acassis commented on code in PR #2118: URL: https://github.com/apache/nuttx-apps/pull/2118#discussion_r1360825996
########## examples/stepper/stepper.c: ########## @@ -0,0 +1,151 @@ +/**************************************************************************** + * apps/examples/stepper/stepper.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <sys/ioctl.h> +#include <fcntl.h> +#include <stdio.h> +#include <stdbool.h> + +#include <nuttx/motor/stepper.h> + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +struct stepper_args +{ + FAR const char * path; Review Comment: ```suggestion FAR const char *path; ########## examples/stepper/stepper.c: ########## @@ -0,0 +1,151 @@ +/**************************************************************************** + * apps/examples/stepper/stepper.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <sys/ioctl.h> +#include <fcntl.h> +#include <stdio.h> +#include <stdbool.h> + +#include <nuttx/motor/stepper.h> + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +struct stepper_args +{ + FAR const char * path; + int microstep; + int speed; + int steps; +}; + +static int parse_args(int argc, FAR char *argv[], + FAR struct stepper_args *args) +{ + if (argc < 3) + { + return -1; + } + + args->path = argv[1]; + args->microstep = -1; + args->speed = 200; + + for (int i = 2; i < argc; ++i) + { + if (strncmp("-m", argv[i], 2) == 0) + { + i++; + if (i >= argc) + { + return -1; + } + + args->microstep = atoi(argv[i]); + i++; + } + + if (strncmp("-s", argv[i], 2) == 0) + { + i++; + if (i >= argc) + { + return -1; + } + + args->speed = atoi(argv[i]); + i++; + } + } + + args->steps = atoi(argv[argc - 1]); + return 0; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int main(int argc, FAR char *argv[]) +{ + struct stepper_args args; + struct stepper_status_s status; + struct stepper_job_s job; + int fd; + int rc; + + if (parse_args(argc, argv, &args) < 0) + { + printf("usage:\n" + "stepper path\n" + " [-m microstep (sticky)]\n" + " [-s speed in steps/s (default 200)]\n" + " steps (positive: CW, negative: CCW)\n"); + return 1; + } + + fd = open(args.path, O_RDWR); + if (fd < 0) + { + printf("Oops: %s\n", strerror(errno)); + exit(1); + } + + if (args.microstep > 0) + { + printf("Set microstepping to %d\n", args.microstep); + rc = ioctl(fd, STEPIOC_MICROSTEPPING, args.microstep); + if (rc < 0) + { + printf("STEPIOC_MICROSTEPPING: %s\n", strerror(errno)); + exit(2); + } + } + + job.steps = args.steps; + job.speed = args.speed; + + printf("GO -> %ld @ %ld steps/s\n", job.steps, job.speed); + + /* Move the stepper */ + + rc = write(fd, &job, sizeof(struct stepper_job_s)); /* blocking */ + if (rc != sizeof(struct stepper_job_s)) + { + printf("write: %s\n", strerror(errno)); + } + + /* Retrieve the absolute position since boot */ + + rc = read(fd, &status, sizeof(struct stepper_status_s)); + if (rc != sizeof(struct stepper_status_s)) + { + printf("read: %s\n", strerror(errno)); + } + + printf("Current position: %ld\n", status.position); Review Comment: Maybe it could be interesting to print the: "Position before stepper motor moving: " and "Position after stepper motor moving: " for diagnostic purposes. ########## examples/stepper/stepper.c: ########## @@ -0,0 +1,151 @@ +/**************************************************************************** + * apps/examples/stepper/stepper.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <sys/ioctl.h> +#include <fcntl.h> +#include <stdio.h> +#include <stdbool.h> + +#include <nuttx/motor/stepper.h> + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +struct stepper_args +{ + FAR const char * path; + int microstep; + int speed; + int steps; +}; + +static int parse_args(int argc, FAR char *argv[], + FAR struct stepper_args *args) +{ + if (argc < 3) + { + return -1; + } + + args->path = argv[1]; + args->microstep = -1; + args->speed = 200; + + for (int i = 2; i < argc; ++i) Review Comment: Please use C89, don't declare "i" in the for loop, declare it at begging of the function. -- This is an automated message from the Apache Git Service. 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