void InitGpioA(int clockpin)
{
BTCK = clockpin;
if (BTCK>100) {
BANK = BTCK/100;
BTCK = BTCK%100;
}
BTMS=BTCK+1;
BTDO=BTCK+2;
BTDI=BTCK+3;
iolib_init();
fprintf(stderr,"Init GPIO %d :: %d %d %d %d\n",BANK,BTCK,BTMS,BTDO,BTDI);
fprintf(stderr,"Init GPIO pin group %d %d %d %d\n",bank[BANK-8][BTCK],bank[BANK-8][BTMS],bank[BANK-8][BTDO],bank[BANK-8][BTDI]);
if (bank[BANK-8][BTCK]>1||bank[BANK-8][BTMS]>1||bank[BANK-8][BTDO]>1||bank[BANK-8][BTDI]>1) {
fprintf(stderr,"Pins selected from high groups! Failure likely!!\n");
//system("echo 5 > /sys/class/gpio/export)"; fix gpio0[x] if broken.
system("echo 65 > /sys/class/gpio/export");
system("echo 105 > /sys/class/gpio/export");
}
iolib_setdir(BANK,BTCK,DIR_OUT);
iolib_setdir(BANK,BTMS,DIR_OUT);
iolib_setdir(BANK,BTDO,DIR_IN);
iolib_setdir(BANK,BTDI,DIR_OUT);
}
void init_screen():
char black_image_path[] = "/mnt/data/bin/tangible-test.sh /mnt/data/img/default_400x240/monochrome/black.png";
char fanny_hug_image_path[] = "/mnt/data/bin/tangible-test.sh /mnt/data/img/default_400x240/monochrome/fanny_hug.png";
char fanny_heartbeat_image_path[] = "/mnt/data/bin/tangible-test.sh /mnt/data/img/default_400x240/monochrome/fanny_heartbeat.png";
char fanny_buzz_image_path[] = "/mnt/data/bin/tangible-test.sh /mnt/data/img/default_400x240/monochrome/fanny_buzz.png";
int main(void)
{
iolib_init();
iolib_setdir(8,30, DIR_OUT); //Pin 30 on P8 expansion header.
iolib_setdir(8,39, DIR_OUT); //Pin 39 on P8 expansion header.
init_screen();
while(1)
{
debug_schedule();
//test_schedule();
//break;
}
iolib_free();
return(0);
}
int
main(void)
{
int del;
iolib_init(); /* Initialize I/O library - required */
iolib_setdir(8,11, BBBIO_DIR_IN); /* Set pin P8 - 11 as input */
iolib_setdir(8,12, BBBIO_DIR_OUT); /* Set pin P8 - 12 as output */
int count = 0;
while(count < 50)
{
count ++ ;
if (is_high(8,11)) /* Check if in is high (i.e. button pressed) */
{
del=100; /* fast speed */
}
if (is_low(8,11)) /* Check if in is low (i.e button is released) */
{
del=500; /* slow speed */
}
pin_high(8,12); /* Set pin to high - LED on */
iolib_delay_ms(del); /* Delay for 'del' msec */
pin_low(8,12); /* Set pin to low - LED off */
iolib_delay_ms(del); /* Delay for 'del' msec */
}
iolib_free(); /* Release I/O library prior to program exit - required */
return(0);
}
int producerth2(void){
int count = 0;
int flag=0;
iolib_setdir(8,12, BBBIO_DIR_IN); /* Set pin P8 - 11 as input */
while(count < 10)
{
char l='R';
iolib_delay_ms(100);
if (is_high(8,12)) /* Check if in is high (i.e. button pressed) */
{
if (flag==1)
{
flag=0;
enqueue(l,count+10);
count++;
continue;
}
else
continue;
}
if (is_low(8,12)) /* Check if in is low (i.e button is released) */
{
if (flag==0)
{
flag=1;
}
else
continue;
}
}
return 0;
}
//-----------------------------------------------
int main(void)
{
int DebFlag =DEBOUNCING_BUTTON_UP;
int DebCount = 0;
iolib_init();
iolib_setdir(8,12, BBBIO_DIR_IN);
