Initial commit SF10x driver

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -145,6 +145,10 @@ else
 	fi
 fi
 
+if sf10a start
+then
+fi
+
 # Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
 usleep 20000
 if sensors start

src/drivers/sf10a/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 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.
+#
+############################################################################
+px4_add_module(
+
+	MODULE drivers__sf10a
+	MAIN sf10a
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		sf10a.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 

src/drivers/sf10a/sf10a.cpp

@@ -0,0 +1,875 @@
+/****************************************************************************
+ *
+ *   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 sf10a.cpp
+ *
+ * @author ecmnet <ecm@gmx.de>
+ *
+ * Driver for the Lightware SF10x lidar range finder series.
+ * Default I2C address 0x55 is used.
+ */
+
+#include <px4_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 <vector>
+
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_range_finder.h>
+#include <drivers/device/ringbuffer.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/subsystem_info.h>
+#include <uORB/topics/distance_sensor.h>
+
+#include <board_config.h>
+
+/* Configuration Constants */
+#define SF10A_BUS 		PX4_I2C_BUS_EXPANSION
+#define SF10A_BASEADDR 	0x55
+#define SF10A_DEVICE_PATH	"/dev/sf10a"
+
+/* Device limits */
+#define SF10A_MIN_DISTANCE 	(0.0f)
+#define SF10A_MAX_DISTANCE 	(25.0f)
+
+#define SF10A_CONVERSION_INTERVAL 		25000
+
+
+/* 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
+
+class SF10A : public device::I2C
+{
+public:
+	SF10A(int bus = SF10A_BUS, int address = SF10A_BASEADDR);
+	virtual ~SF10A();
+
+	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:
+	float				_min_distance;
+	float				_max_distance;
+	work_s				_work;
+	ringbuffer::RingBuffer	*_reports;
+	bool				_sensor_ok;
+	int					_measure_ticks;
+	int					_class_instance;
+	int					_orb_class_instance;
+
+	orb_advert_t		_distance_sensor_topic;
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_comms_errors;
+	perf_counter_t		_buffer_overflows;
+
+
+
+	/**
+	* 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();
+
+	/**
+	* Set the min and max distance thresholds if you want the end points of the sensors
+	* range to be brought in at all, otherwise it will use the defaults SF10A_MIN_DISTANCE
+	* and SF10A_MAX_DISTANCE
+	*/
+	void				set_minimum_distance(float min);
+	void				set_maximum_distance(float max);
+	float				get_minimum_distance();
+	float				get_maximum_distance();
+
+	/**
+	* 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 sf10a_main(int argc, char *argv[]);
+
+SF10A::SF10A(int bus, int address) :
+	I2C("SF10A", SF10A_DEVICE_PATH, bus, address, 100000),
+	_min_distance(SF10A_MIN_DISTANCE),
+	_max_distance(SF10A_MAX_DISTANCE),
+	_reports(nullptr),
+	_sensor_ok(false),
+	_measure_ticks(0),
+	_class_instance(-1),
+	_orb_class_instance(-1),
+	_distance_sensor_topic(nullptr),
+	_sample_perf(perf_alloc(PC_ELAPSED, "sf10a_read")),
+	_comms_errors(perf_alloc(PC_COUNT, "sf10a_comms_errors")),
+	_buffer_overflows(perf_alloc(PC_COUNT, "sf10a_buffer_overflows"))
+
+{
+	/* enable debug() calls */
+	_debug_enabled = false;
+
+	/* work_cancel in the dtor will explode if we don't do this... */
+	memset(&_work, 0, sizeof(_work));
+}
+
+SF10A::~SF10A()
+{
+	/* make sure we are truly inactive */
+	stop();
+
+	/* free any existing reports */
+	if (_reports != nullptr) {
+		delete _reports;
+	}
+
+	if (_class_instance != -1) {
+		unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance);
+	}
+
+	/* free perf counters */
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_buffer_overflows);
