| 0,0 → 1,176 |
|---|
| /*****************************************************************************/ |
| /* |
| * 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 CMPS03_SOFTWARE_REVISION 0x0 |
| #define SRF02_SOFTWARE_REVISION 0x0 |
| |
| #define I2C_SLAVE 0x0703 /* Change slave address */ |
| #define I2C_RDWR 0x0707 /* Combined R/W transfer (one stop only)*/ |
| #define I2C_SLAVE_FORCE 0x0706 /* Change slave address */ |
| /* Attn.: Slave address is 7 or 10 bits */ |
| /* This changes the address, even if it */ |
| /* is already taken! */ |
| |
| #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; |
| |
| 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 --------------------------------------------------------------------------- |
| |
| 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) |
| { |
| Buf[0]=0x0; |
| Buf[1]=0x51; |
| write(file, Buf, 2); |
| usleep(80000); |
| read(file, Buf, 3); |
| if (flag==0) |
| vzdalenost=(Buf[1]*256+Buf[2]); |
| // printf("Vzdalenost: %u cm\n",ble); |
| |
| /* |
| if (0==flag) |
| { |
| sprintf(vystup,"Vzdalenost: %u cm\n",vzdalenost); |
| }; |
| */ |
| usleep(300000); |
| }; |
| close(file); |
| pthread_join(thread_id, NULL); |
| fclose(pRouraO); |
| |
| return 0; |
| } |
| |
| void *print_tele(void *unused) |
| { |
| flag=0; |
| |
| while(1) |
| { |
| char pom; |
| |
| pRouraI = fopen("/home/ble/pipe","r"); |
| pom=fgetc(pRouraI); |
| fclose(pRouraI); |
| flag=1; |
| pRouraO = fopen("/home/ble/pipe","w"); |
| fprintf(pRouraO,"Vzdalenost: %u cm\n",vzdalenost); |
| fclose(pRouraO); |
| flag=0; |
| } |
| } |