path: root/src/drivers/md25/md25_main.cpp

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 * modification, are permitted provided that the following conditions
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 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
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 *    notice, this list of conditions and the following disclaimer in
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/**
 * @ file md25.cpp
 *
 * Driver for MD25 I2C Motor Driver
 *
 * references:
 * http://www.robot-electronics.co.uk/htm/md25tech.htm
 * http://www.robot-electronics.co.uk/files/rpi_md25.c
 *
 */

#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>

#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>

#include <arch/board/board.h>
#include "md25.hpp"

static bool thread_should_exit = false;     /**< Deamon exit flag */
static bool thread_running = false;     /**< Deamon status flag */
static int deamon_task;             /**< Handle of deamon task / thread */

/**
 * Deamon management function.
 */
extern "C" __EXPORT int md25_main(int argc, char *argv[]);

/**
 * Mainloop of deamon.
 */
int md25_thread_main(int argc, char *argv[]);

/**
 * Print the correct usage.
 */
static void usage(const char *reason);

static void
usage(const char *reason)
{
	if (reason)
		fprintf(stderr, "%s\n", reason);

	fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n");
	exit(1);
}

/**
 * The deamon app only briefly exists to start
 * the background job. The stack size assigned in the
 * Makefile does only apply to this management task.
 *
 * The actual stack size should be set in the call
 * to task_create().
 */
int md25_main(int argc, char *argv[])
{

	if (argc < 1)
		usage("missing command");

	if (!strcmp(argv[1], "start")) {

		if (thread_running) {
			printf("md25 already running\n");
			/* this is not an error */
			exit(0);
		}

		thread_should_exit = false;
		deamon_task = task_spawn_cmd("md25",
					 SCHED_DEFAULT,
					 SCHED_PRIORITY_MAX - 10,
					 2048,
					 md25_thread_main,
					 (const char **)argv);
		exit(0);
	}

	if (!strcmp(argv[1], "test")) {

		if (argc < 4) {
			printf("usage: md25 test bus address\n");
			exit(0);
		}

		const char *deviceName = "/dev/md25";

		uint8_t bus = strtoul(argv[2], nullptr, 0);

		uint8_t address = strtoul(argv[3], nullptr, 0);

		md25Test(deviceName, bus, address);

		exit(0);
	}

	if (!strcmp(argv[1], "probe")) {
		if (argc < 4) {
			printf("usage: md25 probe bus address\n");
			exit(0);
		}

		const char *deviceName = "/dev/md25";

		uint8_t bus = strtoul(argv[2], nullptr, 0);

		uint8_t address = strtoul(argv[3], nullptr, 0);

		MD25 md25(deviceName, bus, address);

		int ret = md25.probe();

		if (ret == OK) {
			printf("MD25 found on bus %d at address 0x%X\n", bus, md25.get_address());

		} else {
			printf("MD25 not found on bus %d\n", bus);
		}

		exit(0);
	}

	if (!strcmp(argv[1], "search")) {
		if (argc < 3) {
			printf("usage: md25 search bus\n");
			exit(0);
		}

		const char *deviceName = "/dev/md25";

		uint8_t bus = strtoul(argv[2], nullptr, 0);

		uint8_t address = strtoul(argv[3], nullptr, 0);

		MD25 md25(deviceName, bus, address);

		md25.search();

		exit(0);
	}

	if (!strcmp(argv[1], "change_address")) {
		if (argc < 5) {
			printf("usage: md25 change_address bus old_address new_address\n");
			exit(0);
		}

		const char *deviceName = "/dev/md25";

		uint8_t bus = strtoul(argv[2], nullptr, 0);

		uint8_t old_address = strtoul(argv[3], nullptr, 0);

		uint8_t new_address = strtoul(argv[4], nullptr, 0);

		MD25 md25(deviceName, bus, old_address);

		int ret = md25.setDeviceAddress(new_address);

		if (ret == OK)  {
			printf("MD25 new address set to 0x%X\n", new_address);

		} else {
			printf("MD25 failed to set address to 0x%X\n", new_address);
		}

		exit(0);
	}

	if (!strcmp(argv[1], "stop")) {
		thread_should_exit = true;
		exit(0);
	}

	if (!strcmp(argv[1], "status")) {
		if (thread_running) {
			printf("\tmd25 app is running\n");

		} else {
			printf("\tmd25 app not started\n");
		}

		exit(0);
	}

	usage("unrecognized command");
	exit(1);
}

int md25_thread_main(int argc, char *argv[])
{
	printf("[MD25] starting\n");

	if (argc < 5) {
		// extra md25 in arg list since this is a thread
		printf("usage: md25 start bus address\n");
		exit(0);
	}

	const char *deviceName = "/dev/md25";

	uint8_t bus = strtoul(argv[3], nullptr, 0);

	uint8_t address = strtoul(argv[4], nullptr, 0);

	// start
	MD25 md25("/dev/md25", bus, address);

	thread_running = true;

	// loop
	while (!thread_should_exit) {
		md25.update();
	}

	// exit
	printf("[MD25] exiting.\n");
	thread_running = false;
	return 0;
}

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