motor.c

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#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <linux/types.h>
#include "../inc/motor.h"
 
const char RUN = '1';
const char STOP = '0';
 
static _Bool motorRunning; /* Status of the motor */
 
void initMotor(){
    system("insmod motordriver.ko");
    motorRunning = 0;
}
 
void remMotor(){
    system("rmmod motordriver");
}
 
int startMotor(){
 
    if(!motorRunning)
    {
        int fd0 = open("/dev/motordriver0", O_WRONLY);   
        if(fd0 == -1)
        {
            printf("Failed to open motor driver device driver.\n");
            return 0;
        }
 
        if(write(fd0, &RUN, 1) <= 0)
        {
            printf("Failed to write on device driver.\n");
            close(fd0);
            return 0;
        }
 
        motorRunning = 1;
        close(fd0);
    }
    return 1;
}
 
int stopMotor(){
 
    if(motorRunning)
    {
        int fd0 = open("/dev/motordriver0", O_WRONLY);   
        if(fd0 == -1)
        {
            printf("Failed to open motor driver device driver.\n");
            return 0;
        }   
 
        if(write(fd0, &STOP, 1) <= 0)
        {
            printf("Failed to write on device driver.\n");
            close(fd0);
            return 0;
        }
 
        motorRunning = 0;
        close(fd0);
    }
    return 1;
}
 
_Bool getMotorStatus()
{
    return motorRunning;
}