int main ()
{
int fd;
unsigned char data=3;
if ((fd = serialOpen ("/dev/ttyAMA0", 9600))<0)
{
fprintf (stderr, "Unable to open serial device: %s\n", strerror (errno));
return 1;
}
printf ("\nRaspberry Pi UART Test \n");
while(1)
{
serialPutchar(fd,data);
// printf ("\nPC > RPi = %c", (char)data);
// serialPutchar(fd, data);
// serialPuts(fd, "\n");
fflush(stdout);
}
return 0 ;
}
void get_size()
{
serialPutchar(fd,0x56);
serialPutchar(fd,0x00);
serialPutchar(fd,0x34);
serialPutchar(fd,0x01);
serialPutchar(fd,0x00);
}
static int myAnalogRead (struct wiringPiNodeStruct *node, int pin)
{
int vHi, vLo ;
serialPutchar (node->fd, 'a') ;
serialPutchar (node->fd, pin - node->pinBase) ;
vHi = serialGetchar (node->fd) ;
vLo = serialGetchar (node->fd) ;
return (vHi << 8) | vLo ;
}
static void myPinMode (struct wiringPiNodeStruct *node, int pin, int mode)
{
/**/ if (mode == OUTPUT)
serialPutchar (node->fd, 'o') ; // Input
else if (mode == PWM_OUTPUT)
serialPutchar (node->fd, 'p') ; // PWM
else
serialPutchar (node->fd, 'i') ; // Default to input
serialPutchar (node->fd, pin - node->pinBase) ;
}
void loadCustomChar(int fd, uint8_t location, uint8_t img[8]){
int i;
cmd(fd, CUSTOMCHAR);
// address of customchar (1-8)
serialPutchar(fd, location);
// load 8 bytes top to bottom
for (i = 0; i < 8; i++){
serialPutchar(fd, img[i]);
}
}
int main ()
{
int fd ;
int count ;
unsigned int nextTime ;
if ((fd = serialOpen ("/dev/ttyAMA0", 9600)) < 0)
{
fprintf (stderr, "Unable to open serial device: %s\n", strerror (errno)) ;
return 1 ;
}
if (wiringPiSetup () == -1)
{
fprintf (stdout, "Unable to start wiringPi: %s\n", strerror (errno)) ;
return 1 ;
}
char s1[41] ={ 0xdd, 0xdd, 0xdd, 0xdd, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01,
0x72, 0x68, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01,
0x01, 0x72, 0x68, 0xff, 0xff, 0xff, 0x01, 0x01, 0x01, 0x01,
0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0xee, 0xee, 0xee, 0xee,
'\0'};
char s2[41] ={ 0xdd, 0xdd, 0xdd, 0xdd, 0x02, 0x02, 0x02, 0x02, 0x02, 0x02,
0x02, 0x02, 0x72, 0x68, 0x02, 0x02, 0x02, 0x02, 0x02, 0x02,
0x02, 0x02, 0x02, 0x02, 0x02, 0x02, 0x02, 0x02, 0x02, 0x02,
0x02, 0x02, 0x02, 0x72, 0x68, 0x02, 0xee, 0xee, 0xee, 0xee,
'\0'};
nextTime = millis () + 3000 ;
int flag = 0;
while(1)
{
if (millis () > nextTime)
{
char a = 0x72;
char b = 0x68;
nextTime += 3000 ;
//serialPuts (fd, s1);
serialPutchar (fd, a);
serialPutchar (fd, b);
s1[10] = s1[10] + 1;
s1[22] = s1[22] + 1;
}
//fflush (stdout) ;
}
return 0 ;
}
void SerialComm::SendData() {
// unsigned char dataOut[100];
unsigned char CRC = 0;
// printf("%d\n", sizeof(sMapOut));
// memset(&VariablesOut, 0, sizeof(sVarsOut));
// bufferOut.data.s16[5] = 0;
// bufferOut.data.s16[6] = 4;
//// printf("%d", dataOut[5]);
