L298N::L298N(int in1, int in2, int in3, int in4, int ena, int enb) {
_valid = true; //innocent until proven guilty
/*if (checkGPIOexport(in1) || checkGPIOexport(in2) || checkGPIOexport(in3) || checkGPIOexport(in4)) {
//Problem with one of the GPIOs
_valid = false;
}
if (checkPWMdev(ena) || checkPWMdev(enb)) {
//Problem with one of the PWM devices in /dev
_valid = false;
}*/
/*if (setGPIOout(in1) || setGPIOout(in2) || setGPIOout(in3) || setGPIOout(in4)) {
//couldn't set gpio to output
_valid = false;
}
_fd1 = openGPIO(in1);
if (_fd1 == -1) {
_valid = false;
}
_fd2 = openGPIO(in2);
if (_fd2 == -1) {
close(_fd1);
_valid = false;
}
_fd3 = openGPIO(in3);
if (_fd3 == -1) {
_valid = false;
}
_fd4 = openGPIO(in4);
if (_fd4 == -1) {
_valid = false;
}*/
_in1 = new GPIO(in1, 1, 1);
_in2 = new GPIO(in2, 1, 0);
_in3 = new GPIO(in3, 1, 1);
_in4 = new GPIO(in4, 1, 0);
_fda = openPWM(ena);
if (_fda == -1) {
_valid = false;
}
_fdb = openPWM(enb);
if (_fdb == -1) {
_valid = false;
}
//set initial "safe" condition
set(1, 0, 1, 0, 0, 0);
}
int main(void)
{
int fileHandleGPIO_LED;
int fileHandleGPIO_PROXY;
int i=0;
puts("Starting proximity reader on Galileo board.");
fileHandleGPIO_PROXY = openGPIO(GP_PROXY, GPIO_DIRECTION_IN);
if(ERROR == fileHandleGPIO_PROXY)
{
puts("Unable to open toggle Proximity port #8");
return(-1);
}
fileHandleGPIO_LED = openGPIO(GP_LED, GPIO_DIRECTION_OUT);
if(ERROR == fileHandleGPIO_LED)
{
puts("Unable to open toggle LED port #13");
return(-1);
}
//Switch off the LED before starting.
writeGPIO(fileHandleGPIO_LED, 0);
//set PWM parameters
openPWM(GP_PWM);
setPWMPeriod(1000000,GP_PWM);
enablePWM(1,GP_PWM);
setPWMDutyCycle(0,GP_PWM);
//Start an infinite loop to keep polling for proximity info
int proxyValue = 0;
while(1==1)
{
proxyValue = readGPIO(fileHandleGPIO_PROXY,GP_PROXY);
if(proxyValue == 1)
{
if(duty_cycle == 500000)
{
duty_cycle = 200000;
writeGPIO(fileHandleGPIO_LED, 0);
}
else
{
duty_cycle = 500000;
writeGPIO(fileHandleGPIO_LED, 1);
}
setPWMDutyCycle(duty_cycle,GP_PWM);
}
else
{
duty_cycle = 50000;
setPWMDutyCycle(0,GP_PWM);
writeGPIO(fileHandleGPIO_LED, 0);
}
usleep(1000*400);
}
closeGPIO(GP_LED, fileHandleGPIO_LED);
closeGPIO(GP_PROXY, fileHandleGPIO_PROXY);
closePWM(GP_PWM);
puts("Finished BURGLER ALARM on Galileo board.");
return 0;
}
