//-------------------------------------------------------------------------------------
int
main(void)
{
int count = 0;
int i, j ;
keypad_4x4_init();
while(count <100)
{
keypad_4x4_scan();
for(i=0 ; i< 4 ;i++)
{
for(j=0 ; j< 4 ;j++)
{
if(key_status[i][j]==0)
printf("%c " ,key_map[i][j]);
else
printf("O ");
// printf("%c " ,key_status[i][j]+'0');
}
printf("\n");
}
printf("========================\n");
BBBIO_sys_delay_ms(100);
count ++;
}
iolib_free();
return 0;
}
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);
}
/*
* Class: org_bulldog_beagleboneblack_jni_NativeGpio
* Method: teardown
* Signature: ()Z
*/
JNIEXPORT jboolean JNICALL Java_org_bulldog_beagleboneblack_jni_NativeGpio_teardown
(JNIEnv * env, jclass clazz) {
int ret = iolib_free();
if(ret < 0) {
return JNI_FALSE;
}
return JNI_TRUE;
}
/* ----------------------------------------------------------- */
int main(void)
{
int i ,j;
unsigned int *buf_ptr = &buffer[0];
/* BBBIOlib init*/
iolib_init();
/* using ADC_CALC toolkit to decide the ADC module argument .
*
* #./ADC_CALC -f 44100 -t 30
*
* Suggest Solution :
* Clock Divider : 34 , Open Dly : 1 , Sample Average : 1 , Sample Dly : 1
*/
const int clk_div = 34 ;
const int open_dly = 1;
const int sample_dly = 1;
BBBIO_ADCTSC_module_ctrl(clk_div);
BBBIO_ADCTSC_channel_ctrl(BBBIO_ADC_AIN0, BBBIO_ADC_STEP_MODE_SW_CONTINUOUS, open_dly, sample_dly, BBBIO_ADC_STEP_AVG_1, buffer, AUDIO_BUFFER_SIZE);
struct timeval t_start,t_end;
float mTime =0;
for(i = 0 ; i < 5 ; i++) {
/* fetch data from ADC */
BBBIO_ADCTSC_channel_enable(BBBIO_ADC_AIN0);
gettimeofday(&t_start, NULL);
BBBIO_ADCTSC_work(AUDIO_BUFFER_SIZE);
gettimeofday(&t_end, NULL);
/* **********************************************************
*
* Add your Socket transmit function in this block
*
************************************************************* */
mTime = (t_end.tv_sec -t_start.tv_sec)*1000000.0 +(t_end.tv_usec -t_start.tv_usec);
mTime /=1000000.0f;
printf("Sampling finish , fetch [%d] samples in %lfs\n", AUDIO_BUFFER_SIZE, mTime);
}
BBBIO_ehrPWM_Disable(BBBIO_PWMSS0);
iolib_free();
return 0;
}
/* ----------------------------------------------------------- */
int main(void)
{
unsigned int sample;
int i ,j;
unsigned int buffer_AIN_0[100] ={0};
unsigned int buffer_AIN_1[100] ={0};
/* BBBIOlib init*/
iolib_init();
/*ADC work mode : Busy polling mode */
//BBBIO_ADCTSC_module_ctrl(BBBIO_ADC_WORK_MODE_BUSY_POLLING, 1);
BBBIO_ADCTSC_module_ctrl(BBBIO_ADC_WORK_MODE_TIMER_INT, 1);
/*ADC work mode : Timer interrupt mode
* Note : This mode handle SIGALRM using signale() function in BBBIO_ADCTSC_work();
*/
//BBBIO_ADCTSC_module_ctrl(BBBIO_ADCTSC_module_ctrl(BBBIO_ADC_WORK_MODE_BUSY_POLLING, 1);
BBBIO_ADCTSC_channel_ctrl(BBBIO_ADC_AIN0, BBBIO_ADC_STEP_MODE_SW_CONTINUOUS, 0, 1, BBBIO_ADC_STEP_AVG_1, buffer_AIN_0, 100);
BBBIO_ADCTSC_channel_enable(BBBIO_ADC_AIN0);
BBBIO_ADCTSC_channel_ctrl(BBBIO_ADC_AIN1, BBBIO_ADC_STEP_MODE_SW_CONTINUOUS, 0, 1, BBBIO_ADC_STEP_AVG_1, buffer_AIN_1, 100);
BBBIO_ADCTSC_channel_enable(BBBIO_ADC_AIN1);
for(i = 0 ; i < 3 ; i++) {
printf("Start sample , fetch 10 sample \n");
