int main (int argc, char **argv) {
int value;
if (argc != 2) {
usage();
exit(1);
}
else if (strcmp(argv[1],"on") == 0) {
value=read_control();
if (value > 0)
value--;
show_status(write_control(value));
}
else if (strcmp(argv[1],"off") == 0) {
show_status(write_control(read_control() + 1));
}
else if (strcmp(argv[1],"status") == 0) {
verify_daemon_running();
show_status(read_control());
}
else {
usage();
exit(1);
}
exit(0);
}
void init_lcd(void) {
DDRC |= _BV(LCD_E_PIN);
DDRF |= _BV(LCD_RS_PIN);
DDRA = 0xFF; //make all the data pins output
/* write_control(0x38); //function set
_delay_ms(5);
write_control(0x38); //function set
_delay_us(160);
write_control(0x38); //function set
_delay_us(160);
write_control(0x38); //function set
_delay_us(160);
write_control(0x08); //turn display off
_delay_us(160);
write_control(0x01); //clear display
_delay_us(4000);
write_control(0x06); //set entry mode
_delay_us(160);*/
write_control(0x38); //function set
_delay_us(100);
write_control(0x0C);
_delay_us(100);
}
SR_PRIV int hantek_6xxx_update_vdiv(const struct sr_dev_inst *sdi)
{
struct dev_context *devc = sdi->priv;
int ret1, ret2;
sr_dbg("update vdiv %d %d", voltage_to_reg(devc->voltage[0]),
voltage_to_reg(devc->voltage[1]));
ret1 = write_control(sdi, VDIV_CH1_REG, voltage_to_reg(devc->voltage[0]));
ret2 = write_control(sdi, VDIV_CH2_REG, voltage_to_reg(devc->voltage[1]));
return MIN(ret1, ret2);
}
SR_PRIV int hantek_6xxx_update_samplerate(const struct sr_dev_inst *sdi)
{
struct dev_context *devc = sdi->priv;
sr_dbg("update samplerate %d", samplerate_to_reg(devc->samplerate));
return write_control(sdi, SAMPLERATE_REG, samplerate_to_reg(devc->samplerate));
}
//perform all initialization
void initialize(void) {
DDRC = 0x00;
sbi(DDRD,4);
sbi(DDRD,5);
sbi(DDRD,6);
sbi(PORTD,4);
cbi(PORTD,5);
cbi(PORTD,6);
sbi(DDRB,0);
sbi(DDRB,1);
cbi(PORTB,0); //set E low
cbi(PORTB,1); //set RS low
sbi(PORTD,7); //enable pullup for switch
//initialization for each system
//commenting out unused systems increases overall performance
//servo_init();
adc_init();
lcd_init();
//motor_init();
/*Turn off watchdog timer*/
WDTCR |= (1<<WDTOE) | (1<<WDE);
WDTCR = 0x00;
write_control(0x0C); //turn on lcd
delay_us(160);
}
SR_PRIV int hantek_6xxx_update_channels(const struct sr_dev_inst *sdi)
{
struct dev_context *devc = sdi->priv;
uint8_t chan = devc->ch_enabled[1] ? 2 : 1;
sr_dbg("update channels amount %d", chan);
return write_control(sdi, CHANNELS_REG, chan);
}
SR_PRIV int hantek_6xxx_update_coupling(const struct sr_dev_inst *sdi)
{
struct dev_context *devc = sdi->priv;
uint8_t coupling = 0xFF & ((devc->coupling[1] << 4) | devc->coupling[0]);
sr_dbg("update coupling 0x%x", coupling);
return write_control(sdi, COUPLING_REG, coupling);
}
void lcd_cursor(uint8_t col, uint8_t row)
{
if (col >= 16 || row >= 2)
{
return;
}
u08 addr = _HOME_ADDR + row * _LINE_INCR + col;
write_control(addr);
}
// UI to host
Q_SLOT void portChange(int p) {
float val = widgets[p]->get_value();
#ifndef ROGUI_UI_TEST
write_control(p, val);
#endif
QLabel* label = labels[p];
if (label) {
label->setNum(val);
}
}
static void __init lasi_ps2_reset(unsigned long hpa)
{
u8 control;
/* reset the interface */
gsc_writeb(0xff, hpa+LASI_RESET);
gsc_writeb(0x0 , hpa+LASI_RESET);
/* enable it */
control = read_control(hpa);
write_control(control | LASI_CTRL_ENBL, hpa);
}
