Subversion Repositories svnkaklik

/*****************************************************************************/
/*
 *  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
#define PIC_Addr        0x50 // 0xA0 in fact

char vystup[30];
pthread_t thread_id;
FILE *pRouraO,*pRouraI;
unsigned int vzdalenost;
char command,ble;

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 ---------------------------------------------------------------------------

    pthread_create(&thread_id, NULL, print_tele, NULL);

    while(true)
    {
        if (ioctl(file, I2C_SLAVE, US_Addr) == -1)
        {
            fprintf(stderr, "Failed to set address to 0x%02x.\n", US_Addr);
            DoExit(-6);
        }
        Buf[0]=0x0;
        Buf[1]=0x51;
        write(file, Buf, 2);
        usleep(80000);
        read(file, Buf, 3);
        vzdalenost=(Buf[1]*256+Buf[2]);
        usleep(300000);

        if (ioctl(file, I2C_SLAVE, PIC_Addr) == -1)
        {
            fprintf(stderr, "Failed to set address to 0x%02x.\n", US_Addr);
            DoExit(-6);
        }
        Buf[0]=command;
        write(file, Buf, 1);
        read(file, Buf, 1);
        ble=Buf[0];
    };
        close(file);
    pthread_join(thread_id, NULL);
    fclose(pRouraO);

        return 0;
}

void *print_tele(void *unused)
{
    while(1)
    {
        pRouraI = fopen("/home/ble/pipe","r");
        command=fgetc(pRouraI);
        fclose(pRouraI);
        pRouraO = fopen("/home/ble/pipe","w");
        fprintf(pRouraO,"Vzdalenost: %u cm Command: %x\n",vzdalenost,ble);
        fclose(pRouraO);
    }
}