| 51,15 → 51,14 |
|---|
| /* This changes the address, even if it */ |
| /* is already taken! */ |
| |
| #define BC_Addr 0x0B |
| #define US_Addr 0x70 // 0xE0 in fact |
| #define PIC_Addr 0x50 // 0xA0 in fact |
| #define BC_Addr 0x0B |
| #define US_Addr 0x70 // 0xE0 in fact |
| |
| char vystup[30]; |
| char flag; |
| pthread_t thread_id; |
| FILE *pRouraO,*pRouraI; |
| unsigned int vzdalenost; |
| char command,ble; |
| |
| void *print_tele(void *unused); |
| |
| 122,32 → 121,33 |
|---|
| |
| //!------ US --------------------------------------------------------------------------- |
| |
| if (ioctl(file, I2C_SLAVE, US_Addr) == -1) |
| { |
| fprintf(stderr, "Failed to set address to 0x%02x.\n", US_Addr); |
| DoExit(-6); |
| } |
| |
| pthread_create(&thread_id, NULL, print_tele, NULL); |
| flag = 0; |
| |
| while(true) |
| { |
| if (ioctl(file, I2C_SLAVE, US_Addr) == -1) |
| { |
| fprintf(stderr, "Failed to set address to 0x%02x.\n", US_Addr); |
| DoExit(-6); |
| } |
| Buf[0]=0x0; |
| Buf[1]=0x51; |
| write(file, Buf, 2); |
| usleep(80000); |
| read(file, Buf, 3); |
| vzdalenost=(Buf[1]*256+Buf[2]); |
| usleep(300000); |
| if (flag==0) |
| vzdalenost=(Buf[1]*256+Buf[2]); |
| // printf("Vzdalenost: %u cm\n",ble); |
| |
| if (ioctl(file, I2C_SLAVE, PIC_Addr) == -1) |
| /* |
| if (0==flag) |
| { |
| fprintf(stderr, "Failed to set address to 0x%02x.\n", US_Addr); |
| DoExit(-6); |
| } |
| Buf[0]=command; |
| write(file, Buf, 1); |
| read(file, Buf, 1); |
| ble=Buf[0]; |
| sprintf(vystup,"Vzdalenost: %u cm\n",vzdalenost); |
| }; |
| */ |
| usleep(300000); |
| }; |
| close(file); |
| pthread_join(thread_id, NULL); |
| 158,13 → 158,19 |
|---|
| |
| void *print_tele(void *unused) |
| { |
| flag=0; |
| |
| while(1) |
| { |
| char pom; |
| |
| pRouraI = fopen("/home/ble/pipe","r"); |
| command=fgetc(pRouraI); |
| pom=fgetc(pRouraI); |
| fclose(pRouraI); |
| flag=1; |
| pRouraO = fopen("/home/ble/pipe","w"); |
| fprintf(pRouraO,"Vzdalenost: %u cm Command: %x\n",vzdalenost,ble); |
| fprintf(pRouraO,"Vzdalenost: %u cm\n",vzdalenost); |
| fclose(pRouraO); |
| flag=0; |
| } |
| } |