delete unused md25 driver

2026-06-01 11:06:04 +08:00 · 2019-11-19 20:22:50 -05:00
parent 8c38176d77
commit 5aaf1b100b
26 changed files with 0 additions and 1315 deletions
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
 	)
@@ -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
@@ -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