int rn2903_read(const rn2903_context dev, char *buffer, size_t len)
{
assert(dev != NULL);
// uart
return mraa_uart_read(dev->uart, buffer, len);
}
std::string Modem_SIM800::Read()
{
std::string returnString = "";
int ni = 0;
while (true)
{
char miniBuf[2] = {0};
mraa_uart_read(this->_serial, miniBuf, 1);
if (miniBuf[0] == '\n')
{
if (ni >= 3)
{
break;
}
else
{
ni++; // Ignore the first 3 newlines.
continue;
}
}
if (miniBuf[0] != '\r')
{
returnString = returnString + std::string(miniBuf);
}
Utils::Delay(1);
}
Logging::LogMessage(std::string("<-- ") + returnString);
return returnString;
}
mrb_value mrb_mraa_uart_read_to_prompt(mrb_state *mrb, mrb_value self) {
mraa_uart_context uart;
mrb_int timeout, nargs, i;
char prompt, str_arg[1], buf[1];
mrb_value result;
timeout = mrb_fixnum(IV_GET("@timeout"));
nargs = mrb_get_args(mrb, "|z", &str_arg);
if (nargs == 0) {
char *str = mrb_str_to_cstr(mrb, IV_GET("@prompt"));
prompt = str[0];
}
else
prompt = str_arg[0];
uart = (mraa_uart_context)mrb_data_get_ptr(mrb, self, &mrb_mraa_uart_ctx_type);
result = mrb_str_buf_new(mrb, mrb_fixnum(IV_GET("@read_bufsize")));
while (mraa_uart_data_available(uart, timeout) > 0) {
i = mraa_uart_read(uart, buf, 1);
if (i == 0) break;
if (*buf == prompt) break;
result = mrb_str_cat_cstr(mrb, result, buf);
}
return result;
}
int main(int argc, char** argv)
{
mraa_uart_context uart;
uart = mraa_uart_init(0);
mraa_uart_set_baudrate(uart, 9600);
if (uart == NULL) {
fprintf(stderr, "UART failed to setup\n");
printf("UART fialed");
return EXIT_FAILURE;
}
char buffer[] = "Hello Mraa!";
// mraa_uart_write(uart, buffer, sizeof(buffer));
printf("buffer: ");
char* current;
while(1){
printf("%c",buffer[1]);
mraa_uart_read(uart, buffer, 9);
printf("buff:%c %c %c %c %c %c %c %c %c\n",buffer[0], buffer[1],
buffer[2], buffer[3], buffer[4], buffer[5], buffer[6], buffer[7],
buffer[8] );
sleep(1);
}
// mraa_uart_stop(uart);
mraa_deinit();
return EXIT_SUCCESS;
}
/**
* Read bytes from the device into a String object
*
* @param length to read
* @return string of data
*/
std::string
readStr(int length)
{
char* data = (char*) malloc(sizeof(char) * length);
int v = mraa_uart_read(m_uart, data, (size_t) length);
std::string ret(data, v);
free(data);
return ret;
}
void Modem_SIM800::WriteLine(std::string line)
{
while(mraa_uart_data_available(this->_serial, 100))
{
char deadBuf[2] = {0};
mraa_uart_read(this->_serial, deadBuf, 1);
} // clear responses
mraa_uart_write(this->_serial, line.c_str(), strlen(line.c_str()));
mraa_uart_write(this->_serial, "\r\n", strlen("\r\n"));
Logging::LogMessage(std::string("--> ") + line);
}
void readCharAry(mraa_uart_context uart, char* data)
{
int size = sizeof(data);
printf("Flushing size of %d",size);
int i=0;
for(i=0; i<size; i++)
{
mraa_uart_read(uart, data+i,1);
printf("%c",data[i]);
if(data[i]=='\0') break;
}
if(mraa_uart_data_available)
{
mraa_uart_read(uart, data,1);
mraa_uart_read(uart, data+1,1);
mraa_uart_read(uart, data+2,1);
mraa_uart_read(uart, data+3,1);
printf("data avail: %c %c %c %c",data[0],data[1],data[2],data[3]);
}
printf("|");
return;
}
int ecezo_read(const ecezo_context dev, char *buffer, size_t len)
{
assert(dev != NULL);
upm_delay_ms(CMD_DELAY); // delay CMD_DELAY ms to make sure cmd completed
// i2c
if (dev->i2c)
{
return readBytes(dev, (uint8_t *)buffer, len);
}
else
{
// UART
size_t bytesRead = 0;
while(bytesRead < len)
{
// we read one byte at a time, exiting when either len is
// reached, or a '\r' is found indicating the end of a
// sentence. Most commands (except 'R') require a minimum
// of 300ms to execute, so we wait up to CMD_DELAY ms after all
// data (if any) is read.
