| /roboti/Robotour/SW/wdt/wdt.c |
|---|
| 0,0 → 1,17 |
| #include "C:\dokumenty\svn\Kaklik\roboti\Robotour\SW\wdt\wdt.h" |
| void main() |
| { |
| setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| setup_adc(ADC_OFF); |
| setup_spi(FALSE); |
| setup_timer_0(RTCC_INTERNAL);setup_wdt(WDT_144MS); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(VREF_LOW|-2); |
| setup_oscillator(False); |
| } |
| /roboti/Robotour/SW/wdt/wdt.h |
|---|
| 0,0 → 1,18 |
| #include <16F88.h> |
| #device adc=8 |
| #FUSES WDT //Watch Dog Timer |
| #FUSES INTRC //Internal RC Osc |
| #FUSES NOPUT //No Power Up Timer |
| #FUSES MCLR //Master Clear pin enabled |
| #FUSES NOBROWNOUT //No brownout reset |
| #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O |
| #FUSES NOCPD //No EE protection |
| #FUSES NOWRT //Program memory not write protected |
| #FUSES NODEBUG //No Debug mode for ICD |
| #FUSES NOPROTECT //Code not protected from reading |
| #FUSES NOFCMEN //Fail-safe clock monitor disabled |
| #FUSES NOIESO //Internal External Switch Over mode disabled |
| #use delay(clock=8000000,RESTART_WDT) |
| /roboti/Robotour/SW/wdt/wdt.hex |
|---|
| 0,0 → 1,13 |
| :1000000000308A000428000084011F30830570300E |
| :1000100083168F001F129F121B0880399B00073028 |
| :100020009C001F129F121B0880399B0083121F1017 |
| :10003000941283160611861406120030831294005F |
| :10004000831694000108C03981000B30F700073097 |
| :1000500083128101813084000008F0390738800064 |
| :1000600064000008F739F719F0397704800090012F |
| :100070000030F800920000308316920007309C0098 |
| :10008000050864000630F700F70B44281C088312AB |
| :100090000D13FE3083169D0005158F010F086300B8 |
| :04400E003D3FFC3FF7 |
| :00000001FF |
| ;PIC16F88 |
| /roboti/Robotour/SW/board/main.cpp |
|---|
| 0,0 → 1,164 |
| /*****************************************************************************/ |
| /* |
| * Board.cpp - communication with NGW100 Board Controller and I2C |
| * |
| * Copyright (C) 2007 Karel Hojdar, KAKL |
| * |
| * This program is free software; you can redistribute it and/or modify |
| * it under the terms of the GNU General Public License as published by |
| * the Free Software Foundation; either version 2 of the License, or |
| * (at your option) any later version. |
| * |
| * This program is distributed in the hope that it will be useful, |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| * GNU General Public License for more details. |
| * |
| * |
| * |
| * Revision history |
| * 15.06.2007 1.0 Undertaken from KAHO |
| * 09.09.2007 2.0 I2C US Ranger |
| */ |
| /*****************************************************************************/ |
| #include <iostream> |
| #include <getopt.h> |
| #include <errno.h> |
| #include <string.h> |
| #include <pthread.h> |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <unistd.h> |
| #include "linux/i2c-dev.h" |
| #include "linux/i2c.h" |
| #include <sys/ioctl.h> |
| #include <sys/types.h> |
| #include <sys/stat.h> |
| #include <fcntl.h> |
| using namespace std; |
| #define BC_Addr 0x0B |
| #define US_Addr 0x70 // 0xE0 in fact |
| #define PIC_Addr 0x50 // 0xA0 in fact |
| char vystup[30]; |
| pthread_t thread_id; |
| FILE *pRouraO,*pRouraI; |