iolib_setdir(8,11, BBBIO_DIR_IN);
#ifdef DEBOUNCING
BBBIO_sys_Enable_Debouncing(8 ,11 ,10);
#else
BBBIO_sys_Disable_Debouncing(8 ,11);
#endif
printf("OK\n");
int count = 0;
int Test =0;
while(Test <10)
{
count ++ ;
if (is_high(8,11))
{
DebFlag = DEBOUNCING_BUTTON_DOWN;
}
else
{
if(DebFlag == DEBOUNCING_BUTTON_DOWN)
{
DebCount ++ ;
DebFlag = DEBOUNCING_BUTTON_UP ;
}
}
if(count == 10000000)
{
printf("%d\n",DebCount);
count =0;
Test ++;
}
}
BBBIO_sys_Disable_Debouncing(8 ,11);
iolib_free();
printf("Release\n");
return(0);
}
//------------------------------------------------------------------------
int
main(void)
{
int raw_temp =0;
int i= 0;
iolib_init();
iolib_setdir(8,11, BBBIO_DIR_OUT);
iolib_setdir(8,12, BBBIO_DIR_OUT);
iolib_setdir(8,15, BBBIO_DIR_IN);
iolib_setdir(8,16, BBBIO_DIR_OUT);
for(i=0 ;i< 10 ; i++)
{
raw_temp = ADT7301_read();
printf("%f\n",(float)(raw_temp)/32.0f);
sleep(1);
}
iolib_free();
return 0 ;
}
//Initialises all inputs
void inputInitialise() {
iolib_init();
//Sets direction of inputs
iolib_setdir(CS, OUTPUT);
iolib_setdir(RST, OUTPUT);
iolib_setdir(A0, OUTPUT);
iolib_setdir(SCLK, OUTPUT);
iolib_setdir(SID, OUTPUT);
iolib_setdir(scrollButton, INPUT);
iolib_setdir(selectButton, INPUT);
iolib_setdir(button1, INPUT);
iolib_setdir(button2, INPUT);
BBBIO_module_ctrl(1);
BBBIO_channel_ctrl(BBBIO_ADC_AIN6, BBBIO_ADC_STEP_MODE_SW_CONTINUOUS, 0, 1,
BBBIO_ADC_STEP_AVG_1, analougeInputs[0], 10);
BBBIO_channel_ctrl(BBBIO_ADC_AIN5, BBBIO_ADC_STEP_MODE_SW_CONTINUOUS, 0, 1,
BBBIO_ADC_STEP_AVG_1, analougeInputs[1], 10);
BBBIO_channel_ctrl(BBBIO_ADC_AIN4, BBBIO_ADC_STEP_MODE_SW_CONTINUOUS, 0, 1,
BBBIO_ADC_STEP_AVG_1, analougeInputs[2], 10);
BBBIO_channel_ctrl(BBBIO_ADC_AIN1, BBBIO_ADC_STEP_MODE_SW_CONTINUOUS, 0, 1,
BBBIO_ADC_STEP_AVG_1, analougeInputs[3], 10);
BBBIO_channel_ctrl(BBBIO_ADC_AIN0, BBBIO_ADC_STEP_MODE_SW_CONTINUOUS, 0, 1,
BBBIO_ADC_STEP_AVG_1, analougeInputs[4], 10);
//Enables analogue inputs
BBBIO_channel_enable(BBBIO_ADC_AIN6);
BBBIO_channel_enable(BBBIO_ADC_AIN5);
BBBIO_channel_enable(BBBIO_ADC_AIN4);
BBBIO_channel_enable(BBBIO_ADC_AIN1);
BBBIO_channel_enable(BBBIO_ADC_AIN0);
}
//-----------------------------------------------------------------
int
main(void)
{
int del =5;
iolib_init();
printf("init finish\n");
/*
BBBIO_GPIO_set_dir(BBBIO_GPIO1 , 0 ,
BBBIO_GPIO_PIN_12 |
BBBIO_GPIO_PIN_13 |
BBBIO_GPIO_PIN_14 |
BBBIO_GPIO_PIN_15 );
*/
BBBIO_sys_Enable_GPIO(BBBIO_GPIO2);
iolib_setdir(8,11, BBBIO_DIR_OUT); // Scan A
iolib_setdir(8,12, BBBIO_DIR_OUT); // Scan B
iolib_setdir(8,15, BBBIO_DIR_OUT); // Scan C
iolib_setdir(8,16, BBBIO_DIR_OUT); // Scan D
iolib_setdir(8,39, BBBIO_DIR_OUT); // Seg A
iolib_setdir(8,40, BBBIO_DIR_OUT); // Seg B
iolib_setdir(8,41, BBBIO_DIR_OUT); // Seg C
iolib_setdir(8,42, BBBIO_DIR_OUT); // Seg D
iolib_setdir(8,43, BBBIO_DIR_OUT); // Seg E
iolib_setdir(8,44, BBBIO_DIR_OUT); // Seg F