+}
+
+int
+SF10A::init()
+{
+	int ret = ERROR;
+
+	/* do I2C init (and probe) first */
+	if (I2C::init() != OK) {
+		return ret;
+	}
+
+	/* allocate basic report buffers */
+	_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
+
+	set_address(SF10A_BASEADDR);
+
+	if (_reports == nullptr) {
+		return ret;
+	}
+
+	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
+
+	/* get a publish handle on the range finder topic */
+	struct distance_sensor_s ds_report = {};
+
+	_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
+				 &_orb_class_instance, ORB_PRIO_HIGH);
+
+	if (_distance_sensor_topic == nullptr) {
+		DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
+	}
+
+
+	int ret2 = measure();
+	if (ret2 == 0) {
+		ret = OK;
+		_sensor_ok = true;
+		DEVICE_LOG("SF10x with address %d found", SF10A_BASEADDR);
+	}
+
+	return ret;
+}
+
+int
+SF10A::probe()
+{
+	return measure();
+}
+
+void
+SF10A::set_minimum_distance(float min)
+{
+	_min_distance = min;
+}
+
+void
+SF10A::set_maximum_distance(float max)
+{
+	_max_distance = max;
+}
+
+float
+SF10A::get_minimum_distance()
+{
+	return _min_distance;
+}
+
+float
+SF10A::get_maximum_distance()
+{
+	return _max_distance;
+}
+
+int
+SF10A::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(SF10A_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 */
+					int ticks = USEC2TICK(1000000 / arg);
+
+					/* check against maximum rate */
+					if (ticks < USEC2TICK(SF10A_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 SENSORIOCRESET:
+		/* XXX implement this */
+		return -EINVAL;
+
+	case RANGEFINDERIOCSETMINIUMDISTANCE: {
+			set_minimum_distance(*(float *)arg);
+			return 0;
+		}
+		break;
+
+	case RANGEFINDERIOCSETMAXIUMDISTANCE: {
+			set_maximum_distance(*(float *)arg);
+			return 0;
+		}
+		break;
+
+	default:
+		/* give it to the superclass */
+		return I2C::ioctl(filp, cmd, arg);
+	}
+}
+
+ssize_t
+SF10A::read(struct file *filp, char *buffer, size_t buflen)
+{
+
+	unsigned count = buflen / sizeof(struct distance_sensor_s);
+	struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_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;
+		}
+
+		/* wait for it to complete */
+		usleep(SF10A_CONVERSION_INTERVAL);
+
+		/* 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
+SF10A::measure()
+{
+
+	int ret;
+
+	/*
+	 * Send the command to begin a measurement.
+	 */
+
+	uint8_t cmd[1];
+	cmd[0] = SF10A_BASEADDR;
+	ret = transfer(cmd, 1, nullptr, 0);
+
+	if (OK != ret) {
+		perf_count(_comms_errors);
+		DEVICE_DEBUG("i2c::transfer returned %d", ret);
+		return ret;
+	}
+
+	ret = OK;
+
+	return ret;
+}
+
+int
+SF10A::collect()
+{
+	int	ret = -EIO;
+
+	/* read from the sensor */
+	uint8_t val[2] = {0, 0};
+	uint8_t cmd = SF10A_BASEADDR;
+	perf_begin(_sample_perf);
+
+	ret = transfer(&cmd, 1, nullptr, 0);
+	ret = transfer(nullptr, 0, &val[0], 2);
+
+	if (ret < 0) {
+		DEVICE_DEBUG("error reading from sensor: %d", ret);
+		perf_count(_comms_errors);
+		perf_end(_sample_perf);
+		return ret;
+	}
+
+	uint16_t distance_cm = val[0] << 8 | val[1];
+	float distance_m = float(distance_cm) * 1e-2f;
+
+	struct distance_sensor_s report;
+	report.timestamp = hrt_absolute_time();
+	report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
+	report.orientation = 8;
+	report.current_distance = distance_m;
+	report.min_distance = get_minimum_distance();
+	report.max_distance = get_maximum_distance();
+	report.covariance = 0.0f;
+	/* TODO: set proper ID */
+	report.id = 0;
+
+	/* publish it, if we are the primary */
+	if (_distance_sensor_topic != nullptr) {
+		orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
+	}
+
+	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
+SF10A::start()
+{
+
