119 lines
2.9 KiB
C
119 lines
2.9 KiB
C
/****************************************************************************
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* apps/examples/foc/foc_mq.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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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 <errno.h>
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#include <strings.h>
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#include "foc_debug.h"
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#include "foc_mq.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: foc_mq_handle
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****************************************************************************/
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int foc_mq_handle(mqd_t mq, FAR struct foc_mq_s *h)
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{
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int ret = OK;
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uint8_t buffer[5];
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/* Get data from AUX */
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ret = mq_receive(mq, (char *)buffer, 5, 0);
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if (ret < 0)
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{
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if (errno != EAGAIN)
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{
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PRINTF("ERROR: mq_receive failed %d\n", errno);
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ret = -errno;
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goto errout;
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}
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else
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{
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/* Timeout */
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ret = OK;
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goto errout;
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}
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}
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/* Verify message length */
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if (ret != 5)
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{
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PRINTF("ERROR: invalid message length = %d\n", ret);
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goto errout;
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}
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/* Handle message */
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switch (buffer[0])
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{
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case CONTROL_MQ_MSG_VBUS:
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{
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memcpy(&h->vbus, &buffer[1], 4);
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break;
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}
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case CONTROL_MQ_MSG_APPSTATE:
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{
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memcpy(&h->app_state, &buffer[1], 4);
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break;
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}
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case CONTROL_MQ_MSG_VEL:
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{
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memcpy(&h->vel, &buffer[1], 4);
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break;
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}
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case CONTROL_MQ_MSG_START:
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{
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h->start = true;
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break;
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}
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case CONTROL_MQ_MSG_KILL:
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{
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h->quit = true;
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break;
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}
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default:
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{
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PRINTF("ERROR: invalid message type %d\n", buffer[0]);
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ret = -EINVAL;
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goto errout;
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}
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}
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errout:
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return ret;
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}
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