iolib_setdir(8,45, BBBIO_DIR_OUT); // Seg G
iolib_setdir(8,46, BBBIO_DIR_OUT); // Seg . (point)
printf("OK");
int count = 0;
int DisplayNumber =1234 ;
while(count < 200)
{
count ++ ;
pin_low(8,11);
Display_Number(DisplayNumber / 1000);
iolib_delay_ms(del);
pin_high(8,11);
pin_low(8,12);
Display_Number(DisplayNumber / 100);
iolib_delay_ms(del);
pin_high(8,12);
pin_low(8,15);
Display_Number(DisplayNumber / 10);
iolib_delay_ms(del);
pin_high(8,15);
pin_low(8,16);
Display_Number(DisplayNumber);
iolib_delay_ms(del);
pin_high(8,16);
}
BBBIO_sys_Disable_GPIO(BBBIO_GPIO2);
iolib_free();
return(0);
}
/*
* Class: org_bulldog_beagleboneblack_jni_NativeGpio
* Method: pinMode
* Signature: (III)V
*/
JNIEXPORT void JNICALL Java_org_bulldog_beagleboneblack_jni_NativeGpio_pinMode
(JNIEnv * env, jclass clazz, jint port, jint pin, jint direction) {
iolib_setdir(port, pin, direction);
}
//-----------------------------------------------------------------
int
main(void)
{
struct timeval t_start,t_end;
pid_t PID ;
struct sched_param param;
int maxpri = sched_get_priority_max(SCHED_FIFO);
param.sched_priority =maxpri ;
PID =getpid();
// sched_setscheduler(PID , SCHED_FIFO ,¶m );
iolib_init();
iolib_setdir(8,11, BBBIO_DIR_OUT); // Server motor
iolib_setdir(8,12, BBBIO_DIR_OUT);
iolib_setdir(8,15, BBBIO_DIR_OUT);
iolib_setdir(8,16, BBBIO_DIR_OUT);
iolib_setdir(8,22, BBBIO_DIR_OUT);
iolib_setdir(8,23, BBBIO_DIR_OUT);
BBBIO_sys_Enable_GPIO(BBBIO_GPIO2);
BBBIO_GPIO_set_dir(BBBIO_GPIO2 , // key pad pin
BBBIO_GPIO_PIN_12 |BBBIO_GPIO_PIN_10 |BBBIO_GPIO_PIN_8 |BBBIO_GPIO_PIN_6 , // input
BBBIO_GPIO_PIN_13 |BBBIO_GPIO_PIN_11 |BBBIO_GPIO_PIN_9 |BBBIO_GPIO_PIN_7 ); // output
int i , j ;
// recover
ActionPush(SM_BUTTOM ,90 ,0);
ActionPush(SM_ARM1 ,90 ,0);
ActionPush(SM_ARM2 ,110 ,0);
ActionPush(SM_ARM3 ,150 ,0);
ActionPush(SM_HAND ,90 ,0);
ActionStart();
Angle_Arm_1 =90 ;
Angle_Arm_2 =110 ;
Angle_Arm_3 =150;
Angle_Hand =90 ;
Angle_Buttom = 90 ;
//-----------------------------------------
// create 4x4 scan therad
pthread_t pid_4x4 ;
int ret ;
ret = pthread_create(&pid_4x4, NULL, (void *)Thread_4x4_scan, NULL);
//-----------------------------------------
usleep(100000);
float max_Angle =0 ;
for(j=0 ;j <5 ; j ++)
{
for(i=0 ; i<7 ;i++)
{
ActionPush(SM_BUTTOM ,Action[i][0] ,0);
ActionPush(SM_ARM1 ,Action[i][1] ,0);
ActionPush(SM_ARM2 ,Action[i][2] ,0);
ActionPush(SM_ARM3 ,Action[i][3] ,0);
ActionPush(SM_HAND ,Action[i][4] ,0);
ActionStart();
}
}
/*
while(key_status[3][3]==1) //f
{
ActionPush(SM_BUTTOM ,Angle_Buttom ,0);
ActionPush(SM_ARM1 ,Angle_Arm_1 ,0);
ActionPush(SM_ARM2 ,Angle_Arm_2 ,0);
ActionPush(SM_ARM3 ,Angle_Arm_3 ,0);
ActionPush(SM_HAND ,Angle_Hand ,0);
ActionStart();
}
*/
ActionPush(SM_BUTTOM ,90 ,0);
ActionPush(SM_ARM1 ,90 ,0);
ActionPush(SM_ARM2 ,110 ,0);
ActionPush(SM_ARM3 ,150 ,0);
ActionPush(SM_HAND ,90 ,0);
ActionStart();
//---------------------------
pthread_join(pid_4x4,NULL);
printf("Finish\n");