// bufferOut.data.s16[25] = 100;
printf("%s\n", __FUNCTION__);
unsigned char u8Retry=0;
// do {
serialPutchar(fd, 's');
CRC = 's';
// sMapOut *map = &VariablesOut.Names;
// map->DelayBlower = 45;
// map->SaunaDelayLight = 99;
// map->Digital[0] = (1<<0);
// map->O_Blower = 1;
for (int i=0; i<90; i++)
{
CRC = VariablesOut.Buffer.u8[i]^CRC;
// printf("%X %x", CRC, VariablesOut.Buffer.u8[i]);
serialPutchar(fd, VariablesOut.Buffer.u8[i]);
// printf("%d:%d ", i ,VariablesOut.Buffer.u8[i]);
}
printf("\nCRC:%X\n", CRC);
serialPutchar(fd, CRC);
for (int i=0; i<3; i++)
{
// printf("%d:%d ", i, VariablesOut.Names.Digital[i]);
}
for (int i=0; i<42; i++)
{
// printf("%d:%d ", i, VariablesOut.Names.Analog[i]);
}
for (int i=0; i<3; i++)
{
VariablesIn.Names.Digital[i] = VariablesOut.Names.Digital[i];
}
for (int i=0; i<42; i++)
{
VariablesIn.Names.Analog[i] = VariablesOut.Names.Analog[i];
}
// printf("\n");
// serialPrintf(fd)
delay(200);
// u8Retry++;
// } while ((u8Retry < 3)&&(false == ReadRAW()));
}
void change_size()
{
serialPutchar(fd,0x56);
serialPutchar(fd,0x00);
serialPutchar(fd,0x31);
serialPutchar(fd,0x05);
serialPutchar(fd,0x04);
serialPutchar(fd,0x01);
serialPutchar(fd,0x00);
serialPutchar(fd,0x19);
serialPutchar(fd,0x00);
}
void sendchar(char varchar)
{
int val=varchar;
fflush(stdout);
serialPutchar(fd,varchar);
//printf("send number is: %d\n",val);
}
int main ()
{
int fd,i=0;
fd= serialOpen("/dev/ttyAMA0",115200);
if(fd < 0) { printf("Opening serial failed.\n"); return 0; }
while(i<10)
{
delay(500);
serialPutchar(fd,i);
i++;
//printf("serialDataAvail: %d\n", serialDataAvail(fd));
if(serialDataAvail(fd) >= 1)
{
printf ("->%d\n", serialGetchar(fd));
fflush (stdout);
}
}
printf("Serial port closing.\n");
serialClose(fd);
return 0;
}
int main(int argc, char *argv[]){
if (argc < 3 ){
printf("Usage:\nlcdprint line col [text]\n");
return 1;
}else{
int col=atoi(argv[2]);
if (col<0 || col> 15){
printf("col must be between 0 and 15\n");
return 2;
}
int line=atoi(argv[1]);
if (line<0 || line> 1){
printf("col must be between 0 and 1\n");
return 3;
}
lcd=serialOpen(SERIAL, BAUD_RATE);
setLCDCursor(line*16+col);
if (argc>3){
int i;
for (i=3;i<argc;i++){
serialPuts(lcd, argv[i]);
if (i<argc-1){
serialPuts(lcd, " ");
}
}
}else{
char c;
while ((c=getchar()) !=255){
serialPutchar(lcd, c);
}
}
serialClose(lcd);
return 0;
}
}
int main ()
{
printf("Program started.\n");
int ser_handle; // the serial connection (file descriptor)
if ((ser_handle = serialOpen("/dev/ttyAMA0", BAUD_RATE)) < 0)
{
fprintf(stderr, "Unable to open serial device: %s\n", strerror(errno));
return 1 ;
}
else
printf("Serial open\n");
int counter = 0;
int avail_bytes;
for(;;) {
if(avail_bytes = serialDataAvail(ser_handle))
{
serialPutchar(ser_handle,serialGetchar(ser_handle));
