WebSVN – svnkaklik – Diff – /roboti/Robotour/SW/i2c/main.cpp


/*****************************************************************************/
/*
 *  Zmena I2C adresy
 *
 *      Copyright (C) 2007 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.
 *
 */
/*****************************************************************************/
 
#include <iostream>
#include <getopt.h>
#include <errno.h>
#include <string.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 US3_Addr	0x70    // 0xE0 in fact; Sonar na doprovod
#define CMPS_Addr   0x60    // 0xC0
#define M1	0x50 // 0xA0 in fact
#define M2	0x51 // 0xA2 in fact
 
 
 
 
 
 
 
 
int file;
 
 
 
 
 
void I2C_addr (int Addr)
{
    if (ioctl(file, I2C_SLAVE, Addr) == -1)
    {
        fprintf(stderr, "Failed to set address to 0x%02x.\n", Addr);
        exit(-5);
    }
}
 
 
unsigned int echo(int Addr)  // precte vzdalenost z US cidla
{
    char Buf[3];
 
    I2C_addr(Addr);
    Buf[0]=0x0;
    Buf[1]=0x51;
    write(file, Buf, 2);
    usleep(80000);
    read(file, Buf, 3);
    return (Buf[1]*256+Buf[2]);
}
 
unsigned char read_azimut_mag()  // precte azimut z kompasu
{
    char Buf[3];      // promena pro manipulaci s i2c
 
    I2C_addr(CMPS_Addr);
    Buf[0]=1;
    write(file,Buf,1);
    read(file, Buf,1);
    return Buf[0];
}
 
void calib()  // kalibrace kompasu
{
    char Buf[3];      // promena pro manipulaci s i2c
 
    I2C_addr(CMPS_Addr);
    Buf[0]=15;
    Buf[1]=0xFF;
    write(file,Buf,2);
}
 
int i2c_init()   // zinicializuje i2c
{
	file = open("/dev/i2c-0", O_RDWR);
	if (file < 0)
	{
		cerr << "Could not open /dev/i2c-0." << endl;
		return -1;
	}
	return 0;
}
 
int main(int argc, char *argv[], char *envp[])
{
    unsigned int OldAddress, NewAddress;
    char Buf[10];
 
	fprintf(stdout, "\n **** Change I2C Address **** \n \r");
 
    if (argc<2)
    {
        printf("Use:\n%s OldAddress NewAddress - for change address\nOR\n%s Address - for echo\n\r",argv[0],argv[0]);
        return 0;
    }
 
    i2c_init();
 
    sscanf(argv[1],"%x",&OldAddress);
 
    if (argc==2)
    {
        echo(OldAddress);
        printf("Vzdalenost: %d\n", echo(NewAddress));
        close(file);
        return 0;
    }
 
 
    sscanf(argv[2],"%x",&NewAddress);
 
    printf("Old: %x New: %x\n", OldAddress, NewAddress);
 
    echo(OldAddress);
    printf("Vzdalenost: %d\n", echo(NewAddress));
 
    I2C_addr(OldAddress);
    Buf[0]=0x0;
    Buf[1]=0xA0;
    Buf[2]=0xAA;
    Buf[3]=0xA5;
    Buf[4]=(unsigned char)NewAddress;
    write(file, Buf, 5);
 
    usleep(100000);
 
    echo(NewAddress);
    printf("Vzdalenost: %d\n", echo(NewAddress));
 
