motor-control: add command line options for gpio pins

src/motor-control/src/slave.c

@@ -54,6 +54,11 @@ typedef struct main_params {
   int verbose;
 } main_param_t;
 
+typedef struct gpio_params {
+  int direction_pin;
+  int pulse_pin;
+} gpio_param_t;
+
 static void process_options(int argc, char *argv[]);
 static void sighand(int sig_num);
 
@@ -61,6 +66,7 @@ static void sighand(int sig_num);
 
 static main_param_t main_params;
 static thread_param_t thread_params;
+static gpio_param_t gpio_params;
 static ingress_param_t ingress_params;
 static ingress_stat_t ingress_stats = {.min_interval = INT_MAX};
 static enum TSNTask tsn_task;
@@ -87,6 +93,8 @@ static void help(char *argv[]) {
       "       -p PRIO            RT thread priority\n"
       "       -r USEC            non-RT main thread refresh interval\n"
       "       -s NS              Common start time reference\n"
+      "       -d GPIO            Set the gpio pin to be used for motor direction\n"
+      "       -u GPIO            Set the gpio pin to be used for motor pulse\n"
       "       -x                 Use AF_XDP sockets\n"
       "       -v                 Verbose\n"
       "\n",
@@ -287,6 +295,8 @@ int main(int argc, char *argv[]) {
   main_params.verbose = 0;
   tsn_task = RECV_PACKET_TASK;
   ingress_params.tx_buffer_len = 1024;
+  gpio_params.direction_pin = GPIO_DIRECTION_NUMBER;
+  gpio_params.pulse_pin = GPIO_PULSE_NUMBER;
 
   // Process bash options
   process_options(argc, argv);
@@ -305,8 +315,8 @@ int main(int argc, char *argv[]) {
   pthread_mutex_init(&emit_signal_mutex, NULL);
   pthread_cond_init(&emit_signal_ts_received, NULL);
 
-  gpio_pulse_state = enable_gpio(&gpio_pulse_fd, GPIO_PULSE_NUMBER);
-  gpio_direction_state = enable_gpio(&gpio_direction_fd, GPIO_DIRECTION_NUMBER);
+  gpio_pulse_state = enable_gpio(&gpio_pulse_fd, gpio_params.pulse_pin);
+  gpio_direction_state = enable_gpio(&gpio_direction_fd, gpio_params.direction_pin);
 
   create_thread(tsn_thread);
   create_thread(emit_signal_thread);
@@ -353,7 +363,7 @@ static void process_options(int argc, char *argv[]) {
   int network_if_specified = 0;
 
   for (;;) {
-    int c = getopt(argc, argv, "a:s:f:hp:r:vx");
+    int c = getopt(argc, argv, "a:s:f:hp:r:d:u:vx");
 
     if (c == -1) break;
 
@@ -378,6 +388,12 @@ static void process_options(int argc, char *argv[]) {
       case 'r':
         main_params.refresh_rate = atoi(optarg);
         break;
+      case 'd':
+        gpio_params.direction_pin = atoi(optarg);
+        break;
+      case 'u':
+        gpio_params.pulse_pin = atoi(optarg);
+        break;
       case 'v':
         main_params.verbose = 1;
         break;