| unsigned int vzdalenost; |
| char command,ble; |
| void *print_tele(void *unused); |
| void DoExit(int ex) |
| { |
| exit(ex); |
| } |
| unsigned char xfunc[5] = {0x99, 0x9A, 0x9B, 0x9E, 0x8D}; |
| unsigned char xlen[5] = {8, 6, 1, 15, 2}; |
| int main(int argc, char *argv[], char *envp[]) |
| { |
| int Len; |
| int i2cbus = 0; |
| char filename[20],Buf[64]; |
| int file; |
| fprintf(stdout, "Ble................"); |
| sprintf(filename, "/dev/i2c-%d", i2cbus); |
| file = open(filename, O_RDWR); |
| if (file < 0) |
| { |
| cerr << "Could not open /dev/i2c-0." << endl; |
| return -1; |
| } |
| /* |
| if (ioctl(file, I2C_SLAVE, BC_Addr) == -1) |
| { |
| fprintf(stderr, "Failed to set address to 0x%02x.\n", BC_Addr); |
| DoExit(-2); |
| } |
| Buf[0] = xfunc[0]; |
| if ( write(file, Buf, 1) != 1) |
| { |
| fprintf(stderr, "Failed to write byte to address to 0x%02x, errno %i.\n", BC_Addr, errno); |
| DoExit(-3); |
| } |
| if (read(file, Buf, 1) != 1) |
| { |
| fprintf(stderr, "Failed to read response length, errno %i.\n", errno); |
| DoExit(-4); |
| } |
| Len = Buf[0]; |
| if (read(file, Buf, Len) != Len) |
| { |
| fprintf(stderr, "Failed to read response, errno %i.\n", errno); |
| DoExit(-5); |
| } |
| Buf[Len] = 0x00; |
| fprintf(stdout, "Board ID is %s.\n", Buf); |
| */ |
| //!------ US --------------------------------------------------------------------------- |
| pthread_create(&thread_id, NULL, print_tele, NULL); |
| 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 (ioctl(file, I2C_SLAVE, PIC_Addr) == -1) |
| { |
| 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]; |
| //!-------- |
| printf("Vzdalenost: %u cm Command: %x\n",vzdalenost,ble); |
| }; |
| close(file); |
| pthread_join(thread_id, NULL); |
| fclose(pRouraO); |
| return 0; |
| } |
| void *print_tele(void *unused) |
| { |
| while(1) |
| { |
| pRouraI = fopen("/home/ble/pipe","r"); |
| command=fgetc(pRouraI); |
| fclose(pRouraI); |
| pRouraO = fopen("/home/ble/pipe","w"); |
| fprintf(pRouraO,"Vzdalenost: %u cm Command: %x\n",vzdalenost,ble); |
| fclose(pRouraO); |
| } |
| } |
| /roboti/Robotour/SW/board/board.cbp |
|---|
| 0,0 → 1,45 |
| <?xml version="1.0" encoding="UTF-8" standalone="yes" ?> |
| <CodeBlocks_project_file> |
| <FileVersion major="1" minor="6" /> |
| <Project> |
| <Option title="board" /> |
| <Option pch_mode="2" /> |
| <Option compiler="atmel_gnu_gcc_compiler" /> |
| <Build> |
| <Target title="Debug"> |
| <Option output="bin\Debug\board" prefix_auto="0" extension_auto="0" /> |
| <Option object_output="obj\Debug\" /> |
| <Option type="1" /> |
| <Option compiler="atmel_gnu_gcc_compiler" /> |
| <Compiler> |
| <Add option="-g" /> |
| </Compiler> |
| <Linker> |
| <Add option="-lpthread" /> |
| </Linker> |
| </Target> |
| <Target title="Release"> |
| <Option output="bin\Release\board" prefix_auto="1" extension_auto="1" /> |
| <Option object_output="obj\Release\" /> |
| <Option type="1" /> |
| <Option compiler="atmel_gnu_gcc_compiler" /> |
| <Compiler> |
| <Add option="-O2" /> |
| </Compiler> |
| <Linker> |
| <Add option="-s" /> |
| </Linker> |
| </Target> |
| </Build> |
| <Compiler> |
| <Add option="-Wall" /> |
| <Add option="-fexceptions" /> |
