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systemcmds/gpio: move usage description to bottom and fix formatting

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This commit is contained in:
Daniel Agar
2020-05-26 20:30:30 -04:00
committed by Julian Kent
parent d92e66863a
commit 094fe269dc
1 changed files with 132 additions and 116 deletions
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248
src/systemcmds/gpio/gpio.cpp
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@@ -42,14 +42,141 @@
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_config.h>
static void usage(const char *reason);
__BEGIN_DECLS
__EXPORT int gpio_main(int argc, char *argv[]);
__END_DECLS
extern "C" __EXPORT int gpio_main(int argc, char *argv[])
{
if (argc < 4) {
usage("not enough arguments");
return -1;
}
const char *command = argv[1];
bool is_read = false;
uint32_t mask = 0;
static void
usage(const char *reason)
if (strcmp(command, "read") == 0) {
is_read = true;
mask |= GPIO_INPUT;
} else if (strcmp(command, "write") == 0) {
if (argc < 5) {
usage("not enough arguments");
return -1;
}
mask |= GPIO_OUTPUT;
} else {
usage("command not read or write");
return -1;
}
const char *port_string = argv[2];
if (strlen(port_string) != 1) {
usage("port not a single character");
}
char port = port_string[0];
if ('A' <= port && port <= 'K') {
mask |= ((port - 'A') << GPIO_PORT_SHIFT) & GPIO_PORT_MASK;
} else if ('a' <= port && port <= 'k') {
mask |= ((port - 'a') << GPIO_PORT_SHIFT) & GPIO_PORT_MASK;
} else {
usage("invalid port");
return -1;
}
char *end;
int32_t pin = strtol(argv[3], &end, 10);
if (errno == 0 && *end == '\0' && 0 <= pin && pin <= 15) {
mask |= (pin << GPIO_PIN_SHIFT) & GPIO_PIN_MASK;;
} else {
usage("invalid pin");
return -1;
}
bool matches_default_config = false;
#if defined(PX4_GPIO_INIT_LIST)
const uint32_t default_gpios[] = PX4_GPIO_INIT_LIST;
// check that GPIO matches initialization list for port/pin and input/output
for (uint32_t i = 0; i < arraySize(default_gpios); i++) {
if ((((default_gpios[i] & GPIO_INPUT) == (mask & GPIO_INPUT)) ||
((default_gpios[i] & GPIO_OUTPUT) == (mask & GPIO_OUTPUT)))
&& ((default_gpios[i] & GPIO_PORT_MASK) == (mask & GPIO_PORT_MASK))
&& ((default_gpios[i] & GPIO_PIN_MASK) == (mask & GPIO_PIN_MASK))
) {
matches_default_config = true;
}
}
#endif // PX4_GPIO_INIT_LIST
bool force_apply = strcasecmp(argv[argc - 1], "--force") == 0;
if (!matches_default_config && !force_apply) {
usage("does not match board initialization list, and --force not specified");
return -1;
}
if (is_read) {
if (argc >= 5) {
const char *extra = argv[4];
if (strcasecmp(extra, "PULLUP") == 0) {
mask |= GPIO_PULLUP;
} else if (strcasecmp(extra, "PULLDOWN") == 0) {
mask |= GPIO_PULLDOWN;
} else if (argc == 5 && !force_apply) {
usage("extra read argument not PULLUP or PULLDOWN");
return -1;
}
}
px4_arch_configgpio(mask);
int value = px4_arch_gpioread(mask);
printf("%d OK\n", value);
} else {
int32_t value = strtol(argv[4], &end, 10);
if (errno != 0 || *end != '\0' || (value != 0 && value != 1)) {
usage("value not 0 or 1");
return -1;
}
if (argc >= 6) {
const char *extra = argv[5];
