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-rw-r--r--apps/examples/qencoder/qe_main.c362
1 files changed, 0 insertions, 362 deletions
diff --git a/apps/examples/qencoder/qe_main.c b/apps/examples/qencoder/qe_main.c
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--- a/apps/examples/qencoder/qe_main.c
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-/****************************************************************************
- * examples/qe/qe_main.c
- *
- * Copyright (C) 2012 Gregory Nutt. All rights reserved.
- * Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <sys/types.h>
-#include <sys/ioctl.h>
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <string.h>
-#include <fcntl.h>
-#include <limits.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/sensors/qencoder.h>
-
-#include "qe.h"
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Types
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-#ifdef CONFIG_NSH_BUILTIN_APPS
-struct qe_example_s g_qeexample;
-#endif
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: qe_devpath
- ****************************************************************************/
-
-static void qe_devpath(FAR const char *devpath)
-{
- /* Get rid of any old device path */
-
- if (g_qeexample.devpath)
- {
- free(g_qeexample.devpath);
- }
-
- /* The set-up the new device path by copying the string */
-
- g_qeexample.devpath = strdup(devpath);
-}
-
-/****************************************************************************
- * Name: qe_help
- ****************************************************************************/
-
-#ifdef CONFIG_NSH_BUILTIN_APPS
-static void qe_help(void)
-{
- message("\nUsage: qe [OPTIONS]\n\n");
- message("OPTIONS include:\n");
- message(" [-p devpath] QE device path\n");
- message(" [-n samples] Number of samples\n");
- message(" [-t msec] Delay between samples (msec)\n");
- message(" [-r] Reset the position to zero\n");
- message(" [-h] Shows this message and exits\n\n");
-}
-#endif
-
-/****************************************************************************
- * Name: arg_string
- ****************************************************************************/
-
-#ifdef CONFIG_NSH_BUILTIN_APPS
-static int arg_string(FAR char **arg, FAR char **value)
-{
- FAR char *ptr = *arg;
-
- if (ptr[2] == '\0')
- {
- *value = arg[1];
- return 2;
- }
- else
- {
- *value = &ptr[2];
- return 1;
- }
-}
-#endif
-
-/****************************************************************************
- * Name: arg_decimal
- ****************************************************************************/
-
-#ifdef CONFIG_NSH_BUILTIN_APPS
-static int arg_decimal(FAR char **arg, FAR long *value)
-{
- FAR char *string;
- int ret;
-
- ret = arg_string(arg, &string);
- *value = strtol(string, NULL, 10);
- return ret;
-}
-#endif
-
-/****************************************************************************
- * Name: parse_args
- ****************************************************************************/
-
-#ifdef CONFIG_NSH_BUILTIN_APPS
-static void parse_args(int argc, FAR char **argv)
-{
- FAR char *ptr;
- FAR char *str;
- long value;
- int index;
- int nargs;
-
- g_qeexample.reset = false;
- g_qeexample.nloops = 1;
- g_qeexample.delay = CONFIG_EXAMPLES_QENCODER_DELAY;
-
- for (index = 1; index < argc; )
- {
- ptr = argv[index];
- if (ptr[0] != '-')
- {
- message("Invalid options format: %s\n", ptr);
- exit(0);
- }
-
- switch (ptr[1])
- {
- case 'n':
- nargs = arg_decimal(&argv[index], &value);
- if (value < 0 || value > INT_MAX)
- {
- message("Sample count out of range: %ld\n", value);
- exit(1);
- }
-
- g_qeexample.nloops = (unsigned int)value;
- index += nargs;
- break;
-
- case 'p':
- nargs = arg_string(&argv[index], &str);
- qe_devpath(str);
- index += nargs;
- break;
-
- case 't':
- nargs = arg_decimal(&argv[index], &value);
- if (value < 0 || value > INT_MAX)
- {
- message("Sample delay out of range: %ld\n", value);
- exit(1);
- }
-
- g_qeexample.delay = (unsigned int)value;
- index += nargs;
- break;
-
- case 'r':
- g_qeexample.reset = true;
- index++;
- break;
-
- case 'h':
- qe_help();
- exit(EXIT_SUCCESS);
-
- default:
- message("Unsupported option: %s\n", ptr);
- qe_help();
- exit(EXIT_FAILURE);
- }
- }
-}
-#endif
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: qe_main
- ****************************************************************************/
-
-int qe_main(int argc, char *argv[])
-{
- int32_t position;
- int fd;
- int exitval = EXIT_SUCCESS;
- int ret;
-#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES)
- int nloops;
-#endif
-
- /* Check if we have initialized */
-
- if (!g_qeexample.initialized)
- {
- /* Initialization of the encoder hardware is performed by logic external to
- * this test.