	close(file);
	return 0;
}

Rev 373	Rev 374
1	`/*****************************************************************************/`	1	`/*****************************************************************************/`
2	`/*`	2	`/*`
3	`* Zmena I2C adresy`	3	`* Zmena I2C adresy`
4	`*`	4	`*`
5	`* Copyright (C) 2007 KAKL`	5	`* Copyright (C) 2007 KAKL`
6	`*`	6	`*`
7	`* This program is free software; you can redistribute it and/or modify`	7	`* This program is free software; you can redistribute it and/or modify`
8	`* it under the terms of the GNU General Public License as published by`	8	`* it under the terms of the GNU General Public License as published by`
9	`* the Free Software Foundation; either version 2 of the License, or`	9	`* the Free Software Foundation; either version 2 of the License, or`
10	`* (at your option) any later version.`	10	`* (at your option) any later version.`
11	`*`	11	`*`
12	`* This program is distributed in the hope that it will be useful,`	12	`* This program is distributed in the hope that it will be useful,`
13	`* but WITHOUT ANY WARRANTY; without even the implied warranty of`	13	`* but WITHOUT ANY WARRANTY; without even the implied warranty of`
14	`* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the`	14	`* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the`
15	`* GNU General Public License for more details.`	15	`* GNU General Public License for more details.`
16	`*`	16	`*`
17	`*/`	17	`*/`
18	`/*****************************************************************************/`	18	`/*****************************************************************************/`
19		19
20	`#include <iostream>`	20	`#include <iostream>`
21	`#include <getopt.h>`	21	`#include <getopt.h>`
22	`#include <errno.h>`	22	`#include <errno.h>`
23	`#include <string.h>`	23	`#include <string.h>`
24	`#include <stdio.h>`	24	`#include <stdio.h>`
25	`#include <stdlib.h>`	25	`#include <stdlib.h>`
26	`#include <unistd.h>`	26	`#include <unistd.h>`
27	`#include "linux/i2c-dev.h"`	27	`#include "linux/i2c-dev.h"`
28	`#include "linux/i2c.h"`	28	`#include "linux/i2c.h"`
29	`#include <sys/ioctl.h>`	29	`#include <sys/ioctl.h>`
30	`#include <sys/types.h>`	30	`#include <sys/types.h>`
31	`#include <sys/stat.h>`	31	`#include <sys/stat.h>`
32	`#include <fcntl.h>`	32	`#include <fcntl.h>`
33		33
34	`using namespace std;`	34	`using namespace std;`
35		35
36		36
37	`#define BC_Addr 0x0B`	37	`#define BC_Addr 0x0B`
38	`#define US3_Addr 0x70 // 0xE0 in fact; Sonar na doprovod`	38	`#define US3_Addr 0x70 // 0xE0 in fact; Sonar na doprovod`
39	`#define CMPS_Addr 0x60 // 0xC0`	39	`#define CMPS_Addr 0x60 // 0xC0`
40	`#define M1 0x50 // 0xA0 in fact`	40	`#define M1 0x50 // 0xA0 in fact`
41	`#define M2 0x51 // 0xA2 in fact`	41	`#define M2 0x51 // 0xA2 in fact`
42		42
43		43
44	`char vystup[50];`	-
45	`pthread_t thread_1, thread_2, thread_3;`	-
46	`FILE pRouraO,pRouraI;`	-
47	`unsigned int vzdalenost;`	-
48	`char command,ble;`	-
49	`int param;`	-
50	`int file;`	44	`int file;`
51	`double nord, east;`	-
52	`int done; // vlajka, ze se neco udelalo`	-
53	`int last_cross; // posledni krizovatka`	-
54		-
55		45
56	`void I2C_addr (int Addr)`	46	`void I2C_addr (int Addr)`
57	`{`	47	`{`
58	`if (ioctl(file, I2C_SLAVE, Addr) == -1)`	48	`if (ioctl(file, I2C_SLAVE, Addr) == -1)`
59	`{`	49	`{`
60	`fprintf(stderr, "Failed to set address to 0x%02x.\n", Addr);`	50	`fprintf(stderr, "Failed to set address to 0x%02x.\n", Addr);`
61	`exit(-5);`	51	`exit(-5);`
62	`}`	52	`}`
63	`}`	53	`}`
64		54
65		55
66	`unsigned int echo(int Addr) // precte vzdalenost z US cidla`	56	`unsigned int echo(int Addr) // precte vzdalenost z US cidla`
67	`{`	57	`{`
68	`char Buf[3];`	58	`char Buf[3];`
69		59
70	`I2C_addr(Addr);`	60	`I2C_addr(Addr);`