+	/* reset the report ring and state machine */
+	_reports->flush();
+
+	/* schedule a cycle to start things */
+	work_queue(HPWORK, &_work, (worker_t)&SF10A::cycle_trampoline, this, 5);
+
+	/* notify about state change */
+	struct subsystem_info_s info = {
+		true,
+		true,
+		true,
+		subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER
+	};
+	static orb_advert_t pub = nullptr;
+
+	if (pub != nullptr) {
+		orb_publish(ORB_ID(subsystem_info), pub, &info);
+
+
+	} else {
+		pub = orb_advertise(ORB_ID(subsystem_info), &info);
+
+	}
+}
+
+void
+SF10A::stop()
+{
+	work_cancel(HPWORK, &_work);
+}
+
+void
+SF10A::cycle_trampoline(void *arg)
+{
+
+	SF10A *dev = (SF10A *)arg;
+
+	dev->cycle();
+
+}
+
+void
+SF10A::cycle()
+{
+
+	set_address(SF10A_BASEADDR);
+	/* Collect results */
+	if (OK != collect()) {
+				DEVICE_DEBUG("collection error");
+				/* if error restart the measurement state machine */
+				start();
+				return;
+			}
+
+
+	/* Trigger measurement */
+	if (OK != measure()) {
+		DEVICE_DEBUG("measure error lidar");
+	}
+
+
+
+	/* schedule a fresh cycle call when the measurement is done */
+	work_queue(HPWORK,
+		   &_work,
+		   (worker_t)&SF10A::cycle_trampoline,
+		   this,
+		   USEC2TICK(SF10A_CONVERSION_INTERVAL));
+
+}
+
+void
+SF10A::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 sf10a
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+const int ERROR = -1;
+
+SF10A	*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 SF10A(SF10A_BUS);
+
+	if (g_dev == nullptr) {
+		goto fail;
+	}
+
+	if (OK != g_dev->init()) {
+		goto fail;
+	}
+
+	/* set the poll rate to default, starts automatic data collection */
+	fd = open(SF10A_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0) {
+		goto fail;
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 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 distance_sensor_s report;
+	ssize_t sz;
+	int ret;
+
+	int fd = open(SF10A_DEVICE_PATH, O_RDONLY);
+
+	if (fd < 0) {
+		err(1, "%s open failed (try 'sf10a start' if the driver is not running", SF10A_DEVICE_PATH);
+	}
+
+	/* do a simple demand read */
+	sz = read(fd, &report, sizeof(report));
+
+	if (sz != sizeof(report)) {
+		err(1, "immediate read failed");
+	}
+
+	warnx("single read");
+	warnx("measurement: %0.2f m", (double)report.current_distance);
+	warnx("time:        %llu", report.timestamp);
+
+	/* start the sensor polling at 2Hz */
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
+		errx(1, "failed to set 2Hz poll rate");
+	}
+
+	/* read the sensor 5x and report each value */
+	for (unsigned i = 0; i < 5; 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("valid %u", (float)report.current_distance > report.min_distance
+		      && (float)report.current_distance < report.max_distance ? 1 : 0);
+		warnx("measurement: %0.3f", (double)report.current_distance);
+		warnx("time:        %llu", report.timestamp);
+	}
+
+	/* reset the sensor polling to default rate */
+	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
+		errx(1, "failed to set default poll rate");
+	}
+
+	errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+	int fd = open(SF10A_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
+sf10a_main(int argc, char *argv[])
+{
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(argv[1], "start")) {
+		sf10a::start();
+	}
+
+	/*
+	 * Stop the driver
+	 */
+	if (!strcmp(argv[1], "stop")) {
+		sf10a::stop();
+	}
+
+	/*
+	 * Test the driver/device.
+	 */
+	if (!strcmp(argv[1], "test")) {
+		sf10a::test();
+	}
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(argv[1], "reset")) {
+		sf10a::reset();
+	}
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
+		sf10a::info();
+	}
+
+	errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+}