iolib_free();
return(0);
}
int main(void)
{
int rc;
iolib_init();
iolib_setdir(9,12, DIR_OUT);
int socket;
modbus_t *ctx;
modbus_mapping_t *mb_mapping;
ctx = modbus_new_tcp("192.168.1.100", 502);
modbus_set_debug(ctx, TRUE);
mb_mapping = modbus_mapping_new(10, 10, 10, 10);
if (mb_mapping == NULL) {
fprintf(stderr, "Failed to allocate the mapping: %s\n",
modbus_strerror(errno));
modbus_free(ctx);
return -1;
}
socket = modbus_tcp_listen(ctx, 1);
modbus_tcp_accept(ctx, &socket);
for (;;) {
uint8_t query[MODBUS_TCP_MAX_ADU_LENGTH];
int rc;
rc = modbus_receive(ctx, query);
if (rc != -1) {
/* rc is the query size */
modbus_reply(ctx, query, rc, mb_mapping);
if((*mb_mapping).tab_bits[1] == 1) {
pin_high(9,12);
}
else if((*mb_mapping).tab_bits[1] == 0) {
pin_low(9,12);
}
} else {
/* Connection closed by the client or error */
break;
}
}
printf("Quit the loop: %s\n", modbus_strerror(errno));
modbus_mapping_free(mb_mapping);
close(socket);
modbus_free(ctx);
return 0;
}
int main(int argc, char *argv[])
{
int i = 0;
unsigned char datatosend[20] = {0,1,2,3,4,5,6,7,8,9};
unsigned char tmp_payload_xmit[PAYLOAD_BUF_LEN];
#ifdef MULTIPLE_COMMANDS
char command[MAX_COMMAND_LEN];
char string1[TXT_STR_LEN], string2[TXT_STR_LEN] = "quit";
char default_argv[] = "";
int i = 0;
#endif //MULTIPLE_COMMANDS
#ifndef DEBUG
#ifdef USE_SPI
//Open SPI:
flexsea_spi_open();
//Initialize IO library:
iolib_init();
iolib_setdir(RESET_PORT, RESET_PIN, DIR_OUT);
pin_low(RESET_PORT, RESET_PIN);
#endif
#else
printf("\nFlexSEA-Plan - Debug or Native USB\n==================================\n\n");
#ifdef USE_USB
//Open USB (serial) port:
flexsea_serial_open(100, 50000);
/*
//Test code
for(i = 0; i < 30; i++)
{
tx_cmd_ctrl_mode(FLEXSEA_EXECUTE_2, CMD_WRITE, tmp_payload_xmit, PAYLOAD_BUF_LEN, CTRL_OPEN);
comm_gen_str(tmp_payload_xmit, comm_str_spi, PAYLOAD_BUF_LEN);
flexsea_serial_transmit(COMM_STR_BUF_LEN, comm_str_spi, 0);
}
*/
#endif
#endif
#ifdef MULTIPLE_COMMANDS
while(fgets(command, sizeof(command), stdin))
{
int fake_argc = 1;
//Fills fake_argv with empty strings to avoid sending old values with new commands
for(i = 0; i < MAX_ARGS; i++)
{
fake_argv[i] = default_argv;
}
//First argument
fake_argv[fake_argc] = strtok(command, delims);
//Other arguments
while( fake_argv[fake_argc] != NULL )
{
fake_argv[++fake_argc] = strtok(NULL, delims);
}
//Enable for terminal debug only:
/*
for(i = 0; i < MAX_ARGS; i++)
{
printf("fake_argv[%i] = %s\n", i, fake_argv[i]);
}
*/
//Do we want to exit? (exit when "quit" is received)
strcpy(string1, fake_argv[1]);
if(!strcmp(string1, string2))
{
printf("Quitting.\n");
break;
}
else
{
//Parser for console commands:
flexsea_console_parser(fake_argc, fake_argv);
//Can we decode what we received?
decode_spi_rx();
}
}
#endif //MULTIPLE_COMMANDS
#ifdef SINGLE_COMMAND
//Parser for console commands:
parser_console(argc, argv);
//Can we decode what we received?