if (ecezo_data_available(dev, CMD_DELAY))
{
int br = mraa_uart_read(dev->uart, &buffer[bytesRead], 1);
if (br <= 0)
return br;
if (buffer[bytesRead] == '\r')
{
// if we found a CR, replace it with a 0 byte
buffer[bytesRead++] = 0;
return bytesRead;
}
bytesRead++;
}
else
{
// timed out - ok with responses disabled
return 0;
}
}
}
// anything else is an error
return -1;
}
void serial_readln(char *buffer, int len)
{
char c;
char *b = buffer;
//int length = len;
int rx_length = -1;
while(1)
{rx_length = mraa_uart_read(uart, &c, 1);
if(rx_length <= 0){
sleep(1);
}
else{
if(c == '\n'){
*b++ = '\0';
break;
}
*b++ = c;
}}
}
mrb_value mrb_mraa_uart_read(mrb_state *mrb, mrb_value self) {
mraa_uart_context uart;
mraa_result_t result;
char *string;
mrb_value mrb_result;
int bufsize;
if ((bufsize = mrb_fixnum(IV_GET("@read_bufsize"))) <= 0)
bufsize = UART_DEFAULT_BUFSIZE;
string = calloc(bufsize, sizeof(char));
uart = (mraa_uart_context)mrb_data_get_ptr(mrb, self, &mrb_mraa_uart_ctx_type);
result = mraa_uart_read(uart, string, bufsize);
if (result < 0) {
mrb_raisef(mrb, E_RUNTIME_ERROR, "Could not read (err %S)",
mrb_fixnum_value(result));
}
mrb_result = mrb_str_new_cstr(mrb, string);
free(string);
return mrb_result;
}
void Modem_SIM800::Init()
{
_enabled = true;
this->_serial = mraa_uart_init(0);
mraa_uart_set_baudrate(this->_serial, 9600);
// TODO: Error handling
while(mraa_uart_data_available(this->_serial, 0)) {this->Read();} // clear anything the modem sent on startup
// get the auto-bauder started
this->WriteLine("ATE0"); this->Read(); // disable echo of commands
if (mraa_uart_data_available(this->_serial, 100))
{
this->Read(); // read extra echo
}
this->WriteLine("AT"); this->Read();
this->WriteLine("AT"); this->Read();
this->WriteLine("AT"); this->Read();
while(mraa_uart_data_available(this->_serial, 100))
{
char deadBuf[2] = {0};
mraa_uart_read(this->_serial, deadBuf, 1);
} // clear responses
if(!this->CheckReply("ATE0", "OK"))
{
// TODO: error handle
}
Logging::LogMessage(this->GetOperator());
}
/**
* Read bytes from the device into char* buffer
*
* @param data buffer pointer
* @param length maximum size of buffer
* @return numbers of bytes read
*/
int
read(char* data, int length)
{
return mraa_uart_read(m_uart, data, (size_t) length);
}
/**
* n_direction_flag: 0 from edison to beaglebone
* 1 from beaglebone to edison
* check https://github.com/peidong/drone/blob/master/Edison/main/edison-bbb-communication-code.md for commands
*/
int communication_with_beaglebone_uart(int nflag_direction, struct T_drone *pT_drone, int nflag_receive_success){
/**
* check if uart available
*/
while (pT_drone->nflag_enable_uart != 1){
usleep(1300);
}
pT_drone->nflag_enable_uart = 0;
mraa_uart_context beaglebone_uart;
if (nflag_direction == 1){
/**
* From beaglebone to edison
*/
beaglebone_uart = mraa_uart_init_raw("/dev/ttyO4");
mraa_uart_set_baudrate(beaglebone_uart, 38400);
mraa_uart_set_mode(beaglebone_uart, 8, MRAA_UART_PARITY_NONE , 1);
while (mraa_uart_data_available(beaglebone_uart, 10000) != 1){
