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Rev 365 Rev 366
Line 38... Line 38...
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#define CMPS03_SOFTWARE_REVISION 0x0
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#define CMPS03_SOFTWARE_REVISION 0x0
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#define SRF02_SOFTWARE_REVISION 0x0
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#define SRF02_SOFTWARE_REVISION 0x0
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 40 
 
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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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#define M1_Addr	0x50 // 0xA0 in fact
- 
 
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#define M2_Addr	0x51 // 0xA2 in fact
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char vystup[30];
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char vystup[30];
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pthread_t thread_1, thread_2;
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pthread_t thread_1, thread_2;
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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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char command,ble;
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int file;
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int file;
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void *print_tele(void *unused);
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void *print_tele(void *unused);
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void *sensors(void *unused);
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//void *sensors(void *unused);
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void I2C_addr (int Addr)
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void I2C_addr (int Addr)
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{
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{
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    if (ioctl(file, I2C_SLAVE, Addr) == -1)
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    if (ioctl(file, I2C_SLAVE, Addr) == -1)
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    {
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    {
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	}
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	}
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    pthread_create(&thread_1, NULL, print_tele, NULL);
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    pthread_create(&thread_1, NULL, print_tele, NULL);
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//    pthread_create(&thread_2, NULL, sensors, NULL);
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//    pthread_create(&thread_2, NULL, sensors, NULL);
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- 
 
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    char Buf[64];
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    command=127;
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    while(true)
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    while(true)
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    {
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    {
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        int n;
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        char Buf[64];
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        for(n=-127; n<=127;n++)
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        {
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        I2C_addr(US_Addr);
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        I2C_addr(US_Addr);
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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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        vzdalenost=(Buf[1]*256+Buf[2]);
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        vzdalenost=(Buf[1]*256+Buf[2]);
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printf("+%X",Buf[2]);
 - 
 
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        usleep(300000);
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        usleep(300000);
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/*
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            Buf[0]=(char)n;
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        if (command!=127)
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        {
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            I2C_addr(PIC_Addr);
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            I2C_addr(M1_Addr);
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            Buf[0]=command;
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            Buf[0]=command;
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            write(file, Buf, 1);
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            write(file, Buf, 1);
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read(file, Buf, 1);
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printf("*%X",Buf[0]);
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            usleep(300000);
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*/
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        };
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/*
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        for(n=127; n>=-127;n--)
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        {
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            Buf[0]=(char)n;
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            I2C_addr(PIC_Addr);
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            I2C_addr(M2_Addr);
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            Buf[0]=command;
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            Buf[0]=command;
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            write(file, Buf, 1);
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            write(file, Buf, 1);
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            usleep(300000);
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            command=127;
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        };
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        }
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*/
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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_1, NULL);
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    pthread_join(thread_1, NULL);
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    pthread_join(thread_2, NULL);
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    pthread_join(thread_2, NULL);
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	return 0;
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	return 0;
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}
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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)
124 
{
 115 
{
- 
 
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    char i;
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 117 
 
125 
    while(true)
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    while(true)
126 
    {
 119 
    {
127 
        pRouraI = fopen("/home/ble/pipe","r");
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        pRouraI = fopen("/home/ble/pipe","r");
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        command=fgetc(pRouraI);
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        i=fgetc(pRouraI);
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        switch (i)
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        {
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            case 'a':
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                command=0;
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 126 
                break;
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            case 'b':
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                command=20;
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                break;
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            case 'c':
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                command=-20;
- 
 
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                break;
- 
 
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        }
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129 
        fclose(pRouraI);
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        fclose(pRouraI);
130 
        pRouraO = fopen("/home/ble/pipe","w");
 136 
        pRouraO = fopen("/home/ble/pipe","w");
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        fprintf(pRouraO,"Vzdalenost: %u cm Command: %x\n",vzdalenost,ble);
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        fprintf(pRouraO,"Vzdalenost: %u cm Command: 0x%X\n",vzdalenost,command);
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   	printf("Vzdalenost: %.1f m\n", GeoCalc::EllipsoidDistance(49.266667, 14.7, 49.266667, 14.716667)*1000);
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   	fprintf(pRouraO,"Vzdalenost: %.1f m\n", GeoCalc::EllipsoidDistance(49.266667, 14.7, 49.266667, 14.716667)*1000);
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	printf("Azimut: %.2f Deg\n", GeoCalc::GCAzimuth(49.266667, 14.7, 49.266667, 14.716667));
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	fprintf(pRouraO,"Azimut: %.2f Deg\n", GeoCalc::GCAzimuth(49.266667, 14.7, 49.266667, 14.716667));
134 
        fclose(pRouraO);
 140 
        fclose(pRouraO);
135 
    }
 141 
    }
136 
}
 142 
}
137 
 
 143 
 
- 
 
 144 
/*
138 
void *sensors(void *unused)
 145 
void *sensors(void *unused)
139 
{
 146 
{
140 
	char Buf[64];
 147 
	char Buf[64];
141 
 
 148 
 
142 
    while(true)
 149 
    while(true)
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155 
        write(file, Buf, 1);
 162 
        write(file, Buf, 1);
156 
        read(file, Buf, 1);
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        read(file, Buf, 1);
157 
        ble=Buf[0];
 164 
        ble=Buf[0];
158 
    }
 165 
    }
159 
}
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}
- 
 
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*/