BBBIO_ADCTSC_work(10);
printf("Channel 0 :\n");
for(j = 0 ; j < 10 ; j++) {
sample = buffer_AIN_0[j];
printf("\t[sample : %d , %f v]\n", sample, ((float)sample / 4095.0f) * 1.8f);
}
printf("Channel 1 :\n");
for(j = 0 ; j < 10 ; j++) {
sample = buffer_AIN_1[j];
printf("\t[sample : %d , %f v]\n", sample, ((float)sample / 4095.0f) * 1.8f);
}
printf("------------------------------\n");
sleep(1);
}
iolib_free();
return 0;
}
int main(void)
{
iolib_init();
int i=0;
float SM_1_duty ; //Sermotor 1 , connect to ePWM0A
for(i=0 ;i<= 180 ;i+=10)
{
SM_1_duty = 4.0f + i* 0.04444f ;
printf("Angle : %d , duty : %f\n" ,i ,SM_1_duty);
BBBIO_PWMSS_Setting(0 , 50.0f ,SM_1_duty , SM_1_duty);
sleep(1);
}
iolib_free();
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)
{
iolib_init(); /* Initialize I/O library - required */
pthread_t thread1, thread2,thread3, main_id;
//initial the data buffer and create the threads
main_id=pthread_self();
buffer_init(b);
pthread_create( &thread1, NULL, &producerth1, NULL);
pthread_create( &thread2, NULL, &producerth2, NULL);
pthread_create( &thread3, NULL, &comsumerth, NULL);
//join the thread when finished
pthread_join( thread1, NULL);
pthread_join( thread2, NULL);
pthread_join( thread3, NULL);
iolib_free(); /* Release I/O library prior to program exit - required */
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 ;
}
/* ----------------------------------------------------------- */
int main(void)
{
unsigned int sample;
int i ,j;
unsigned int buffer_AIN_0[BUFFER_SIZE] ={0};
unsigned int buffer_AIN_1[BUFFER_SIZE] ={0};
/* BBBIOlib init*/
iolib_init();
/* using ADC_CALC toolkit to decide the ADC module argument . Example Sample rate : 10000 sample/s
*
* #./ADC_CALC -f 10000 -t 5
*
* Suggest Solution :
* Clock Divider : 160 , Open Dly : 0 , Sample Average : 1 , Sample Dly : 1
*
*/
// const int clk_div = 34 ;
const int clk_div = 160;
const int open_dly = 0;
const int sample_dly = 1;
/*ADC work mode : Timer interrupt mode
* Note : This mode handle SIGALRM using signale() function in BBBIO_ADCTSC_work();
*/
BBBIO_ADCTSC_module_ctrl(BBBIO_ADC_WORK_MODE_TIMER_INT, clk_div);
/*ADC work mode : Busy polling mode */
/* BBBIO_ADCTSC_module_ctrl(BBBIO_ADC_WORK_MODE_BUSY_POLLING, clk_div);*/
BBBIO_ADCTSC_channel_ctrl(BBBIO_ADC_AIN0, BBBIO_ADC_STEP_MODE_SW_CONTINUOUS, open_dly, sample_dly, \
BBBIO_ADC_STEP_AVG_1, buffer_AIN_0, BUFFER_SIZE);
BBBIO_ADCTSC_channel_ctrl(BBBIO_ADC_AIN1, BBBIO_ADC_STEP_MODE_SW_CONTINUOUS, open_dly, sample_dly, \
BBBIO_ADC_STEP_AVG_1, buffer_AIN_1, BUFFER_SIZE);
//BBBIO_ADCTSC_module_ctrl(BBBIO_ADCTSC_module_ctrl(BBBIO_ADC_WORK_MODE_BUSY_POLLING, 1);
// BBBIO_ADCTSC_channel_ctrl(BBBIO_ADC_AIN1, BBBIO_ADC_STEP_MODE_SW_CONTINUOUS, 0, 1, BBBIO_ADC_STEP_AVG_1, buffer_AIN_1, 100);
for(i = 0 ; i < 3 ; i++) {
printf("Start sample , fetch %d sample \n", BUFFER_SIZE);
BBBIO_ADCTSC_channel_enable(BBBIO_ADC_AIN0);
BBBIO_ADCTSC_channel_enable(BBBIO_ADC_AIN1);
BBBIO_ADCTSC_work(SAMPLE_SIZE);
printf("AIN 0 :\n");
for(j = 0 ; j < SAMPLE_SIZE ; j++) {
sample = buffer_AIN_0[j];
printf("\t[sample : %d , %f v]\n", sample, ((float)sample / 4095.0f) * 1.8f);