| </Compiler> |
| <Unit filename="main.cpp" /> |
| <Extensions> |
| <code_completion /> |
| <envvars /> |
| <debugger /> |
| </Extensions> |
| </Project> |
| </CodeBlocks_project_file> |
| /roboti/Robotour/SW/board/workspace.workspace |
|---|
| 0,0 → 1,6 |
| <?xml version="1.0" encoding="UTF-8" standalone="yes" ?> |
| <CodeBlocks_workspace_file> |
| <Workspace title="Workspace"> |
| <Project filename="board.cbp" active="1" /> |
| </Workspace> |
| </CodeBlocks_workspace_file> |
| /roboti/Robotour/SW/pic_i2c_slave/test.PJT |
|---|
| 0,0 → 1,40 |
| [PROJECT] |
| Target=test.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\Dr |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=C:\Dokumenty\svn\Kaklik\roboti\Robotour\SW\pic\test.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [test.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=test.c |
| [Windows] |
| 0=0000 test.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=C:\Dokumenty\svn\Kaklik\roboti\Robotour\SW\pic\test.c |
| 2=C:\Dokumenty\svn\Kaklik\roboti\Robotour\SW\pic\test.h |
| 3=C:\Program Files\PICC\devices\16F88.h |
| 4= |
| [Units] |
| Count=1 |
| 1=C:\Dokumenty\svn\Kaklik\roboti\Robotour\SW\pic\test.c (main) |
| /roboti/Robotour/SW/pic_i2c_slave/test.c |
|---|
| 0,0 → 1,73 |
| #include "test.h" |
| #define H1 PIN_A1 |
| #define L1 PIN_A2 |
| #define H2 PIN_A3 |
| #define L2 PIN_A4 |
| char command; |
| int n; |
| #INT_SSP |
| void ssp_interupt () |
| { |
| BYTE incoming, state; |
| output_low(H1); |
| output_low(L1); |
| output_low(H2); |
| output_low(L2); |
| state = i2c_isr_state(); |
| if(state < 0x80) //Master is sending data |
| { |
| output_toggle(PIN_A0); |
| command = i2c_read(); |
| } |
| if(state == 0x80) //Master is requesting data |
| { |
| i2c_write(command); |
| } |
| } |
| void main() |
| { |
| setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| setup_adc(ADC_OFF); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| setup_oscillator(False); |
| enable_interrupts(GLOBAL); |
| enable_interrupts(INT_SSP); |
| while(true) |
| { |
| if(command=='a') |
| { |
| output_high(H1); |
| output_low(H2); |
| output_low(L1); |
| output_high(L2); |
| } |
| else |
| { |
| output_low(H1); |
| output_high(H2); |
| output_high(L1); |
| output_low(L2); |
| }; |
| delay_us(60); |
| output_low(H1); |
| output_low(H2); |
| output_low(L1); |
| output_low(L2); |
| } |
| } |
| /roboti/Robotour/SW/pic_i2c_slave/test.h |
|---|
| 0,0 → 1,19 |
| #include <16F88.h> |
| #device adc=8 |
| #FUSES NOWDT //No Watch Dog Timer |
| #FUSES HS //High speed Osc (> 4mhz) |
| #FUSES NOPUT //No Power Up Timer |
| #FUSES MCLR //Master Clear pin enabled |
| #FUSES NOBROWNOUT //No brownout reset |
| #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O |
| #FUSES NOCPD //No EE protection |
| #FUSES NOWRT //Program memory not write protected |
| #FUSES NODEBUG //No Debug mode for ICD |
| #FUSES NOPROTECT //Code not protected from reading |
| #FUSES NOFCMEN //Fail-safe clock monitor disabled |
| #FUSES NOIESO //Internal External Switch Over mode disabled |
| #use delay(clock=4000000) |
| #use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA0) |