| 41,16 → 41,6 |
|---|
| |
| 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 |
| #define PIC_Addr 0x50 // 0xA0 in fact |
| 89,7 → 79,7 |
|---|
| 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); |
| 119,7 → 109,7 |
|---|
| |
| Buf[Len] = 0x00; |
| fprintf(stdout, "Board ID is %s.\n", Buf); |
| |
| */ |
| //!------ US --------------------------------------------------------------------------- |
| |
| pthread_create(&thread_id, NULL, print_tele, NULL); |
| 148,6 → 138,10 |
|---|
| 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); |