int main()
{
set_gpio(MGCARD_PORT,MGCARD_PORT_NUM,HIGH); //mifate进入工作模式
open_driver(MGCARD,O_RDONLY); //打开磁条卡设备
gettimeofday(&begintime, NULL); //读取系统时间
while(1)
{
gettimeofday(&endtime, NULL ); //读取系统时间
if(read(Drivers[MGCARD].fd,buf,2112)!=-1) //读取磁条卡信息
{
/*
printf("\n");
for(i = 753; i < 1035; i++){
if(i%30 == 0)printf("\n");
printf("%x ",buf[i]);
}
*/
covert_data(buf); //转换磁条卡数据
set_gpio(MGCARD_PORT,MGCARD_PORT_NUM,LOW); //mifare进入低功耗模式
return 0;
}
if((endtime.tv_sec-begintime.tv_sec) > 10)
{
printf("\n\nCharge overtime!\n\n");
close(Drivers[MGCARD].fd);
set_gpio(MGCARD_PORT,MGCARD_PORT_NUM,LOW); //mifare进入低功耗模式
return;
}
}
}
/*
The constructor also initialises the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_PX4::AP_RangeFinder_PX4(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
AP_RangeFinder_Backend(_ranger, instance, _state),
_last_max_distance_cm(-1),
_last_min_distance_cm(-1)
{
_fd = open_driver();
// consider this path used up
num_px4_instances++;
if (_fd == -1) {
hal.console->printf("Unable to open PX4 rangefinder %u\n", num_px4_instances);
state.healthy = false;
return;
}
// average over up to 20 samples
if (ioctl(_fd, SENSORIOCSQUEUEDEPTH, 20) != 0) {
hal.console->printf("Failed to setup range finder queue\n");
state.healthy = false;
return;
}
state.healthy = true;
}
ProcessState::ProcessState()
: mDriverFD(open_driver())
, mVMStart(MAP_FAILED)
, mManagesContexts(false)
, mBinderContextCheckFunc(NULL)
, mBinderContextUserData(NULL)
, mThreadPoolStarted(false)
, mThreadPoolSeq(1)
{
if (mDriverFD >= 0) {
// XXX Ideally, there should be a specific define for whether we
// have mmap (or whether we could possibly have the kernel module
// availabla).
#if !defined(HAVE_WIN32_IPC)
// mmap the binder, providing a chunk of virtual address space to receive transactions.
mVMStart = mmap(0, BINDER_VM_SIZE, PROT_READ, MAP_PRIVATE | MAP_NORESERVE, mDriverFD, 0);
if (mVMStart == MAP_FAILED) {
// *sigh*
ALOGE("Using /dev/binder failed: unable to mmap transaction memory.\n");
close(mDriverFD);
mDriverFD = -1;
}
#else
mDriverFD = -1;
#endif
}
LOG_ALWAYS_FATAL_IF(mDriverFD < 0, "Binder driver could not be opened. Terminating.");
}
/*
see if the PX4 driver is available
*/
bool AP_RangeFinder_PX4::detect(RangeFinder &_ranger, uint8_t instance)
{
int fd = open_driver();
if (fd == -1) {
return false;
}
close(fd);
return true;
}
int main()
{
set_gpio('G',9,1);
open_driver(PSAM1,O_RDWR); //打开PSAM小卡设备
if(Drivers[PSAM1].fd==-1)
{
printf("open device error\n");
return;
}
coldreset();
random_num();
close(Drivers[PSAM1].fd);
}
static int
usalo_open(SCSI *usalp, char *device)
{
int busno = usal_scsibus(usalp);
int tgt = usal_target(usalp);
int tlun = usal_lun(usalp);
if (busno >= MAX_SCG || tgt >= MAX_TGT || tlun >= MAX_LUN) {
errno = EINVAL;
if (usalp->errstr)
snprintf(usalp->errstr, SCSI_ERRSTR_SIZE,
"Illegal value for busno, target or lun '%d,%d,%d'",
busno, tgt, tlun);
return (-1);