counter = counter + 1;
if(counter%100 == 0) {
printf("Byte %i has been passed on\n", counter);
}
}
}
}
void Serial::PutChar(unsigned char c){
if(Open()){
// std::cout << "Wrote character: " << c << std::endl;
serialPutchar(this->fd, c);
// Close();
}
}
void transmit(void)
{
// Pong every 3 seconds
if (millis() - time >= 3000) {
serialPuts(fd0, "Pong!\n");
serialPuts(fd1, "Pong1!\n");
serialPuts(fd2, "Pong2!\n");
// you can also write data from 0-255
// 65 is in ASCII 'A'
serialPutchar(fd0, 65);
serialPutchar(fd1, 65);
serialPutchar(fd2, 65);
time = millis();
}
}
void cleanup(void){
serialPrintf(fd, "%cSDMP", 13);
for(i = 0; i < 25; i++){
serialPutchar(fd,0);
}
fclose(fp);
serialClose(fd);
}
void changeBaud(int fd, uint32_t rate){
int i = 0;
while (rate != bauds[i]){
i++;
}
cmd(fd, BAUD);
serialPutchar(fd, i);
}
void RS485::puts(char *data, int len)
{
digitalWrite(DIRPIN, DIR_WRITE);
usleep(5000);
for(int i=0; i<len; i++)
serialPutchar(dev, data[i]);
usleep(5000);
digitalWrite(DIRPIN, DIR_READ);
}
int main (void)
{
int handle = serialOpen ("/dev/ttyAMA0", 19200); //115200) ;
serialParity(handle,1);
while(1) {
serialPutchar(handle,0b10100000);
usleep (800);
}
return 0 ;
}
int start_capturing()
{
serialPutchar(fd,0x56);
serialPutchar(fd,0x00);
serialPutchar(fd,0x36);
serialPutchar(fd,0x01);
serialPutchar(fd,0x00);
int i = 0;
char temp[5];
char return_val[] = {0x76,0x0,0x36,0x0,0x0};
while(i<5)
{
temp[i] = serialGetchar(fd);
if(temp[i] != return_val[i])
return -1;
i++;
}
return 1;
}
int drcSetup (const int pinBase, const int numPins, const char *device)
{
int fd ;
int ok, tries ;
time_t then ;
struct wiringPiNodeStruct *node ;
if ((fd = serialOpen (device, 115200)) < 0)
return wiringPiFailure (WPI_ALMOST, "Unable to open DRC device (%s): %s", device, strerror (errno)) ;
delay (10) ; // May need longer if it's an Uno that reboots on the open...
// Flush any pending input
while (serialDataAvail (fd))
(void)serialGetchar (fd) ;
ok = FALSE ;
for (tries = 1 ; tries < 5 ; ++tries)
{
serialPutchar (fd, '@') ;
then = time (NULL) + 2 ;
while (time (NULL) < then)
if (serialDataAvail (fd))
{
if (serialGetchar (fd) == '@')
{
ok = TRUE ;
break ;
}
}
if (ok)
break ;
}
if (!ok)
{
serialClose (fd) ;
return wiringPiFailure (WPI_FATAL, "Unable to communidate with DRC device") ;
}
node = wiringPiNewNode (pinBase, numPins) ;
node->fd = fd ;
node->pinMode = myPinMode ;
node->pullUpDnControl = myPullUpDnControl ;
node->analogRead = myAnalogRead ;
node->digitalRead = myDigitalRead ;
node->digitalWrite = myDigitalWrite ;
node->pwmWrite = myPwmWrite ;
return 0 ;
}
int serial_writebyte(int serial_id, uint8_t byte)
{
struct serial_bus *sb = serial_buses[serial_id];
if(!sb)
return -1;
if(sb->fd < 0)
{
sb->fd = serialOpen(sb->bus, sb->speed);