printf("data not available\n");
/*usleep(10000);*/
}
/**
* Start receive
*/
char c_flag[1];
char arrc_buffer[20];
int nflag_find_beginning = 0;
int nflag_find_end = 0;
int n_index = 0;
/**
* Read the message array
*/
while (nflag_find_beginning != 1){
mraa_uart_read(beaglebone_uart, c_flag, 1);
if (c_flag[0] == '~'){
nflag_find_beginning = 1;
n_index = 0;
while (nflag_find_end != 1){
mraa_uart_read(beaglebone_uart, arrc_buffer + n_index, 1);
if (arrc_buffer[n_index] == '$'){
arrc_buffer[n_index] = '\0';
nflag_find_end = 1;
//break;
}else if (arrc_buffer[n_index] == '~'){
nflag_find_end = -1;
nflag_find_beginning = 1;
n_index = 0;
//continue;
}else{
n_index++;
}
}
}
}
/**
* Process the message
*/
int n_command_index = -1;
if (arrc_buffer[0] == '0'){
/**
* stop
*/
n_command_index = 0;
printf("stop received\n");
}else if (arrc_buffer[0] == '1'){
/**
* auto control
*/
char arrc_command_index[4];
int n_temp_index;
for (n_temp_index = 0; n_temp_index <= 2; n_temp_index++){
arrc_command_index[n_temp_index] = arrc_buffer[n_temp_index];
}
arrc_command_index[3] = '\0';
n_command_index = atoi(arrc_command_index);
printf("auto control received: %d\n", n_command_index);
}else if (arrc_buffer[0] == '2'){
/**
* manual control command
*/
char arrc_command_index[4];
int n_temp_index;
for (n_temp_index = 0; n_temp_index <= 2; n_temp_index++){
arrc_command_index[n_temp_index] = arrc_buffer[n_temp_index];
}
arrc_command_index[3] = '\0';
n_command_index = atoi(arrc_command_index);
printf("manual control received: %d\n", n_command_index);
}else if (arrc_buffer[0] == '3'){
/**
* pid tuning
*/
char arrc_command_index[4];
int n_temp_index;
for (n_temp_index = 0; n_temp_index <= 2; n_temp_index++){
arrc_command_index[n_temp_index] = arrc_buffer[n_temp_index];
}
arrc_command_index[3] = '\0';
n_command_index = atoi(arrc_command_index);
printf("pid tuning received: %d\n", n_command_index);
char arrc_pid_value[9];
for (n_temp_index = 0; n_temp_index <= 7; n_temp_index++){
arrc_pid_value[n_temp_index] = arrc_buffer[n_temp_index + 3];
}
arrc_buffer[8] = '\0';
if (n_command_index == 301){
pT_drone->d_kp_pitch = atof(arrc_pid_value);
}else if (n_command_index == 302){
pT_drone->d_ki_pitch = atof(arrc_pid_value);
}else if (n_command_index == 303){
pT_drone->d_kd_pitch = atof(arrc_pid_value);
}else if (n_command_index == 304){
pT_drone->d_kp_roll = atof(arrc_pid_value);
}else if (n_command_index == 305){
pT_drone->d_ki_roll = atof(arrc_pid_value);
}else if (n_command_index == 306){
pT_drone->d_kd_roll = atof(arrc_pid_value);
}else if (n_command_index == 307){
pT_drone->d_kp_yaw = atof(arrc_pid_value);
}else if (n_command_index == 308){
pT_drone->d_kd_yaw = atof(arrc_pid_value);
}else if (n_command_index == 309){
pT_drone->d_ki_yaw = atof(arrc_pid_value);
}else if (n_command_index == 310){
pT_drone->d_kp_second_pitch = atof(arrc_pid_value);
}else if (n_command_index == 311){
pT_drone->d_kd_second_pitch = atof(arrc_pid_value);
}else if (n_command_index == 312){
pT_drone->d_kp_second_roll = atof(arrc_pid_value);
}else if (n_command_index == 313){