}
if ((device != NULL && *device != '\0') || (busno == -2 && tgt == -2)) {
errno = EINVAL;
if (usalp->errstr)
snprintf(usalp->errstr, SCSI_ERRSTR_SIZE,
"Open by 'devname' not supported on this OS");
return (-1);
}
if (usalp->local == NULL) {
usalp->local = malloc(sizeof (struct usal_local));
if (usalp->local == NULL)
return (0);
}
if (!open_driver(usalp)) /* Try to open ASPI-Router */
return (-1);
atexit(exit_func); /* Install Exit Function which closes the ASPI-Router */
/*
* Success after all
*/
return (1);
}
ProcessState() : mDriverFD(open_driver()) {}
//(DEV_UID *dev_uid, uint32_t device_type, uint32_t device_number)
device_t* ressource_open(DEV_UID *virt_dev_uid, int32_t device_type, int32_t device_number){
//DEV_UID* real_UID = malloc(sizeof(DEV_UID));
DEV_UID* temp_UID = malloc(sizeof(DEV_UID));
virtual_dev_t *virtual_dev = (virtual_dev_t*)malloc(sizeof(virtual_dev_t));
virtual_dev->real_uid = (DEV_UID*)malloc(sizeof(DEV_UID));
virtual_dev_t *virtual_temp = NULL;
device_t* device;
any_t tmp;
// virtual_devic zusammen bauen
switch(device_type){
case(AP7000_UART_DEVICE):
device = open_driver(temp_UID, AP7000_UART_DEVICE, device_number);
virtual_dev->requested_device_type = device;
virtual_dev->vdev_rxbuf = malloc(sizeof(SerialBuffer));
virtual_dev->vdev_txbuf = malloc(sizeof(SerialBuffer));
SerialBuffer_ctor( (SerialBuffer*)(virtual_dev->vdev_rxbuf) );
SerialBuffer_ctor( (SerialBuffer*)(virtual_dev->vdev_txbuf) );
uart1_set_rx_and_tx_buffer((SerialBuffer*)virtual_dev->vdev_txbuf,(SerialBuffer*)virtual_dev->vdev_rxbuf);
break;
case(AP7000_LED_DEVICE):
break;
default:
break;
}
switch (*temp_UID) {
case DEV_NOT_FREE:
//generate new virtual UID an add to map
*virt_dev_uid = generate_Virtual_UID();
//Find real uid in hashmap with key: device_type|device_number
//hashmap_get(device_mapm)
if(hashmap_get(device_to_real_uid_map,device_type|device_number,&tmp) == MAP_OK){
*temp_UID = *((DEV_UID*)tmp);
virtual_dev->real_uid = temp_UID;
}else{
while(1){}
}
if(hashmap_get(device_to_real_uid_map,device_type|device_number,&tmp) == MAP_OK){
hashmap_put(virt_uid_to_virt_dev_map,*virt_dev_uid, virtual_dev);
// save pid to virtual_dev
hashmap_put(pid_to_virt_dev_map, ptrRunningTask->pid, virtual_dev);
virtual_dev->current_device_type = dev_null;
return device;
}else{
while(1){}
}
case DEV_NOT_FOUND:
//TODO you're f****d...
break;
}
*virt_dev_uid = generate_Virtual_UID();
*virtual_dev->real_uid = *temp_UID;
virtual_dev->current_device_type = virtual_dev->requested_device_type;
//add as first element
hashmap_put(device_to_real_uid_map,device_type|device_number,(any_t)temp_UID);
if(hashmap_get(device_to_real_uid_map,device_type|device_number,&tmp) == MAP_OK){
if(*temp_UID!=*(DEV_UID*)tmp){
while(1){};
}
hashmap_put(virt_uid_to_virt_dev_map,*virt_dev_uid, virtual_dev);
}else{
while(1){}
}
// save pid to virtual_dev
hashmap_put(pid_to_virt_dev_map, ptrRunningTask->pid, virtual_dev);
return device;
}
