/****************************************************************************
*
* Copyright (c) 2013 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,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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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|read|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], "sine")) {
if (argc < 6) {
printf("usage: md25 sine bus address amp freq\n");
exit(0);
}
const char *deviceName = "/dev/md25";
uint8_t bus = strtoul(argv[2], nullptr, 0);
uint8_t address = strtoul(argv[3], nullptr, 0);
float amplitude = atof(argv[4]);
float frequency = atof(argv[5]);
md25Sine(deviceName, bus, address, amplitude, frequency);
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], "read")) {
if (argc < 4) {
printf("usage: md25 read 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);
// print status
char buf[400];
md25.status(buf, sizeof(buf));
printf("%s\n", buf);
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(deviceName, bus, address);
thread_running = true;
// loop
while (!thread_should_exit) {
md25.update();
}
// exit
printf("[MD25] exiting.\n");
thread_running = false;
return 0;
}
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
