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Rev 364 Rev 365
Line 49... Line 49...
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#define I2C_SLAVE_FORCE	0x0706	/* Change slave address			*/
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#define I2C_SLAVE_FORCE	0x0706	/* Change slave address			*/
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				/* Attn.: Slave address is 7 or 10 bits */
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				/* Attn.: Slave address is 7 or 10 bits */
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				/* This changes the address, even if it */
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				/* This changes the address, even if it */
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				/* is already taken!	*/
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				/* is already taken!	*/
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#define BC_Addr	0x0B
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#define BC_Addr	    0x0B
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#define US_Addr	0x70 // 0xE0 in fact
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#define US_Addr	    0x70 // 0xE0 in fact
- 
 
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#define PIC_Addr	0x50 // 0xA0 in fact
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char vystup[30];
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char vystup[30];
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char flag;
 - 
 
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pthread_t thread_id;
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pthread_t thread_id;
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FILE *pRouraO,*pRouraI;
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FILE *pRouraO,*pRouraI;
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unsigned int vzdalenost;
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unsigned int vzdalenost;
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char command,ble;
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void *print_tele(void *unused);
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void *print_tele(void *unused);
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void DoExit(int ex)
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void DoExit(int ex)
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{
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{
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    Buf[Len] = 0x00;
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    Buf[Len] = 0x00;
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    fprintf(stdout, "Board ID is %s.\n", Buf);
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    fprintf(stdout, "Board ID is %s.\n", Buf);
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//!------ US ---------------------------------------------------------------------------
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//!------ US ---------------------------------------------------------------------------
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    if (ioctl(file, I2C_SLAVE, US_Addr) == -1)
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    {
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        fprintf(stderr, "Failed to set address to 0x%02x.\n", US_Addr);
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        DoExit(-6);
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    }
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    pthread_create(&thread_id, NULL, print_tele, NULL);
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    pthread_create(&thread_id, NULL, print_tele, NULL);
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    flag = 0;
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    while(true)
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    while(true)
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    {
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    {
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        if (ioctl(file, I2C_SLAVE, US_Addr) == -1)
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        {
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            fprintf(stderr, "Failed to set address to 0x%02x.\n", US_Addr);
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            DoExit(-6);
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        }
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        Buf[0]=0x0;
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        Buf[0]=0x0;
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        Buf[1]=0x51;
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        Buf[1]=0x51;
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        write(file, Buf, 2);
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        write(file, Buf, 2);
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        usleep(80000);
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        usleep(80000);
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        read(file, Buf, 3);
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        read(file, Buf, 3);
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        if (flag==0)
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          vzdalenost=(Buf[1]*256+Buf[2]);
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        vzdalenost=(Buf[1]*256+Buf[2]);
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//        printf("Vzdalenost: %u cm\n",ble);
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        usleep(300000);
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 /*
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        if (0==flag)
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        if (ioctl(file, I2C_SLAVE, PIC_Addr) == -1)
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        {
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        {
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            sprintf(vystup,"Vzdalenost: %u cm\n",vzdalenost);
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            fprintf(stderr, "Failed to set address to 0x%02x.\n", US_Addr);
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            DoExit(-6);
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        };
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        }
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*/
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        Buf[0]=command;
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        write(file, Buf, 1);
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        read(file, Buf, 1);
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        usleep(300000);
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        ble=Buf[0];
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    };
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    };
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	close(file);
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	close(file);
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    pthread_join(thread_id, NULL);
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    pthread_join(thread_id, NULL);
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    fclose(pRouraO);
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    fclose(pRouraO);
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	return 0;
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	return 0;
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}
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}
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void *print_tele(void *unused)
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void *print_tele(void *unused)
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{
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{
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    flag=0;
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    while(1)
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    while(1)
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    {
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    {
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        char pom;
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        pRouraI = fopen("/home/ble/pipe","r");
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        pRouraI = fopen("/home/ble/pipe","r");
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        pom=fgetc(pRouraI);
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        command=fgetc(pRouraI);
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        fclose(pRouraI);
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        fclose(pRouraI);
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        flag=1;
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        pRouraO = fopen("/home/ble/pipe","w");
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        pRouraO = fopen("/home/ble/pipe","w");
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        fprintf(pRouraO,"Vzdalenost: %u cm\n",vzdalenost);
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        fprintf(pRouraO,"Vzdalenost: %u cm Command: %x\n",vzdalenost,ble);
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        fclose(pRouraO);
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        fclose(pRouraO);
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        flag=0;
 - 
 
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    }
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    }
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}
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}