static int mmc_get_cd(int index) { static int gpio; if (!gpio) gpio = initialize_gpio(EVM_MMC_CD_GPIO, "mmc card detect"); if (gpio < 0) return gpio; return gpio_get_value(gpio) ? 0 : 1; }
static int mmc_get_ro(int index) { static int gpio; if (!gpio) gpio = initialize_gpio(EVM_MMC_WP_GPIO, "mmc write protect"); if (gpio < 0) return gpio; return gpio_get_value(gpio) ? 1 : 0; }
/***************************************************************** * int initialize_cape() * sets up necessary hardware and software * should be the first thing your program calls *****************************************************************/ int initialize_cape(){ FILE *fd; printf("\n"); // check if another project was using resources // kill that process cleanly with sigint if so #ifdef DEBUG printf("checking for existing PID_FILE\n"); #endif fd = fopen(PID_FILE, "r"); if (fd != NULL) { int old_pid; fscanf(fd,"%d", &old_pid); if(old_pid != 0){ printf("warning, shutting down existing robotics project\n"); kill((pid_t)old_pid, SIGINT); sleep(1); } // close and delete the old file fclose(fd); remove(PID_FILE); } // create new pid file with process id #ifdef DEBUG printf("opening PID_FILE\n"); #endif fd = fopen(PID_FILE, "ab+"); if (fd < 0) { printf("\n error opening PID_FILE for writing\n"); return -1; } pid_t current_pid = getpid(); printf("Current Process ID: %d\n", (int)current_pid); fprintf(fd,"%d",(int)current_pid); fflush(fd); fclose(fd); // check the device tree overlay is actually loaded if (is_cape_loaded() != 1){ printf("ERROR: Device tree overlay not loaded by cape manager\n"); return -1; } // initialize mmap io libs printf("Initializing GPIO\n"); if(initialize_gpio()){ printf("mmap_gpio_adc.c failed to initialize gpio\n"); return -1; } //export all GPIO output pins gpio_export(RED_LED); gpio_set_dir(RED_LED, OUTPUT_PIN); gpio_export(GRN_LED); gpio_set_dir(GRN_LED, OUTPUT_PIN); gpio_export(MDIR1A); gpio_set_dir(MDIR1A, OUTPUT_PIN); gpio_export(MDIR1B); gpio_set_dir(MDIR1B, OUTPUT_PIN); gpio_export(MDIR2A); gpio_set_dir(MDIR2A, OUTPUT_PIN); gpio_export(MDIR2B); gpio_set_dir(MDIR2B, OUTPUT_PIN); gpio_export(MDIR3A); gpio_set_dir(MDIR3A, OUTPUT_PIN); gpio_export(MDIR3B); gpio_set_dir(MDIR3B, OUTPUT_PIN); gpio_export(MDIR4A); gpio_set_dir(MDIR4A, OUTPUT_PIN); gpio_export(MDIR4B); gpio_set_dir(MDIR4B, OUTPUT_PIN); gpio_export(MOT_STBY); gpio_set_dir(MOT_STBY, OUTPUT_PIN); gpio_export(PAIRING_PIN); gpio_set_dir(PAIRING_PIN, OUTPUT_PIN); gpio_export(SPI1_SS1_GPIO_PIN); gpio_set_dir(SPI1_SS1_GPIO_PIN, OUTPUT_PIN); gpio_export(SPI1_SS2_GPIO_PIN); gpio_set_dir(SPI1_SS2_GPIO_PIN, OUTPUT_PIN); gpio_export(INTERRUPT_PIN); gpio_set_dir(INTERRUPT_PIN, INPUT_PIN); gpio_export(SERVO_PWR); gpio_set_dir(SERVO_PWR, OUTPUT_PIN); printf("Initializing ADC\n"); if(initialize_adc()){ printf("mmap_gpio_adc.c failed to initialize adc\n"); return -1; } printf("Initializing eQEP\n"); if(init_eqep(0)){ printf("mmap_pwmss.c failed to initialize eQEP\n"); return -1; } if(init_eqep(1)){ printf("mmap_pwmss.c failed to initialize eQEP\n"); return -1; } if(init_eqep(2)){ printf("mmap_pwmss.c failed to initialize eQEP\n"); return -1; } // setup pwm driver printf("Initializing PWM\n"); if(simple_init_pwm(1,PWM_FREQ)){ printf("simple_pwm.c failed to initialize PWMSS 0\n"); return -1; } if(simple_init_pwm(2,PWM_FREQ)){ printf("simple_pwm.c failed to initialize PWMSS 1\n"); return -1; } // start some gpio pins at defaults deselect_spi1_slave(1); deselect_spi1_slave(2); disable_motors(); //set up function pointers for button press events printf("Initializing button interrupts\n"); initialize_button_handlers(); // Load binary into PRU printf("Initializing PRU\n"); if(initialize_pru()){ printf("ERROR: PRU init FAILED\n"); return -1; } // Start Signal Handler printf("Initializing exit signal handler\n"); signal(SIGINT, ctrl_c); signal(SIGTERM, ctrl_c); // Print current battery voltage printf("Battery Voltage: %2.2fV\n", get_battery_voltage()); // all done set_state(PAUSED); printf("\nRobotics Cape Initialized\n"); return 0; }