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delete unused md25 driver

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This commit is contained in:
Daniel Agar
2019-11-19 20:22:50 -05:00
parent 8c38176d77
commit 5aaf1b100b
26 changed files with 0 additions and 1315 deletions
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boards/airmind/mindpx-v2/default.cmake
-1
View File
@@ -34,7 +34,6 @@ px4_add_board(
lights/rgbled
#lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers
#md25
mkblctrl
#optical_flow # all available optical flow drivers
optical_flow/px4flow
boards/auav/x21/default.cmake
-1
View File
@@ -34,7 +34,6 @@ px4_add_board(
#lights/rgbled_ncp5623c
#lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
#optical_flow # all available optical flow drivers
optical_flow/px4flow
boards/av/x-v1/default.cmake
-1
View File
@@ -35,7 +35,6 @@ px4_add_board(
#lights/rgbled_ncp5623c
#lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
optical_flow # all available optical flow drivers
#osd
boards/holybro/durandal-v1/default.cmake
-1
View File
@@ -39,7 +39,6 @@ px4_add_board(
lights/rgbled
lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers
#md25
mkblctrl
optical_flow # all available optical flow drivers
#osd
boards/holybro/durandal-v1/stackcheck.cmake
-1
View File
@@ -40,7 +40,6 @@ px4_add_board(
#lights/rgbled
lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers
#md25
#mkblctrl
#optical_flow # all available optical flow drivers
#osd
boards/modalai/fc-v1/default.cmake
-1
View File
@@ -32,7 +32,6 @@ px4_add_board(
lights/rgbled
lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers
#md25
mkblctrl
#optical_flow # all available optical flow drivers
#osd
boards/mro/ctrl-zero-f7/default.cmake
-1
View File
@@ -37,7 +37,6 @@ px4_add_board(
lights/rgbled
lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers
#md25
mkblctrl
#optical_flow # all available optical flow drivers
#osd
boards/nxp/fmuk66-v3/default.cmake
-1
View File
@@ -35,7 +35,6 @@ px4_add_board(
lights/rgbled_ncp5623c
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
#optical_flow # all available optical flow drivers
optical_flow/px4flow
boards/px4/fmu-v3/default.cmake
-1
View File
@@ -43,7 +43,6 @@ px4_add_board(
lights/rgbled_ncp5623c
#lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
#optical_flow # all available optical flow drivers
optical_flow/px4flow
boards/px4/fmu-v3/rtps.cmake
-1
View File
@@ -43,7 +43,6 @@ px4_add_board(
lights/rgbled_ncp5623c
#lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
#optical_flow # all available optical flow drivers
optical_flow/px4flow
boards/px4/fmu-v3/stackcheck.cmake
-1
View File
@@ -41,7 +41,6 @@ px4_add_board(
lights/rgbled_ncp5623c
#lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
#optical_flow # all available optical flow drivers
optical_flow/px4flow
boards/px4/fmu-v4/default.cmake
-1
View File
@@ -35,7 +35,6 @@ px4_add_board(
lights/rgbled
lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers
#md25
mkblctrl
optical_flow # all available optical flow drivers
#osd
boards/px4/fmu-v4/stackcheck.cmake
-1
View File
@@ -35,7 +35,6 @@ px4_add_board(
lights/rgbled
lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers
#md25
mkblctrl
optical_flow # all available optical flow drivers
#osd
boards/px4/fmu-v4pro/default.cmake
-1
View File
@@ -36,7 +36,6 @@ px4_add_board(
lights/rgbled_ncp5623c
#lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
#optical_flow # all available optical flow drivers
optical_flow/px4flow
boards/px4/fmu-v4pro/rtps.cmake
-1
View File
@@ -36,7 +36,6 @@ px4_add_board(
lights/rgbled_ncp5623c
#lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
optical_flow # all available optical flow drivers
#osd
boards/px4/fmu-v5/critmonitor.cmake
-1
View File
@@ -39,7 +39,6 @@ px4_add_board(
lights/rgbled_ncp5623c
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
optical_flow # all available optical flow drivers
pca9685
boards/px4/fmu-v5/default.cmake
-1