if (strcasecmp(extra, "PUSHPULL") == 0) {
mask |= GPIO_PUSHPULL;
} else if (strcasecmp(extra, "OPENDRAIN") == 0) {
mask |= GPIO_OPENDRAIN;
} else if (argc == 6 && !force_apply) {
usage("extra write argument not PUSHPULL or OPENDRAIN");
return -1;
}
}
px4_arch_configgpio(mask);
px4_arch_gpiowrite(mask, value);
printf("OK\n");
}
return 0;
}
void usage(const char *reason)
{
printf("FAIL\n");
@@ -77,114 +204,3 @@ OK
)DESCR_STR");
}
int
gpio_main(int argc, char *argv[])
{
if (argc < 4) {
usage("not enough arguments");
return -1;
}
const char* command = argv[1];
bool is_read = false;
uint32_t mask = 0;
if (strcmp(command, "read") == 0) {
is_read = true;
mask |= GPIO_INPUT;
} else if (strcmp(command, "write") == 0) {
if (argc < 5) {
usage("not enough arguments");
return -1;
}
mask |= GPIO_OUTPUT;
} else {
usage("command not read or write");
return -1;
}
const char* port_string = argv[2];
if (strlen(port_string) != 1) {
usage("port not a single character");
}
char port = port_string[0];
if ('A' <= port && port <= 'K') {
mask |= ((port - 'A') << GPIO_PORT_SHIFT) & GPIO_PORT_MASK;
} else if ('a' <= port && port <= 'k') {
mask |= ((port - 'a') << GPIO_PORT_SHIFT) & GPIO_PORT_MASK;
} else {
usage("invalid port");
return -1;
}
char *end;
int32_t pin = strtol(argv[3], &end, 10);
if (errno == 0 && *end == '\0' && 0 <= pin && pin <= 15) {
mask |= (pin << GPIO_PIN_SHIFT) & GPIO_PIN_MASK;;
} else {
usage("invalid pin");
return -1;
}
bool matches_default_config = false;
#ifdef PX4_GPIO_INIT_LIST
const uint32_t default_gpios[] = PX4_GPIO_INIT_LIST;
// check that GPIO matches initialization list for port/pin and input/output
for (uint32_t i = 0; i < arraySize(default_gpios); i++) {
if ((((default_gpios[i] & GPIO_INPUT) == (mask & GPIO_INPUT)) ||
((default_gpios[i] & GPIO_OUTPUT) == (mask & GPIO_OUTPUT)))
&& ((default_gpios[i] & GPIO_PORT_MASK) == (mask & GPIO_PORT_MASK))
&& ((default_gpios[i] & GPIO_PIN_MASK) == (mask & GPIO_PIN_MASK))
) {
matches_default_config = true;
}
}
#endif
bool force_apply = strcasecmp(argv[argc-1], "--force") == 0;
if (!matches_default_config && !force_apply) {
usage ("does not match board initialization list, and --force not specified");
return -1;
}
if (is_read) {
if (argc >= 5) {
const char* extra = argv[4];
if (strcasecmp(extra, "PULLUP") == 0) {
mask |= GPIO_PULLUP;
} else if (strcasecmp(extra, "PULLDOWN") == 0) {
mask |= GPIO_PULLDOWN;
} else if (argc == 5 && !force_apply) {
usage ("extra read argument not PULLUP or PULLDOWN");
return -1;
}
}
px4_arch_configgpio(mask);
int value = px4_arch_gpioread(mask);
printf("%d OK\n", value);
} else {
int32_t value = strtol(argv[4], &end, 10);
if (errno != 0 || *end != '\0' || (value != 0 && value != 1)) {
usage("value not 0 or 1");
return -1;
}
if (argc >= 6) {
const char* extra = argv[5];
if (strcasecmp(extra, "PUSHPULL") == 0) {
mask |= GPIO_PUSHPULL;
} else if (strcasecmp(extra, "OPENDRAIN") == 0) {
mask |= GPIO_OPENDRAIN;
} else if (argc == 6 && !force_apply) {
usage("extra write argument not PUSHPULL or OPENDRAIN");
return -1;
}
}
px4_arch_configgpio(mask);
px4_arch_gpiowrite(mask, value);
printf("OK\n");
}
return 0;
}