- */
-
- message("qe_main: Initializing external encoder(s)\n");
- ret = qe_devinit();
- if (ret != OK)
- {
- message("qe_main: qe_devinit failed: %d\n", ret);
- exitval = EXIT_FAILURE;
- goto errout;
- }
-
- /* Set the default values */
-
- qe_devpath(CONFIG_EXAMPLES_QENCODER_DEVPATH);
- g_qeexample.initialized = true;
- }
-
- /* Parse command line arguments */
-
-#ifdef CONFIG_NSH_BUILTIN_APPS
- parse_args(argc, argv);
-#endif
-
- /* Open the encoder device for reading */
-
- message("qe_main: Hardware initialized. Opening the encoder device: %s\n",
- g_qeexample.devpath);
-
- fd = open(g_qeexample.devpath, O_RDONLY);
- if (fd < 0)
- {
- message("qe_main: open %s failed: %d\n", g_qeexample.devpath, errno);
- exitval = EXIT_FAILURE;
- goto errout_with_dev;
- }
-
- /* Reset the count if so requested */
-
- if (g_qeexample.reset)
- {
- message("qe_main: Resetting the count...\n");
- ret = ioctl(fd, QEIOC_RESET, 0);
- if (ret < 0)
- {
- message("qe_main: ioctl(QEIOC_RESET) failed: %d\n", errno);
- exitval = EXIT_FAILURE;
- goto errout_with_dev;
- }
- }
-
- /* Now loop the appropriate number of times, displaying the collected
- * encoder samples.
- */
-
-#if defined(CONFIG_NSH_BUILTIN_APPS)
- message("qe_main: Number of samples: %d\n", g_qeexample.nloops);
- for (nloops = 0; nloops < g_qeexample.nloops; nloops++)
-#elif defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES)
- message("qe_main: Number of samples: %d\n", CONFIG_EXAMPLES_QENCODER_NSAMPLES);
- for (nloops = 0; nloops < CONFIG_EXAMPLES_QENCODER_NSAMPLES; nloops++)
-#else
- for (;;)
-#endif
- {
- /* Flush any output before the loop entered or from the previous pass
- * through the loop.
- */
-
- msgflush();
-
- /* Get the positions data using the ioctl */
-
- ret = ioctl(fd, QEIOC_POSITION, (unsigned long)((uintptr_t)&position));
- if (ret < 0)
- {
- message("qe_main: ioctl(QEIOC_POSITION) failed: %d\n", errno);
- exitval = EXIT_FAILURE;
- goto errout_with_dev;
- }
-
- /* Print the sample data on successful return */
-
- else
- {
- message("qe_main: %3d. %d\n", nloops+1, position);
- }
-
- /* Delay a little bit */
-
-#if defined(CONFIG_NSH_BUILTIN_APPS)
- usleep(g_qeexample.delay * 1000);
-#else
- usleep(CONFIG_EXAMPLES_QENCODER_DELAY * 1000);
-#endif
- }
-
-errout_with_dev:
- close(fd);
-
-errout:
- message("Terminating!\n");
- msgflush();
- return exitval;
-}
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