULL_PWM;
} else if (!strcmp(verb, "mode_pwm2")) {
new_mode = PORT_PWM2;
} else if (!strcmp(verb, "mode_pwm4")) {
new_mode = PORT_PWM4;
} else if (!strcmp(verb, "mode_pwm6")) {
new_mode = PORT_PWM6;
} else if (!strcmp(verb, "mode_pwm8")) {
new_mode = PORT_PWM8;
} else if (!strcmp(verb, "mode_serial")) {
errx(0,"unsupport mode_serial\n");
return 0;
} else if (!strcmp(verb, "mode_gpio_serial")) {
errx(0,"unsupport mode_gpio_serial\n");
return 0;
} else if (!strcmp(verb, "mode_pwm_serial")) {
errx(0,"unsupport mode_pwm_serial\n");
return 0;
} else if (!strcmp(verb, "mode_pwm_gpio")) {
errx(0,"unsupport mode_pwm_gpio\n");
return 0;
}
/* was a new mode set? */
if (new_mode != PORT_MODE_UNSET) {
/* yes but it's the same mode */
if (new_mode == g_port_mode) {
return OK;
}
/* switch modes */
return fmu_new_mode(new_mode);
}
if (!strcmp(verb, "test")) {
test();
return 0;
}
if (!strcmp(verb, "fake")) {
fake(argc - 1, argv + 1);
return 0;
}
if (!strcmp(verb, "sensor_reset")) {
warnx("unsupport sensor_reset\n");
return 0;
}
if (!strcmp(verb, "peripheral_reset")) {
warnx("unsupport peripheral_reset\n");
return 0;
}
if (!strcmp(verb, "i2c")) {
warnx("unsupport fmu I2C\n");
return 0;
}
fprintf(stderr, "FMU: unrecognised command %s, try:\n", verb);
return 0;
}