text: /****************************************************************************
   *
   *   Copyright (c) 2020, 2021 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.
   *
   ****************************************************************************/
  
  #include "ICM20649.hpp"
  
  #include <px4_platform_common/getopt.h>
  #include <px4_platform_common/module.h>
  
  void ICM20649::print_usage()
  {
  	PRINT_MODULE_USAGE_NAME("icm20649", "driver");
  	PRINT_MODULE_USAGE_SUBCATEGORY("imu");
  	PRINT_MODULE_USAGE_COMMAND("start");
  	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
  	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
  	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
  }
  
  extern "C" int icm20649_main(int argc, char *argv[])
  {
  	int ch;
  	using ThisDriver = ICM20649;
  	BusCLIArguments cli{false, true};
  	cli.default_spi_frequency = SPI_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_IMU_DEVTYPE_ICM20649);
  
  	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;
  }
  