}
printf("AIN 1 :\n");
for(j = 0 ; j < SAMPLE_SIZE ; j++) {
sample = buffer_AIN_1[j];
printf("\t[sample : %d , %f v]\n", sample, ((float)sample / 4095.0f) * 1.8f);
}
printf("------------------------------\n");
sleep(1);
}
iolib_free();
return 0;
}
void inputCleanup() {
iolib_free();
}
/* ----------------------------------------------------------- */
int main(void)
{
unsigned int sample;
int i ,j;
unsigned int buffer_AIN_2[BUFFER_SIZE] ={0};
time_t rawtime;
char data_file_name[255];
FILE* data_file;
/* BBBIOlib init*/
iolib_init();
/* using ADC_CALC toolkit to decide the ADC module argument . Example Sample rate : 10000 sample/s
*
* #./ADC_CALC -f 10000 -t 5
*
* Suggest Solution :
* Clock Divider : 160 , Open Dly : 0 , Sample Average : 1 , Sample Dly : 1
*
*/
// const int clk_div = 34 ;
// ADC sampling settings
const int clk_div = 25;
const int open_dly = 5;
const int sample_dly = 1;
/*ADC work mode : Timer interrupt mode
* Note : This mode handle SIGALRM using signale() function in BBBIO_ADCTSC_work();
*/
BBBIO_ADCTSC_module_ctrl(BBBIO_ADC_WORK_MODE_TIMER_INT, clk_div); // use timer interrupts
/*ADC work mode : Busy polling mode */
/* BBBIO_ADCTSC_module_ctrl(BBBIO_ADC_WORK_MODE_BUSY_POLLING, clk_div);*/
// microphone is connected to AIN2
BBBIO_ADCTSC_channel_ctrl(BBBIO_ADC_AIN2, BBBIO_ADC_STEP_MODE_SW_CONTINUOUS, open_dly, sample_dly, \
BBBIO_ADC_STEP_AVG_1, buffer_AIN_2, BUFFER_SIZE);
//BBBIO_ADCTSC_module_ctrl(BBBIO_ADCTSC_module_ctrl(BBBIO_ADC_WORK_MODE_BUSY_POLLING, 1);
// BBBIO_ADCTSC_channel_ctrl(BBBIO_ADC_AIN1, BBBIO_ADC_STEP_MODE_SW_CONTINUOUS, 0, 1, BBBIO_ADC_STEP_AVG_1, buffer_AIN_1, 100);
printf("Starting capture...\n");
// get time
time(&rawtime);
// start capture
BBBIO_ADCTSC_channel_enable(BBBIO_ADC_AIN2);
BBBIO_ADCTSC_work(SAMPLE_SIZE);
// format file name
snprintf(data_file_name, sizeof(data_file_name), "%s", ctime(&rawtime)); //copy time to string
data_file_name[strcspn(data_file_name,"\n")] = 0; //remove trailing newline
// convert space to _ in filename
char *p = data_file_name;
for (i=0; i < strlen(data_file_name); i++){
if (data_file_name[i] == '\0') break;
else if (data_file_name[i] == ' ') data_file_name[i] = '_';
}
strcat(data_file_name,".dat" );
printf("saving sound data to: %s\n",data_file_name);
data_file = fopen(data_file_name,"w"); // open file in write mode
// add current time value to top of file
fprintf(data_file, "%s", ctime(&rawtime));
// write buffer to file
for(j = 0 ; j < SAMPLE_SIZE ; j++)
fprintf( data_file, "%u\n", buffer_AIN_2[j] );
fclose( data_file );
iolib_free();
return 0;
}
void bbio::close(){
BBBIO_GPIO_low(BBBIO_GPIO1 ,port_din_SPI[0]);
BBBIO_GPIO_low(BBBIO_GPIO1 ,port_clk_SPI[0]);
BBBIO_GPIO_low(BBBIO_GPIO1 ,port_cs_SPI[0]);
iolib_free();
}
//-----------------------------------------------------------------
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);
}
void FreeGpioA()
{
iolib_free();
}
//-----------------------------------------------------------------
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);
}
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;
}
