int wiringOliSetup()
{
initialiseEpoch() ;
int result;
result = sunxi_gpio_init();
if(result == SETUP_DEVMEM_FAIL)
{
printf("No access to /dev/mem. Try running as root !");
return SETUP_DEVMEM_FAIL;
}
else if(result == SETUP_MALLOC_FAIL)
{
printf("No memory !");
return SETUP_MALLOC_FAIL;
}
else if(result == SETUP_MMAP_FAIL)
{
printf("Mmap failed on module import");
return SETUP_MMAP_FAIL;
}
else
{
return SETUP_OK;
}
return SETUP_OK;
}
int init_lcd_pin_direction() {
// GPIO2 LCD
// 1 +5V -> 2 VDD
// 2 Ground -> 1 GND
//
// 3 +3.3V EMPTY
// 4 Ground EMPTY
//
//
// 5 PB0 (TWI0-SCK) -> 4 RS
// 6 PG11 (USBH_EN) -> 5 R/W
// 7 PB1 (TWI0-SDA) -> 6 E
//
// 8 PG10 (VGA_DIS) -> 7 DB0
// 10 PG9 (LED1) -> 8 DB1
// 11 PB3 -> 9 DB2
// 12 PE11 -> 10 DB3
// 13 PB4 -> 11 DB4
// 14 PE10 -> 12 DB5
// 16 PE9 -> 13 DB6
// 18 PE8 -> 14 DB7
// 9 PB2 (PWM0) ERROR
// 15 PB10 ERROR
// 17 PB15 (TWI1-SCK) ERROR
int ret;
//init gpio
ret = sunxi_gpio_init();
if(ret) {
printf("sunxi_gpio_init ERROR\n");
return -1;
}
/* //RS, R/W, E
sunxi_gpio_set_cfgpin(SUNXI_GPB(0), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPG(11), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPB(1), SUNXI_GPIO_OUTPUT);
//DB0 - DB7
sunxi_gpio_set_cfgpin(SUNXI_GPG(10), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPG(9), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPB(3), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPE(11), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPB(4), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPE(10), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPE(9), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPE(8), SUNXI_GPIO_OUTPUT);
*/
sunxi_gpio_set_cfgpin(SUNXI_GPA(0), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPA(1), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPB(0), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPB(1), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPI(0), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPI(1), SUNXI_GPIO_OUTPUT);
sunxi_gpio_set_cfgpin(SUNXI_GPG(9), SUNXI_GPIO_OUTPUT);
return 0;
}
/**
*
* Make initial initialization of the extention. This is done by map physical
* memory to the virtual and thus gaining access to the memory. From there we
* can do anything.
*
* @return none
*/
static PyObject* py_init(PyObject* self, PyObject* args) {
if(sunxi_gpio_init() < 0){
return PyErr_SetFromErrno(PyExc_IOError);
}
Py_RETURN_NONE;
}
void main (int argc, char **argv)
{
int pulseDelay=1000;
if (argc >= 2) {
pulseDelay = atoi(argv[1]);
}
printf("%d", pulseDelay);
fflush(stdout);
//return;
// We'll operate on the currently running thread.
pthread_t this_thread = pthread_self();
// struct sched_param is used to store the scheduling priority
struct sched_param params;
// We'll set the priority to the maximum.
params.sched_priority = sched_get_priority_max(SCHED_FIFO);
// Attempt to set thread real-time priority to the SCHED_FIFO policy
int ret = pthread_setschedparam(this_thread, SCHED_FIFO, ¶ms);
if (ret != 0) {
// Print the error
//std::cout << "Unsuccessful in setting thread realtime prio" << std::endl;
return;
}
sunxi_gpio_init();
sunxi_gpio_set_cfgpin(SERVO_PIN, PIN_OUTPUT);
int callpointer = sunxi_gpio_getCallPointer(SERVO_PIN);
int pindef = sunxi_gpio_getPindef(SERVO_PIN);
const long frameLenght = 1000 * NANO_SECOND_MULTIPLIER;
struct timespec onInterval = {0};
struct timespec offInterval = {0};
onInterval.tv_nsec = pulseDelay * 1000;
//sunxi_gpio_output(SERVO_PIN, 1);
/*
while(1){
*/
int i;
struct timeval tStart, tStop, tLen;
//for(i = 0;i<50;i++){
while(1){
gettimeofday (&tStart, NULL) ;
sunxi_gpio_setFastOn(callpointer,pindef);
// Berechnen wie lang man den Pulse einschalten sollte:
gettimeofday (&tStop, NULL);
timersub(&tStop,&tStart,&tLen);
onInterval.tv_nsec = pulseDelay * 1000;;
onInterval.tv_nsec -= tLen.tv_usec * 1000 ;
nanosleep(&onInterval, NULL);
sunxi_gpio_setFastOff(callpointer,pindef);
//sunxi_gpio_output(SERVO_PIN, 0);
// Berechnen wie lang noch schlafen:
gettimeofday (&tStop, NULL);
// TimesStop - TimeStart = TLen
timersub(&tStop,&tStart,&tLen);
offInterval.tv_nsec = frameLenght;
offInterval.tv_nsec -= tLen.tv_usec * 1000 ;
nanosleep(&offInterval, NULL);
//return;
//
//nanosleep(&offInterval, NULL);
}
}