View File
@@ -38,7 +38,6 @@ px4_add_board(
lights/rgbled_ncp5623c
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
optical_flow # all available optical flow drivers
#osd
boards/px4/fmu-v5/irqmonitor.cmake
-1
View File
@@ -39,7 +39,6 @@ px4_add_board(
lights/rgbled_ncp5623c
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
optical_flow # all available optical flow drivers
pca9685
boards/px4/fmu-v5/rover.cmake
-1
View File
@@ -31,7 +31,6 @@ px4_add_board(
lights/rgbled_ncp5623c
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
optical_flow # all available optical flow drivers
pca9685
boards/px4/fmu-v5/rtps.cmake
-1
View File
@@ -38,7 +38,6 @@ px4_add_board(
lights/rgbled_ncp5623c
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
optical_flow # all available optical flow drivers
#osd
boards/px4/fmu-v5/stackcheck.cmake
-1
View File
@@ -39,7 +39,6 @@ px4_add_board(
#lights/rgbled_ncp5623c
lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
#mkblctrl
optical_flow # all available optical flow drivers
#pca9685
boards/px4/fmu-v5x/default.cmake
-1
View File
@@ -39,7 +39,6 @@ px4_add_board(
lights/rgbled
lights/rgbled_ncp5623c
magnetometer # all available magnetometer drivers
#md25
mkblctrl
optical_flow # all available optical flow drivers
#osd
src/drivers/md25/CMakeLists.txt
-42
View File
@@ -1,42 +0,0 @@
############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
px4_add_module(
MODULE drivers__md25
MAIN md25
COMPILE_FLAGS
SRCS
md25.cpp
md25_main.cpp
DEPENDS
)
src/drivers/md25/md25.cpp
-631
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File diff suppressed because it is too large Load Diff
src/drivers/md25/md25.hpp
-309
View File
@@ -1,309 +0,0 @@
/****************************************************************************
*
* 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
*
*/
#pragma once
#include <poll.h>
#include <stdio.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <drivers/device/i2c.h>
/**
* This is a driver for the MD25 motor controller utilizing the I2C interface.
*/
class MD25 : public device::I2C
{
public:
/**
* modes
*
* NOTE: this driver assumes we are always
* in mode 0!
*
* seprate speed mode:
* motor speed1 = speed1
* motor speed2 = speed2
* turn speed mode:
* motor speed1 = speed1 + speed2
* motor speed2 = speed2 - speed2
* unsigned:
* full rev (0), stop(128), full fwd (255)
* signed:
* full rev (-127), stop(0), full fwd (128)
*
* modes numbers:
* 0 : unsigned separate (default)
* 1 : signed separate
* 2 : unsigned turn
* 3 : signed turn
*/
enum e_mode {
MODE_UNSIGNED_SPEED = 0,
MODE_SIGNED_SPEED,
MODE_UNSIGNED_SPEED_TURN,
MODE_SIGNED_SPEED_TURN,
};
/** commands */
enum e_cmd {
CMD_RESET_ENCODERS = 32,
CMD_DISABLE_SPEED_REGULATION = 48,
CMD_ENABLE_SPEED_REGULATION = 49,
CMD_DISABLE_TIMEOUT = 50,
CMD_ENABLE_TIMEOUT = 51,
CMD_CHANGE_I2C_SEQ_0 = 160,
CMD_CHANGE_I2C_SEQ_1 = 170,
CMD_CHANGE_I2C_SEQ_2 = 165,
};
/** control channels */
enum e_channels {
CH_SPEED_LEFT = 0,
CH_SPEED_RIGHT
};
/**
* constructor
* @param deviceName the name of the device e.g. "/dev/md25"
* @param bus the I2C bus
* @param address the adddress on the I2C bus
* @param speed the speed of the I2C communication
*/
MD25(const char *deviceName,
int bus,
uint16_t address,
uint32_t speed = 100000);
/**
* deconstructor
*/
virtual ~MD25() = default;
/**
* @return software version
*/
uint8_t getVersion();
/**
* @return speed of motor, normalized (-1, 1)
*/
float getMotor1Speed();
/**
* @return speed of motor 2, normalized (-1, 1)
*/
float getMotor2Speed();
/**
* @return number of rotations since reset
*/
float getRevolutions1();
/**
* @return number of rotations since reset
*/
float getRevolutions2();
/**
* @return battery voltage, volts
*/
float getBatteryVolts();
/**
* @return motor 1 current, amps
*/
float getMotor1Current();
/**
* @return motor 2 current, amps
*/
float getMotor2Current();
/**
* @return the motor acceleration
* controls motor speed change (1-10)
* accel rate | time for full fwd. to full rev.
