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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Merged with master
This commit is contained in:
Lorenz Meier
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @ file md25.cpp
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*
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* Driver for MD25 I2C Motor Driver
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*
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* references:
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* http://www.robot-electronics.co.uk/htm/md25tech.htm
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* http://www.robot-electronics.co.uk/files/rpi_md25.c
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*
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*/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/param/param.h>
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#include <arch/board/board.h>
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#include "MD25.hpp"
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static bool thread_should_exit = false; /**< Deamon exit flag */
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static bool thread_running = false; /**< Deamon status flag */
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static int deamon_task; /**< Handle of deamon task / thread */
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/**
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* Deamon management function.
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*/
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extern "C" __EXPORT int md25_main(int argc, char *argv[]);
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/**
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* Mainloop of deamon.
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*/
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int md25_thread_main(int argc, char *argv[]);
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/**
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* Print the correct usage.
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*/
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static void usage(const char *reason);
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static void
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usage(const char *reason)
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{
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if (reason)
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fprintf(stderr, "%s\n", reason);
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fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n");
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exit(1);
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}
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/**
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* The deamon app only briefly exists to start
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* the background job. The stack size assigned in the
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* Makefile does only apply to this management task.
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*
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* The actual stack size should be set in the call
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* to task_create().
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*/
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int md25_main(int argc, char *argv[])
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{
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if (argc < 1)
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usage("missing command");
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if (!strcmp(argv[1], "start")) {
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if (thread_running) {
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printf("md25 already running\n");
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/* this is not an error */
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exit(0);
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}
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thread_should_exit = false;
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deamon_task = task_spawn("md25",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 10,
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2048,
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md25_thread_main,
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(const char **)argv);
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exit(0);
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}
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if (!strcmp(argv[1], "test")) {
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if (argc < 4) {
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printf("usage: md25 test bus address\n");
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exit(0);
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}
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const char *deviceName = "/dev/md25";
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uint8_t bus = strtoul(argv[2], nullptr, 0);
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uint8_t address = strtoul(argv[3], nullptr, 0);
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md25Test(deviceName, bus, address);
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exit(0);
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}
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if (!strcmp(argv[1], "probe")) {
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if (argc < 4) {
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printf("usage: md25 probe bus address\n");
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exit(0);
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}
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const char *deviceName = "/dev/md25";
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uint8_t bus = strtoul(argv[2], nullptr, 0);
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uint8_t address = strtoul(argv[3], nullptr, 0);
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MD25 md25(deviceName, bus, address);
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int ret = md25.probe();
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if (ret == OK) {
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printf("MD25 found on bus %d at address 0x%X\n", bus, md25.get_address());
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} else {
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printf("MD25 not found on bus %d\n", bus);
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}
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exit(0);
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}
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if (!strcmp(argv[1], "search")) {
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if (argc < 3) {
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printf("usage: md25 search bus\n");
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exit(0);
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}
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const char *deviceName = "/dev/md25";
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uint8_t bus = strtoul(argv[2], nullptr, 0);
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uint8_t address = strtoul(argv[3], nullptr, 0);
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MD25 md25(deviceName, bus, address);
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md25.search();
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exit(0);
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}
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if (!strcmp(argv[1], "change_address")) {
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if (argc < 5) {
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printf("usage: md25 change_address bus old_address new_address\n");
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exit(0);
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}
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const char *deviceName = "/dev/md25";
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uint8_t bus = strtoul(argv[2], nullptr, 0);
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uint8_t old_address = strtoul(argv[3], nullptr, 0);
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uint8_t new_address = strtoul(argv[4], nullptr, 0);
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MD25 md25(deviceName, bus, old_address);
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int ret = md25.setDeviceAddress(new_address);
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if (ret == OK) {
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printf("MD25 new address set to 0x%X\n", new_address);
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} else {
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printf("MD25 failed to set address to 0x%X\n", new_address);
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}
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exit(0);
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}
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if (!strcmp(argv[1], "stop")) {
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thread_should_exit = true;
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exit(0);
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}
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if (!strcmp(argv[1], "status")) {
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if (thread_running) {
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printf("\tmd25 app is running\n");
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} else {
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printf("\tmd25 app not started\n");
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}
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exit(0);
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}
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usage("unrecognized command");
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exit(1);
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}
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int md25_thread_main(int argc, char *argv[])
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{
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printf("[MD25] starting\n");
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if (argc < 5) {
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// extra md25 in arg list since this is a thread
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printf("usage: md25 start bus address\n");
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exit(0);
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}
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const char *deviceName = "/dev/md25";
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uint8_t bus = strtoul(argv[3], nullptr, 0);
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uint8_t address = strtoul(argv[4], nullptr, 0);
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// start
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MD25 md25("/dev/md25", bus, address);
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thread_running = true;
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// loop
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while (!thread_should_exit) {
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md25.update();
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}
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// exit
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printf("[MD25] exiting.\n");
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thread_running = false;
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return 0;
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}
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// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
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