text: /****************************************************************************
   *
   *   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|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 < 2) {
  		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
  