71	`Buf[0]=0x0;`	61	`Buf[0]=0x0;`
72	`Buf[1]=0x51;`	62	`Buf[1]=0x51;`
73	`write(file, Buf, 2);`	63	`write(file, Buf, 2);`
74	`usleep(80000);`	64	`usleep(80000);`
75	`read(file, Buf, 3);`	65	`read(file, Buf, 3);`
76	`return (Buf[1]*256+Buf[2]);`	66	`return (Buf[1]*256+Buf[2]);`
77	`}`	67	`}`
78		68
79	`unsigned char read_azimut_mag() // precte azimut z kompasu`	69	`unsigned char read_azimut_mag() // precte azimut z kompasu`
80	`{`	70	`{`
81	`char Buf[3]; // promena pro manipulaci s i2c`	71	`char Buf[3]; // promena pro manipulaci s i2c`
82		72
83	`I2C_addr(CMPS_Addr);`	73	`I2C_addr(CMPS_Addr);`
84	`Buf[0]=1;`	74	`Buf[0]=1;`
85	`write(file,Buf,1);`	75	`write(file,Buf,1);`
86	`read(file, Buf,1);`	76	`read(file, Buf,1);`
87	`return Buf[0];`	77	`return Buf[0];`
88	`}`	78	`}`
89		79
90	`void calib() // kalibrace kompasu`	80	`void calib() // kalibrace kompasu`
91	`{`	81	`{`
92	`char Buf[3]; // promena pro manipulaci s i2c`	82	`char Buf[3]; // promena pro manipulaci s i2c`
93		83
94	`I2C_addr(CMPS_Addr);`	84	`I2C_addr(CMPS_Addr);`
95	`Buf[0]=15;`	85	`Buf[0]=15;`
96	`Buf[1]=0xFF;`	86	`Buf[1]=0xFF;`
97	`write(file,Buf,2);`	87	`write(file,Buf,2);`
98	`}`	88	`}`
99		89
100	`int i2c_init() // zinicializuje i2c`	90	`int i2c_init() // zinicializuje i2c`
101	`{`	91	`{`
102	`file = open("/dev/i2c-0", O_RDWR);`	92	`file = open("/dev/i2c-0", O_RDWR);`
103	`if (file < 0)`	93	`if (file < 0)`
104	`{`	94	`{`
105	`cerr << "Could not open /dev/i2c-0." << endl;`	95	`cerr << "Could not open /dev/i2c-0." << endl;`
106	`return -1;`	96	`return -1;`
107	`}`	97	`}`
108	`return 0;`	98	`return 0;`
109	`}`	99	`}`
110		100
111	`int main(int argc, char argv[], char envp[])`	101	`int main(int argc, char argv[], char envp[])`
112	`{`	102	`{`
113	`unsigned int OldAddress, NewAddress;`	103	`unsigned int OldAddress, NewAddress;`
114	`char Buf[10];`	104	`char Buf[10];`
115		105
116	`fprintf(stdout, "\n ** Changing I2C Address ** \n \r");`	106	`fprintf(stdout, "\n ** Change I2C Address ** \n \r");`
-		107
-		108	`if (argc<2)`
-		109	`{`
-		110	`printf("Use:\n%s OldAddress NewAddress - for change address\nOR\n%s Address - for echo\n\r",argv[0],argv[0]);`
-		111	`return 0;`
-		112	`}`
117		113
118	`i2c_init();`	114	`i2c_init();`
119		115
-		116	`sscanf(argv[1],"%x",&OldAddress);`
-		117
120	`if ( argc < 3 )`	118	`if (argc==2)`
121	`{`	119	`{`
-		120	`echo(OldAddress);`
122	`printf("Use:\n%s OldAddress NewAddress\n",argv[0]);`	121	`printf("Vzdalenost: %d\n", echo(NewAddress));`
-		122	`close(file);`
123	`return 0;`	123	`return 0;`
124	`}`	124	`}`
125		125
126	`sscanf(argv[1],"%x",&OldAddress);`	-
127	`sscanf(argv[2],"%x",&NewAddress);`	126	`sscanf(argv[2],"%x",&NewAddress);`
128		127
129	`printf("Old: %x New: %x\n", OldAddress, NewAddress);`	128	`printf("Old: %x New: %x\n", OldAddress, NewAddress);`
130		129
131	`echo(OldAddress);`	130	`echo(OldAddress);`
132	`printf("Vzdalenost: %d\n", echo(NewAddress));`	131	`printf("Vzdalenost: %d\n", echo(NewAddress));`
133		132
134	`I2C_addr(OldAddress);`	133	`I2C_addr(OldAddress);`
135	`Buf[0]=0x0;`	134	`Buf[0]=0x0;`
136	`Buf[1]=0xA0;`	135	`Buf[1]=0xA0;`
137	`Buf[2]=0xAA;`	136	`Buf[2]=0xAA;`
138	`Buf[3]=0xA5;`	137	`Buf[3]=0xA5;`
139	`Buf[4]=(unsigned char)NewAddress;`	138	`Buf[4]=(unsigned char)NewAddress;`
140	`write(file, Buf, 5);`	139	`write(file, Buf, 5);`
141		140
142	`usleep(100000);`	141	`usleep(100000);`
143		142
144	`echo(NewAddress);`	143	`echo(NewAddress);`
145	`printf("Vzdalenost: %d\n", echo(NewAddress));`	144	`printf("Vzdalenost: %d\n", echo(NewAddress));`
146		145
147	`close(file);`	146	`close(file);`
148	`return 0;`	147	`return 0;`
149	`}`	148	`}`

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(root)/roboti/Robotour/SW/i2c/main.cpp @ 376 – Rev 373 → 374