#ifdef USE_SPI
decode_spi_rx();
#endif
#ifdef USE_USB
//decode_usb_rx(); ToDo
#endif
#endif //SINGLE_COMMAND
#ifndef DEBUG
#ifdef USE_SPI
//Close SPI:
flexsea_spi_close();
iolib_free();
#endif
#ifdef USE_USB
//Close serial port:
flexsea_serial_close();
#endif
#endif
return 0;
}
/* ------------------------------------------------------------ */
int main()
{
list_audio_devices(alcGetString(NULL, ALC_DEVICE_SPECIFIER));
/* BBBIOlib init*/
iolib_init();
iolib_setdir(8,11, BBBIO_DIR_IN); /* Button */
iolib_setdir(8,12, BBBIO_DIR_OUT); /* LED */
// sys_info.capability = SYS_CAPABILITY_VIDEO_Tx | SYS_CAPABILITY_VIDEO_Rx | SYS_CAPABILITY_AUDIO_Tx | SYS_CAPABILITY_AUDIO_Rx;
// sys_info.capability = SYS_CAPABILITY_VIDEO_Tx | SYS_CAPABILITY_AUDIO_Tx;
sys_info.capability =SYS_CAPABILITY_AUDIO_Rx | SYS_CAPABILITY_VIDEO_Rx;
// sys_info.capability = SYS_CAPABILITY_VIDEO_Tx;
sys_info.status = SYS_STATUS_INIT;
sys_info.cam.width = 320;
sys_info.cam.height = 240;
// sys_info.cam.pixel_fmt = V4L2_PIX_FMT_YUV420;
sys_info.cam.pixel_fmt = V4L2_PIX_FMT_YUYV;
/* alloc RGB565 buffer for frame buffer data store */
RGB565_buffer = (unsigned char *)malloc(sys_info.cam.width * sys_info.cam.height *2);
/* step Codec register */
avcodec_register_all();
av_register_all();
video_encoder_init(sys_info.cam.width, sys_info.cam.height, sys_info.cam.pixel_fmt);
video_decoder_init(sys_info.cam.width, sys_info.cam.height, sys_info.cam.pixel_fmt);
printf("Codec init finish\n");
/* step Frame buffer initial*/
if(FB_init() == 0) {
fprintf(stderr, "Frame Buffer init error\n");
}
FB_clear(var_info.xres, var_info.yres);
sys_set_status(SYS_STATUS_IDLE);
/* Create Video thread */
if(sys_info.capability & SYS_CAPABILITY_VIDEO_Rx) pthread_create(&Video_Rx_thread, NULL, Video_Rx_loop, NULL);
if(sys_info.capability & SYS_CAPABILITY_VIDEO_Tx) pthread_create(&Video_Tx_thread, NULL, Video_Tx_loop, NULL);
/* Create Audio thread*/
if(sys_info.capability & SYS_CAPABILITY_AUDIO_Rx) pthread_create(&Audio_Rx_thread, NULL, Audio_Rx_loop, NULL);
if(sys_info.capability & SYS_CAPABILITY_AUDIO_Tx) pthread_create(&Audio_Tx_thread, NULL, Audio_Tx_loop, NULL);
/* Signale SIGINT */
signal(SIGINT, SIGINT_release);
/* Main loop */
while(sys_get_status() != SYS_STATUS_RELEASE) {
/* Button on */
if (is_high(8,11)) {
sys_set_status(SYS_STATUS_WORK);
pin_high(8, 12); /* LED on*/
}
else {
// FB_clear(var_info.xres, var_info.yres);
// sys_set_status(SYS_STATUS_IDLE);
sys_set_status(SYS_STATUS_WORK);
pin_low(8, 12); /* LED off */
}
//usleep(100000);
sleep(1);
}
pin_low(8, 12); /* LED off */
/* *******************************************************
* Main thread for SIP server communication and HW process
*
*
* *******************************************************/
/* release */
if(sys_info.capability & SYS_CAPABILITY_VIDEO_Tx) pthread_join(Video_Tx_thread,NULL);
if(sys_info.capability & SYS_CAPABILITY_VIDEO_Rx) pthread_join(Video_Rx_thread,NULL);
if(sys_info.capability & SYS_CAPABILITY_AUDIO_Tx) pthread_join(Audio_Tx_thread,NULL);
if(sys_info.capability & SYS_CAPABILITY_AUDIO_Rx) pthread_join(Audio_Rx_thread,NULL);
munmap(FB_ptr, FB_scerrn_size);
close(FB);
free(RGB565_buffer);
video_encoder_release();
video_decoder_release();
printf("finish\n");
return 0;
}