/* this might become useful again at some point. not now -prumpf */
int lasi_ps2_test(void *hpa)
{
u8 control,c;
int i, ret = 0;
control = read_control(hpa);
write_control(control | LASI_CTRL_LPBXR | LASI_CTRL_ENBL, hpa);
for (i=0; i<256; i++) {
write_output(i, hpa);
while (!(read_status(hpa) & LASI_STAT_RBNE))
/* just wait */;
c = read_input(hpa);
if (c != i)
ret--;
}
write_control(control, hpa);
return ret;
}
void lcd_init(void) {
//initialize the LCD as described in the HD44780 datasheet
write_control(0x38); //function set
delay_ms(5);
write_control(0x38); //function set
delay_us(160);
write_control(0x38); //function set
delay_us(160);
write_control(0x38); //function set
delay_us(160);
write_control(0x08); //turn display off
delay_us(160);
write_control(0x01); //clear display
delay_us(4000);
write_control(0x06); //set entry mode
delay_us(160);
}
// Moves the LCD cursor to row <row> column <col>.
// <row> ranges from 0 to 1.
// <col> ranges from 0 to 16.
void lcd_cursor(u08 row, u08 col) {
write_control(HOME | (row << 6) | (col % 17));
delay_us(100);
}
static int pmc_cpu_write_control(int nrctrs, struct pmc_control *control)
{
return(write_control(nrctrs, control));
}
int main(int argc, char **argv){
/* Set the loop speed to default. This will get raised if the loop is to
* slow
*/
loop_speed_ns = LOOP_SPEED_NS;
/* Parse the input */
if(argc < 3){
printf("Usage: controller_framework [IP_ADDR] [PORT] [BT_ADDR] ");
printf("[RF_COMM CHANNEL]\n");
return EINVAL;
}
/* Initialize communication */
if(init_udp_conn(argv[1], argv[2]))
return -1;
if(init_bt_conn(argv[3], argv[4]))
return -1;
/* Preset the send buffer, since the protocol part of it does not change */
send_buf[0] = BLUETOOTH_PROTOCOL_START;
send_buf[3] = BLUETOOTH_PROTOCOL_STOP;
/* initialization of mutex for threading */
pthread_mutex_init(&readMutex, NULL);
/* if the thread is successfully created -> start the algorithm */
if (!pthread_create(&visionReadThread, NULL, read_vision_thread, (void *)NULL))
{
/* Intitialize the controller*/
//The controller needs vision data to initialize, therefore it sits here.
while(1){
/* Get the current time */
clock_gettime(CLK_ID, &start_time);
/* Write the control information at the begining of the loop.
* This way we have a defined point at where we write it.
*/
write_control();
/* Copy the vision data from the read thread */
pthread_mutex_lock(&readMutex);
memcpy(&vision_data_copy, &vision_data, sizeof(PI_IN));
pthread_mutex_unlock(&readMutex);
/* Call the controller */
//the_algorithm(vision_data_copy, &steering_val, &throttle_val);
/* Get current time */
clock_gettime(CLK_ID, &end_time);
/* Calculate runtime and sleep */
finishCycle();
}
}
else
{
printf("Error when creating the thread!\n");
}
pthread_exit(NULL);
return 0;
}
SR_PRIV int hantek_6xxx_stop_data_collecting(const struct sr_dev_inst *sdi)
{
return write_control(sdi, TRIGGER_REG, 0);
}
SR_PRIV int hantek_6xxx_start_data_collecting(const struct sr_dev_inst *sdi)
{
sr_dbg("trigger");
return write_control(sdi, TRIGGER_REG, 1);
}
void QueryAgent::wakeup() {
char buf = '!';
if(write(write_control(), &buf, 1) < 0) {
std::cerr << "[QA: Write error: " << strerror(errno) << "]\n";
}
}
void clear_screen(void) {
write_control(0x01); //clear display
_delay_us(4000);
}
void next_line(void) {
write_control(0xc0); //go to the second line on the display
delay_us(100);
}