}
serialPutchar (sb->fd, byte) ;
return 0;
}
int main(void)
{
int handle = serialOpen ("/dev/ttyAMA0", 9600); //Open the Serial port
serialFlush(handle); //Clear the stream of old data packets
while(1)
{
serialPutchar (handle, 's'); //Send 's' to the Arduberry
char inp=serialGetchar(handle); //Receive the characters from the Arduberry
printf("%c",inp);
}
return 0;
}
static ERL_NIF_TERM
serial_put_char_nif(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
int handle, character;
if (!enif_get_int(env, argv[0], &handle) ||
!enif_get_int(env, argv[1], &character))
{
return enif_make_badarg(env);
}
serialPutchar(handle, (uint8_t)character);
return atom_ok;
}
void WpiEngine::serialWrite()
{
static unsigned int lastTime = millis();
unsigned int thisTime = millis();
if ( thisTime - lastTime > 60e3 )
{
lastTime = thisTime;
time_t timer = time(NULL);
unsigned short thetime = round( difftime(timer, mktime(&time2016)) * 1000 ) ;
avgHumidity = Humidity / (double) nHumidity;
avgTemperature = Temperature / (double) nTemperature;
avgPressure = Pressure / (double) nPressure;
avgWind = Wind / (double) nWind;
unsigned short humidity = round( avgHumidity * 100 );
short temperature = round( avgTemperature * 100 ) ;
unsigned short pressure = round( avgPressure ) ;
unsigned short wind = round( avgWind * 100 ) ;
char winddir = 0;
char message[34];
sprintf(message, "AT+DTX=22,");
sprintf(message+10, "%04X%04X%04X%04X%04X%02X", thetime, humidity, temperature, pressure, wind, winddir);
message[32] = '\r';
message[33] = '\n';
for (int i=0; i<34; i++)
serialPutchar (fd, message[i]);
printf("Sent to serial: %s\n", message);
windoo_humidity = avgHumidity;
windoo_temperature = avgTemperature;
windoo_pressure = avgPressure;
windoo_wind = avgWind;
location_heading = winddir;
post();
Temperature = Wind = Pressure = Humidity = 0;
nTemperature = nWind = nPressure = nHumidity = 0;
}
/*if (serialDataAvail (fd))
{
printf (" --> ");
printf ("%c", serialGetchar (fd));
while (serialDataAvail (fd)) printf ("%c", serialGetchar (fd)) ;
printf ("\n");
}*/
}
int send_usart(uint16_t len,uint8_t *data) //id,state1,state2,state3 1=开,0=关,2=保持
{
uint8_t i=0;
if(len>100)
{
printf("send usart failed! len>100");
return 1;
}
for(i=0;i<len;i++)
serialPutchar(usart_fd,data[i]);
return 0;
}
int8_t CProtocol::sendAddress(uint8_t address, uint32_t data){
// Only write if there is a Stream/filedescriptor to write to
#ifdef RaspberryPi
if(mSerial<0) return-1;
#else //Arduino
if (mSerial==NULL) return-1;
#endif
// block buffer for sending
uint8_t b[6];
// b[5] has the ‘address’ byte
b[5] = 0x80 | ((address-1) & 0x3F);
// fill in the rest of the data, b[0]-b[4] is going to have data
// in MSB order, e.g. b[4] will have the lowest 7 bits, b[3] the next
// lowest, etc...
