From 2b20c50659e7ed2212e6e49bac5f2657e085ac14 Mon Sep 17 00:00:00 2001
From: Hamish Willee <hamishwillee@gmail.com>
Date: Tue, 12 Feb 2019 16:50:43 -0800
Subject: [PATCH] Add module docs for teraranger
---
.../distance_sensor/teraranger/teraranger.cpp | 41 +++++++++++++++----
1 file changed, 34 insertions(+), 7 deletions(-)
diff --git a/src/drivers/distance_sensor/teraranger/teraranger.cpp b/src/drivers/distance_sensor/teraranger/teraranger.cpp
index 75a27d0ccc..1766a62625 100644
--- a/src/drivers/distance_sensor/teraranger/teraranger.cpp
+++ b/src/drivers/distance_sensor/teraranger/teraranger.cpp
@@ -42,6 +42,7 @@
#include <px4_defines.h>
#include <px4_getopt.h>
#include <px4_workqueue.h>
+#include <px4_module.h>
#include <drivers/device/i2c.h>
@@ -931,13 +932,39 @@ info()
static void
teraranger_usage()
{
- PX4_INFO("usage: teraranger command [options]");
- PX4_INFO("options:");
- PX4_INFO("\t-b --bus i2cbus (%d)", TERARANGER_BUS_DEFAULT);
- PX4_INFO("\t-a --all");
- PX4_INFO("\t-R --rotation (%d)", distance_sensor_s::ROTATION_DOWNWARD_FACING);
- PX4_INFO("command:");
- PX4_INFO("\tstart|stop|test|reset|info");
+ PRINT_MODULE_DESCRIPTION(
+ R"DESCR_STR(
+### Description
+
+I2C bus driver for TeraRanger rangefinders.
+
+The sensor/driver must be enabled using the parameter SENS_EN_TRANGER.
+
+Setup/usage information: https://docs.px4.io/en/sensor/rangefinders.html#teraranger-rangefinders
+
+### Examples
+
+Start driver on any bus (start on bus where first sensor found).
+$ teraranger start -a
+Start driver on specified bus
+$ teraranger start -b 1
+Stop driver
+$ teraranger stop
+)DESCR_STR");
+
+ PRINT_MODULE_USAGE_NAME("teraranger", "driver");
+ PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
+ PRINT_MODULE_USAGE_COMMAND_DESCR("start","Start driver");
+ PRINT_MODULE_USAGE_PARAM_FLAG('a', "Attempt to start driver on all I2C buses (first one found)", true);
+ PRINT_MODULE_USAGE_PARAM_INT('b', 1, 1, 2000, "Start driver on specific I2C bus", true);
+ PRINT_MODULE_USAGE_PARAM_INT('R', 25, 1, 25, "Sensor rotation - downward facing by default", true);
+ PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
+ PRINT_MODULE_USAGE_COMMAND_DESCR("test","Test driver (basic functional tests)");
+ PRINT_MODULE_USAGE_COMMAND_DESCR("reset","Reset driver");
+ PRINT_MODULE_USAGE_COMMAND_DESCR("info","Print driver information");
+
+
+
}
int
--
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