// Set digital output-pin and return state,
uint8_t writeDigitalOutput(uint8_t id, uint8_t onOff) {
uint8_t state;
state = onOff;
pfio_digital_write(id, state);
uint8_t binaryRead;
binaryRead = pfio_read_output();
if( (binaryRead & (1 << (id))) == (1 << (id)) )
state = 1;
else
state = 0;
return state;
}
void RobotApp(int argc, char *argv[])
{
pfio_init();
while (1)
{
pfio_digital_write(LIGHT1, RED);
pfio_digital_write(LIGHT2, RED);
_delay_ms(SWITCH_TIME);
pfio_digital_write(LIGHT1, RED);
pfio_digital_write(LIGHT2, GREEN);
_delay_ms(CYCLE_TIME);
pfio_digital_write(LIGHT1, RED);
pfio_digital_write(LIGHT2, RED);
_delay_ms(SWITCH_TIME);
pfio_digital_write(LIGHT1, GREEN);
pfio_digital_write(LIGHT2, RED);
_delay_ms(CYCLE_TIME);
}
pfio_deinit();
printf ("Ready.\n");
}
/* Set the state of an LED */
void piface_power_state(int led, int state)
{
pfio_digital_write(pins[led], state);
}
char pfio_init(void)
{
if ((spi = malloc(sizeof(Spi))) == NULL)
return -1;
// initialise the spi with some values
// create the path string
char path[MAXPATH];
if (snprintf(path, MAXPATH, "/dev/spidev%d.%d", SPI_BUS, SPI_DEVICE) >= MAXPATH)
{
fprintf(stderr, "ERROR: Bus and/or device number is invalid.");
return -1;
}
// try to open the device
if ((spi->fd = open(path, O_RDWR, 0)) < 0)
{
fprintf(stderr, "ERROR: Can not open device");
return -1;
}
// try to control the device
char temp;
if (ioctl(spi->fd, SPI_IOC_RD_MODE, &temp) < 0)
{
fprintf(stderr, "ERROR: Can not get spi mode");
return -1;
}
spi->mode = temp;
// try to get the bits per word
if (ioctl(spi->fd, SPI_IOC_RD_BITS_PER_WORD, &temp) < 0)
{
fprintf(stderr, "ERROR: Can not get bits per word");
return -1;
}
spi->bitsperword = temp;
// try to get the max speed
int maxspeed;
if (ioctl(spi->fd, SPI_IOC_RD_MAX_SPEED_HZ, &maxspeed) < 0)
{
fprintf(stderr, "ERROR: Can not get max speed hz");
return -1;
}
spi->maxspeed = maxspeed;
// set up some ports
spi_write(IOCON, 8); // enable hardware addressing
spi_write(IODIRA, 0); // set port A as outputs
spi_write(IODIRB, 0xFF); // set port B as inputs
spi_write(GPIOA, 0xFF); // set port A on
//spi_write(GPIOB, 0xFF); // set port B on
spi_write(GPPUA, 0xFF); // set port A pullups on
spi_write(GPPUB, 0xFF); // set port B pullups on
// initialise all outputs to 0
int i;
for (i = 1; i <= 8; i++)
pfio_digital_write(i, 0);
return 0;
}
void open_door_stop()
{
pfio_digital_write(PIN_GLED,0);
pfio_digital_write(PIN_DOOR,0);
}
void open_door_start()
{
pfio_digital_write(PIN_DOOR,1);
pfio_digital_write(PIN_GLED,1);
}
void beep(int ms) {
pfio_digital_write(PIN_BUZZER,1);
usleep(ms*1000);
pfio_digital_write(PIN_BUZZER,0);
}
int main(void)
{
if (pfio_init() < 0) perror("Cannot start PFIO");
long int code = 0, last = 0;
int count = 0;
bool last_d0 = 0, last_d1 = 0;
read_config();
if(signal(SIGHUP, signal_handler) == SIG_ERR) perror("Cannot handle signal SIGHUP.");
if(signal(SIGUSR1, signal_handler) == SIG_ERR) perror("Cannot handle signal SIGUSR1.");
if(signal(SIGINT, signal_handler) == SIG_ERR) perror("Cannot handle signal SIGINT.");
beep(1000);
#if DEBUG
printf("Ready!\n");
#endif
while (1)
{
int i = pfio_read_input();
if(i == 0xFF) usleep(1);
struct timeval tv;
gettimeofday(&tv, NULL);
long int now = tv.tv_usec + tv.tv_sec*1000;
if((now - last > TIMEOUT)||(now<last)) {
#if DEBUG
printf(" - ");
#endif
count = 0;
code = 0;
}
bool d0 = (i & MASK_D0)==0;
bool d1 = (i & MASK_D1)==0;
bool button = (i & MASK_EXIT)==0;
bool lockcmd = (i & MASK_LOCK)==0;
if(lockcmd || locked) {
#if DEBUG
printf("*** LOCK ***\n");
#endif
while(((pfio_read_input() & MASK_LOCK)==0)||locked) {
pfio_digital_write(PIN_GLED,1);
usleep(200000);
pfio_digital_write(PIN_GLED,0);
usleep(200000);
}
#if DEBUG
printf("*** UNLOCK ***\n");
#endif
}
if(button) {
#if DEBUG
printf("Exit button pressed!!!\n");
#endif
open_door_start();
beep(100);
while((pfio_read_input() & MASK_EXIT)==0) sleep(1);
#if DEBUG
printf("Exit button released!!!\n");
#endif
sleep(DOOR_DELAY);
open_door_stop();
}
if(d0 && !last_d0) {
#if DEBUG
printf("0");
#endif
code = code << 1;
count++;
}
if(d1 && !last_d1) {
#if DEBUG
printf("1");
#endif
code = (code << 1) + 1;
count++;
}
if(count==BITSCOUNT) {
#if DEBUG
printf("[%li]\n",code);
#endif
struct card * c = cards;
bool allowed = 0;
while(c) {
if(c->code == code) {
allowed = 1;
break;
}
c = c->next;
};
if(allowed) {
// Accepte
#if DEBUG
printf("Access authorized!\n");
#endif
open_door(0);
#if DEBUG
printf("OK\n");
#endif
} else {
// Refuse
#if DEBUG
printf("Access denied!\n");
#endif
int n;
for(n=0; n<3; n++) {
usleep(200000);
beep(100);
}
#if DEBUG
printf("OK\n");
#endif
}
code = 0;
count = 0;
}
#if DEBUG
fflush(stdout);
#endif
last_d0 = d0;
last_d1 = d1;
last = now;
}
pfio_deinit();
return 0;
}
