/*
* Class: org_bulldog_beagleboneblack_jni_NativeGpio
* Method: enableGpio
* Signature: V
*/
JNIEXPORT void JNICALL Java_org_bulldog_beagleboneblack_jni_NativeGpio_enableGpio
(JNIEnv * env, jclass clazz) {
BBBIO_sys_Enable_GPIO(BBBIO_GPIO0);
BBBIO_sys_Enable_GPIO(BBBIO_GPIO1);
BBBIO_sys_Enable_GPIO(BBBIO_GPIO2);
BBBIO_sys_Enable_GPIO(BBBIO_GPIO3);
}
//-------------------------------------------------------------------------------------
void keypad_4x4_init()
{
iolib_init();
BBBIO_sys_Enable_GPIO(BBBIO_GPIO2);
// P8_39 / P8_41 / P8_43 / P8_45 as input
// P8_40 / P8_42 / P8_44 / P8_46 as input
// GPIO mapping reference from BBB_SRM , page 80 , "Table 11. Expansion Header P8 Pinout"
BBBIO_GPIO_set_dir(BBBIO_GPIO2 ,
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
}
void bbio::open(){
// GPIO init
init();
init_pins(); // ALL 5 pins are HIGH except for GND
init_DAConvAD5328();
//BBBIO init
iolib_init();
BBBIO_sys_Enable_GPIO(BBBIO_GPIO1);
BBBIO_GPIO_set_dir(BBBIO_GPIO1 ,
port_dout_SPI[0] ,
port_din_SPI[0] | port_clk_SPI[0] | port_cs_SPI[0]);
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]);
}
//-----------------------------------------------------------------
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(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);
}
