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373 kakl 1 
/*****************************************************************************/
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/*
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 *  Zmena I2C adresy
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 *
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 *      Copyright (C) 2007 KAKL
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 *
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 *      This program is free software; you can redistribute it and/or modify
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 *      it under the terms of the GNU General Public License as published by
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 *      the Free Software Foundation; either version 2 of the License, or
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 *      (at your option) any later version.
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 *
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 *      This program is distributed in the hope that it will be useful,
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 *      but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *      GNU General Public License for more details.
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 *
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 */
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/*****************************************************************************/
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#include <iostream>
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#include <getopt.h>
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#include <errno.h>
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#include <string.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include "linux/i2c-dev.h"
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#include "linux/i2c.h"
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#include <sys/ioctl.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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using namespace std;
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#define BC_Addr	    0x0B
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#define US3_Addr	0x70    // 0xE0 in fact; Sonar na doprovod
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#define CMPS_Addr   0x60    // 0xC0
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#define M1	0x50 // 0xA0 in fact
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#define M2	0x51 // 0xA2 in fact
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char vystup[50];
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pthread_t thread_1, thread_2, thread_3;
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FILE *pRouraO,*pRouraI;
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unsigned int vzdalenost;
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char command,ble;
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int param;
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int file;
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double nord, east;
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int done; // vlajka, ze se neco udelalo
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int last_cross; // posledni krizovatka
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void I2C_addr (int Addr)
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{
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    if (ioctl(file, I2C_SLAVE, Addr) == -1)
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    {
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        fprintf(stderr, "Failed to set address to 0x%02x.\n", Addr);
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        exit(-5);
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    }
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}
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unsigned int echo(int Addr)  // precte vzdalenost z US cidla
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{
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    char Buf[3];
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    I2C_addr(Addr);
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    Buf[0]=0x0;
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    Buf[1]=0x51;
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    write(file, Buf, 2);
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    usleep(80000);
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    read(file, Buf, 3);
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    return (Buf[1]*256+Buf[2]);
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}
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unsigned char read_azimut_mag()  // precte azimut z kompasu
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{
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    char Buf[3];      // promena pro manipulaci s i2c
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    I2C_addr(CMPS_Addr);
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    Buf[0]=1;
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    write(file,Buf,1);
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    read(file, Buf,1);
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    return Buf[0];
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}
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void calib()  // kalibrace kompasu
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{
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    char Buf[3];      // promena pro manipulaci s i2c
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    I2C_addr(CMPS_Addr);
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    Buf[0]=15;
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    Buf[1]=0xFF;
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    write(file,Buf,2);
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}
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int i2c_init()   // zinicializuje i2c
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{
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	file = open("/dev/i2c-0", O_RDWR);
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	if (file < 0)
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	{
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		cerr << "Could not open /dev/i2c-0." << endl;
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		return -1;
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	}
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	return 0;
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}
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int main(int argc, char *argv[], char *envp[])
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{
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    unsigned int OldAddress, NewAddress;
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    char Buf[10];
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	fprintf(stdout, "\n **** Changing I2C Address **** \n \r");
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    i2c_init();
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    if ( argc < 3 )
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    {
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        printf("Use:\n%s OldAddress NewAddress\n",argv[0]);
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        return 0;
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    }
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    sscanf(argv[1],"%x",&OldAddress);
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    sscanf(argv[2],"%x",&NewAddress);
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    printf("Old: %x New: %x\n", OldAddress, NewAddress);
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    echo(OldAddress);
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    printf("Vzdalenost: %d\n", echo(NewAddress));
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    I2C_addr(OldAddress);
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    Buf[0]=0x0;
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    Buf[1]=0xA0;
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    Buf[2]=0xAA;
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    Buf[3]=0xA5;
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    Buf[4]=(unsigned char)NewAddress;
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    write(file, Buf, 5);
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    usleep(100000);
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    echo(NewAddress);
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    printf("Vzdalenost: %d\n", echo(NewAddress));
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	close(file);
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	return 0;
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}