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Diffstat (limited to 'apps/drivers/md25/md25_main.cpp')
-rw-r--r-- | apps/drivers/md25/md25_main.cpp | 264 |
1 files changed, 264 insertions, 0 deletions
diff --git a/apps/drivers/md25/md25_main.cpp b/apps/drivers/md25/md25_main.cpp new file mode 100644 index 000000000..85aaab7f6 --- /dev/null +++ b/apps/drivers/md25/md25_main.cpp @@ -0,0 +1,264 @@ +/**************************************************************************** + * + * 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, + * 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 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("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; +} + +// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78 |