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px4-firmware/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
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
# define MAIN_NAME qe_main
# define MAIN_STRING "qe_main: "
#else
# define MAIN_NAME user_start
# define MAIN_STRING "user_start: "
#endif
/****************************************************************************
* 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: user_start/qe_main
****************************************************************************/
int MAIN_NAME(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(MAIN_STRING "Initializing external encoder(s)\n");
ret = qe_devinit();
if (ret != OK)
{
message(MAIN_STRING "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(MAIN_STRING "Hardware initialized. Opening the encoder device: %s\n",
g_qeexample.devpath);
fd = open(g_qeexample.devpath, O_RDONLY);
if (fd < 0)
{
message(MAIN_STRING "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(MAIN_STRING "Resetting the count...\n");
ret = ioctl(fd, QEIOC_RESET, 0);
if (ret < 0)
{
message(MAIN_STRING "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(MAIN_STRING "Number of samples: %d\n", g_qeexample.nloops);
for (nloops = 0; nloops < g_qeexample.nloops; nloops++)
#elif defined(CONFIG_EXAMPLES_QENCODER_NSAMPLES)
message(MAIN_STRING "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(MAIN_STRING "ioctl(QEIOC_POSITION) failed: %d\n", errno);
exitval = EXIT_FAILURE;
goto errout_with_dev;
}
/* Print the sample data on successful return */
else
{
message(MAIN_STRING "%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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