/****************************************************************************
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 * 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
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 *
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 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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#include "AK8963.hpp"

#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>

I2CSPIDriverBase *AK8963::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
				      int runtime_instance)
{
	AK8963 *instance = new AK8963(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.rotation);

	if (!instance) {
		PX4_ERR("alloc failed");
		return nullptr;
	}

	if (instance->init() != PX4_OK) {
		delete instance;
		PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
		return nullptr;
	}

	return instance;
}

void AK8963::print_usage()
{
	PRINT_MODULE_USAGE_NAME("ak8963", "driver");
	PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
	PRINT_MODULE_USAGE_COMMAND("start");
	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}

extern "C" __EXPORT int ak8963_main(int argc, char *argv[])
{
	int ch;
	using ThisDriver = AK8963;
	BusCLIArguments cli{true, false};
	cli.default_i2c_frequency = I2C_SPEED;

	while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
		switch (ch) {
		case 'R':
			cli.rotation = (enum Rotation)atoi(cli.optarg());
			break;
		}
	}

	const char *verb = cli.optarg();

	if (!verb) {
		ThisDriver::print_usage();
		return -1;
	}

	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_AK8963);

	if (!strcmp(verb, "start")) {
		return ThisDriver::module_start(cli, iterator);
	}

	if (!strcmp(verb, "stop")) {
		return ThisDriver::module_stop(iterator);
	}

	if (!strcmp(verb, "status")) {
		return ThisDriver::module_status(iterator);
	}

	ThisDriver::print_usage();
	return -1;
}