b[4] = data & 0x7F;
uint8_t blocks=2;
// only loop/shift if there's data to put out
while(data>0x7F) {
data >>= 7;
b[6-(++blocks)] = data & 0x7F;
}
// if we can fit our highest bits in the first block, add them here
if((blocks==6) || b[6-blocks] < 8) {
// add to existing data
}
// if not just initialize the next byte
else b[6-(++blocks)] = 0;
// add in the block count to lead
b[6-blocks] |= 0xC0 | (blocks<<3);
// now write out the data - the blocks array in reverse, which will
// get your data written out in LSB order
#ifdef RaspberryPi
for(int i=0;i<blocks;i++){
serialPutchar (mSerial, b[6-blocks+i]);
}
#else //Arduino
// we need to write the buffer as array to work for the Wire library
mSerial->write(&b[6-blocks],blocks);
#endif
// return the number of blocks written to the Serial
return blocks;
}
//initialize the GPIO and UART pins for the Raspberry Pi 2
int initGPIO_Uart(void) {
//manually configure the GPIO pins for inputs or outputs using terminal commands
//terminal commands: https://projects.drogon.net/raspberry-pi/wiringpi/the-gpio-utility/
system("gpio mode 0 out"); //set GPIO pin 1 to output (breakBeamLEDOutput pin 17) indicates puck is held by robot
system("gpio mode 1 out"); //set GPIO pin 1 to output (shootpin pin 18)
system("gpio mode 3 out"); //set GPIO pin 3 to output (controllerConnectedLEDOutput pin 22)
system("gpio mode 4 out"); //set GPIO pin 4 to output //GPIO pin 23 output controls the solenoid discrete output
system("gpio mode 2 in"); //set GPIO pin 2 to input //GPIO pin 27 input from break beam (garage-door-like sensor)
system("gpio mode 5 in"); //set GPIO pin 5 to input //GPIO pin 24 input from break beam (garage-door-like sensor)
//Initialize the Wiring Pi Libary
pinMode(breakBeamInput, INPUT);
pullUpDnControl(breakBeamInput, PUD_UP); // Enable pull-down resistor on button
pinMode(shutdownPiSwitchInput, INPUT);
pullUpDnControl(shutdownPiSwitchInput, PUD_DOWN); // Enable pull-down resistor on button
pinMode(breakBeamLEDOutput, OUTPUT);
pinMode(shootPinOutput, OUTPUT);
pinMode(controllerConnectedLEDOutput, OUTPUT);
pinMode(enableAndGateOutput, OUTPUT);
//initialize the UART @ 19200 BAUD
if ((UART_ID = serialOpen(UART_TXD0, 19200)) < 0) {
fprintf(stderr, "Unable to open serial device: %s\n", strerror(errno));
return 0;
}
//Initialize WiringPi -- using Broadcom processor pin numbers
wiringPiSetupGpio();
digitalWrite(enableAndGateOutput, HIGH); //enable the AND GATE and allow the UART and breakBeam outputs to turn on
usleep(2000000); //wait 2 seconds (in microseconds) to act as a power up delay for the Sabertooth Motor Controller
serialPutchar(UART_ID, 0xAA); //Send the autobauding character to Sabertooth first to stop motors from twitching!
usleep(100000); //wait 100ms (in microseconds) before commanding motors
if (wiringPiSetup() == -1) {
fprintf(stdout, "Unable to start wiringPi: %s\n", strerror(errno));
return 0;
}
printf("Initialized GPIO and UART!\r\n");
//if return(0), something did not get initialized correctly
}
void command_ctl(const char cmd[]) {
if(strcmp(cmd, "rd!") == 0) {
// read
serialPutchar(fd, 114);
serialPutchar(fd, 100);
serialPutchar(fd, 33);
} else if(strcmp(cmd, "vo!") == 0) {
// ventil open
serialPutchar(fd, 118);
serialPutchar(fd, 111);
serialPutchar(fd, 33);
} else if(strcmp(cmd, "vo!") == 0) {
// ventil close
serialPutchar(fd, 118);
serialPutchar(fd, 99);
serialPutchar(fd, 33);
} else {
printf("wrong command\n");
}
}
int serial_writebytes(int serial_id, uint8_t *bytes, uint8_t length)
{
struct serial_bus *sb = serial_buses[serial_id];
int i;
if(!sb)
return -1;
if(sb->fd < 0)
{
sb->fd = serialOpen(sb->bus, sb->speed);
}
for (i=0; i<length; i++)
{
serialPutchar (sb->fd, bytes[i]);
}
return 0;
}
void setCursor(int fd, uint8_t y, uint8_t x){
uint8_t pos;
// line one starts at 0x00 line two at 0x40
if (y == 1)
pos = 0x00 + x;
else if (y == 2)
pos = 0x40 + x;
else if (y == 3)
pos = 0x14 + x;
else if (y == 4)
pos = 0x54 + x;
else
pos = 0x00 + x;
cmd(fd, POSITION);
serialPutchar(fd, pos);
}