pT_drone->d_kd_second_roll = atof(arrc_pid_value);
}else if (n_command_index == 314){
pT_drone->d_kp_second_yaw = atof(arrc_pid_value);
}else if (n_command_index == 315){
pT_drone->d_kd_second_yaw = atof(arrc_pid_value);
}
printf("pid tuning value: %lf\n", atof(arrc_pid_value));
}else if (arrc_buffer[0] == '4'){
/**
* feedback
*/
printf("feedback received\n");
}
}else if (nflag_direction == 0){
/**
* From edison to beaglebone
*/
}
pT_drone->nflag_enable_uart = 1;
return 0;
}
int main(){
/**********************************************************************/
/**********************************************************************/
/* Begin. */
mraa_uart_context uart;
uart = mraa_uart_init(0);
mraa_uart_set_baudrate(uart, 115200);
char buffer[] = "hhh";
char flush[]="xxxxxxxxxxxx";
char str[] = "HELLO";
if (uart == NULL) {
fprintf(stderr, "UART failed to setup\n");
printf("UART failed");
return 1;
}
printf("firstavail:%d\n",mraa_uart_data_available(uart,0));
while (mraa_uart_data_available(uart,0))
{
mraa_uart_read(uart, flush, sizeof(uart));
printf("Flush: %c %c %c %c %c %c %c %c",flush[0], flush[1], flush[2],flush[3],flush[4],flush[5],flush[6],flush[7]);
usleep(150);
}
printf("available: %d",mraa_uart_data_available(uart,0));
char speed_user_input[MAXBUFSIZ];
char turn_user_input[MAXBUFSIZ];
mraa_pwm_context speed_pwm_in1, speed_pwm_in2, turn_pwm;
speed_pwm_in1 = mraa_pwm_init(3);
speed_pwm_in2 = mraa_pwm_init(5);
turn_pwm = mraa_pwm_init(6);
if (speed_pwm_in1 == NULL || speed_pwm_in2 == NULL || turn_pwm == NULL) {
fprintf(stderr, "Failed to initialized.\n");
return 1;
}
mraa_pwm_period_us(speed_pwm_in1,870); //1150Hz
mraa_pwm_enable(speed_pwm_in1, 1);
mraa_pwm_period_us(speed_pwm_in2,870);
mraa_pwm_enable(speed_pwm_in2, 1);
mraa_pwm_period_ms(turn_pwm,20);
mraa_pwm_enable(turn_pwm, 1);
mraa_pwm_write(turn_pwm, CENTER);
mraa_pwm_write(speed_pwm_in1, 1.0f);
mraa_pwm_write(speed_pwm_in2, 1.0f);
int n = 5;
int spd = 0;
char direction = 'C';
char cross_clr = 'B';
float angle = 0.0f;
while (1)
{
//sleep(2);
//readCharAry(uart,flush);
spd = 50;
mraa_uart_read(uart, buffer, 1);
if(buffer[0]=='\n')
{
printf("new line ");
mraa_uart_read(uart, buffer, 1);
if(buffer[0]=='\n')
{
printf("new line ");
mraa_uart_read(uart, buffer, 1);
}
}
mraa_uart_read(uart, buffer+1, 1);
if(buffer[1]=='\n')
{
buffer[0] = 'h';
buffer[1] = 'h';
}
int sign = 0;
if(cross_clr == 'M')
{
speed_control(speed_pwm_in1, speed_pwm_in2, 0.0f);
sleep(1);
char* nearestBeaconID = (char*)malloc(5);
getStrongestBeacon(nearestBeaconID);
printf("the nearestBeaconID is: %s\n", nearestBeaconID);
sign = 1;
angle = CENTER + 0.015f;
mraa_pwm_write(turn_pwm, angle);
usleep(15000);
speed_control(speed_pwm_in1, speed_pwm_in2, 54);
printf("speed: %d",spd);
usleep(5500000);
speed_control(speed_pwm_in1, speed_pwm_in2, 0.0f);
//sleep(1);
mraa_uart_write(uart, str, 1);
//while(!mraa_uart_data_available(uart, 10)){};
mraa_uart_read(uart, buffer, 1);
while(buffer[0] == '\n')
{
mraa_uart_read(uart, buffer, 1);
}
if(buffer[0] == '\0') direction = 'C';
