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