* 1 | 6.375 s
* 2 | 1.6 s
* 3 | 0.675 s
* 5(default) | 1.275 s
* 10 | 0.65 s
*/
uint8_t getMotorAccel();
/**
* @return motor output mode
* */
e_mode getMode();
/**
* @return current command register value
*/
e_cmd getCommand();
/**
* resets the encoders
* @return non-zero -> error
* */
int resetEncoders();
/**
* enable/disable speed regulation
* @return non-zero -> error
*/
int setSpeedRegulation(bool enable);
/**
* set the timeout for the motors
* enable/disable timeout (motor stop)
* after 2 sec of no i2c messages
* @return non-zero -> error
*/
int setTimeout(bool enable);
/**
* sets the device address
* can only be done with one MD25
* on the bus
* @return non-zero -> error
*/
int setDeviceAddress(uint8_t address);
/**
* set motor acceleration
* @param accel
* controls motor speed change (1-10)
* accel rate | time for full fwd. to full rev.
* 1 | 6.375 s
* 2 | 1.6 s
* 3 | 0.675 s
* 5(default) | 1.275 s
* 10 | 0.65 s
*/
int setMotorAccel(uint8_t accel);
/**
* set motor 1 speed
* @param normSpeed normalize speed between -1 and 1
* @return non-zero -> error
*/
int setMotor1Speed(float normSpeed);
/**
* set motor 2 speed
* @param normSpeed normalize speed between -1 and 1
* @return non-zero -> error
*/
int setMotor2Speed(float normSpeed);
/**
* main update loop that updates MD25 motor
* speeds based on actuator publication
*/
void update();
/**
* probe for device
*/
virtual int probe();
/**
* search for device
*/
int search();
/**
* read data from i2c
*/
int readData();
/**
* print status
*/
void status(char *string, size_t n);
private:
/** poll structure for control packets */
struct pollfd _controlPoll;
/** actuator controls subscription */
uORB::SubscriptionData<actuator_controls_s> _actuators;
// local copy of data from i2c device
uint8_t _version;
float _motor1Speed;
float _motor2Speed;
float _revolutions1;
float _revolutions2;
float _batteryVoltage;
float _motor1Current;
float _motor2Current;
uint8_t _motorAccel;
e_mode _mode;
e_cmd _command;
// private methods
int _writeUint8(uint8_t reg, uint8_t value);
int _writeInt8(uint8_t reg, int8_t value);
float _uint8ToNorm(uint8_t value);
uint8_t _normToUint8(float value);
/**
* set motor control mode,
* this driver assumed we are always in mode 0
* so we don't let the user change the mode
* @return non-zero -> error
*/
int _setMode(e_mode);
};
// unit testing
int md25Test(const char *deviceName, uint8_t bus, uint8_t address);
// sine testing
int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency);
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
src/drivers/md25/md25_main.cpp
-311
View File
@@ -1,311 +0,0 @@
/****************************************************************************
*
* 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 <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <parameters/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) {
PX4_WARN("%s", reason);
}
PX4_INFO("usage: md25 {start|stop|read|status|search|test|change_address}");
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 = px4_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_device_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