mraa_uart_read(uart, buffer + 1, 1);
cross_clr = buffer[1];
}
printf("buff:%c %c %c \n",buffer[0], buffer[1],buffer[2]);
if(!sign){
if (direction == 'L') angle = CENTER - 0.005f;
if (direction == 'R') angle = CENTER + 0.005f;
if (direction == 'C') angle = CENTER;}
else
{
if (direction == 'C') angle = CENTER +0.013f;
if (direction == 'L') angle = CENTER +0.005f;
if (direction == 'R') angle = CENTER + 0.019f;
}
mraa_pwm_write(turn_pwm, angle);
speed_control(speed_pwm_in1, speed_pwm_in2, spd);
printf("speed: %d",spd);
usleep(250000);
direction = buffer[0];
cross_clr = buffer[1];
}
return 0;
}
int get_modem_frame(unsigned char* uart_buffer){
return mraa_uart_read(uart, uart_buffer, 200);
}
int main()
{
mraa_uart_context gps;
load_device_tree("ADAFRUIT-UART1");
gps = mraa_uart_init_raw("/dev/ttyO1");
mraa_uart_set_baudrate(gps, 9600);
char buf[1000];
char search[7];
gprmc_t readGPS;
// char *p = buf;
while(1){//gprmc_t readGPS;
int i=0;
mraa_uart_read(gps, search, 1);
if(search[0] == '$'){
for(i=1; i<7;i++){
mraa_uart_read(gps, search+i, 1);
}
if(strstr(search, "$GPRMC,")){
for(i=0; i<100;i++){
mraa_uart_read(gps, buf+i, 1);
if(buf[i] == '\n'){
buf[i]='\0';
break;
}
}
// printf("%s\n", buf);
nmea_parse_gprmc(buf, &readGPS);
gps_convert_deg_to_dec(&(readGPS.latitude), readGPS.lat, &(readGPS.longitude), readGPS.lon);
printf("%d\n", readGPS.state);
printf("%f\n", readGPS.latitude);
printf("%f\n", readGPS.longitude);
}
// mraa_uart_read(gps, buf+1, 1);
// mraa_uart_read(gps, buf+2, 1);
// mraa_uart_read(gps, buf+3, 1);
// mraa_uart_read(gps, buf+4, 1);
// mraa_uart_read(gps, buf+5, 1);
// mraa_uart_read(gps, buf+6, 1);
// mraa_uart_read(gps, buf+7, 1);
// mraa_uart_read(gps, buf+8, 1);
// mraa_uart_read(gps, buf+9, 1);
// mraa_uart_read(gps, buf+10, 1);
// mraa_uart_read(gps, buf+11, 1);
// mraa_uart_read(gps, buf+12, 1);
// mraa_uart_read(gps, buf+13, 1);
// mraa_uart_read(gps, buf+14, 1);
// mraa_uart_read(gps, buf+15, 1);
// mraa_uart_read(gps, buf+16, 1);
// printf("%s\n",buf);
// if(buf[0]=='$')
// {
// printf("%s\n", buf);
//buf = strchr(buf, ',')+1;
//printf("%s\n", buf);
// }
// if (strchr(buf, '$GPRMC')!=NULL){
// //buf = strchr(buf, ',')+1;
// //printf("%s\n", buf);
// }
//buf = strchr(buf, ',')+1;
//printf("%s\n", buf);
//mraa_uart_read(gps, buf, 1);
// mraa_uart_read(gps, buf+1, 1);
// mraa_uart_read(gps, buf+2, 1);
// mraa_uart_read(gps, buf+3, 1);
// mraa_uart_read(gps, buf+4, 1);
// mraa_uart_read(gps, buf+5, 1);
// mraa_uart_read(gps, buf+6, 1);
// mraa_uart_read(gps, buf+7, 1);
// mraa_uart_read(gps, buf+8, 1);
// mraa_uart_read(gps, buf+9, 1);
// mraa_uart_read(gps, buf+10, 1);
// mraa_uart_read(gps, buf+11, 1);
// mraa_uart_read(gps, buf+12, 1);
// mraa_uart_read(gps, buf+13, 1);
// mraa_uart_read(gps, buf+14, 1);
// mraa_uart_read(gps, buf+15, 1);
// mraa_uart_read(gps, buf+16, 1);
// mraa_uart_read(gps, buf+17, 1);
//int i=0;
//for(i = 0; i<100)
// if(nmea_get_message_type(buf)==NMEA_GPRMC){
// nmea_parse_gprmc(buf, &readGPS);
// printf("%d\n", readGPS.speed);}
// }
}
}
}
