/****************************************************************
* Main
****************************************************************/
int main(int argc, char **argv, char **envp)
{
struct pollfd fdset;
int nfds = 1;
int gpio_in_fd, gpio_out_fd, timeout, rc, value;
unsigned int gpio_in, gpio_out;
unsigned long cntr = 0;
if (argc < 3) {
printf("Usage: gpio-int <gpio-input-pin> <gpio-output-pin>\n\n");
printf("Waits for a change in the GPIO pin voltage level and copy its value to output pin\n");
exit(-1);
}
gpio_in = atoi(argv[1]);
gpio_out = atoi(argv[2]);
/* initialize input pin */
gpio_export(gpio_in);
gpio_set_dir(gpio_in, 0);
gpio_set_edge(gpio_in, "both");
gpio_in_fd = gpio_fd_open(gpio_in);
/* initialize output pin */
gpio_export(gpio_out);
gpio_set_dir(gpio_out, 1);
gpio_out_fd = gpio_fd_open(gpio_out);
timeout = POLL_TIMEOUT;
while (1) {
memset(&fdset, 0, sizeof(fdset));
fdset.fd = gpio_in_fd;
fdset.events = POLLPRI;
rc = poll(&fdset, nfds, timeout);
if (rc < 0) {
printf("\npoll() failed!\n");
return -1;
}
if (fdset.revents & POLLPRI) {
printf("\r%lu", ++cntr);
gpio_get_value(gpio_in, &value);
gpio_set_value(gpio_out, value);
}
fflush(stdout);
}
gpio_fd_close(gpio_in_fd);
gpio_fd_close(gpio_out_fd);
return 0;
}
/****************************************************************
* Main
****************************************************************/
int main()
{
int gpio_fd;
unsigned int gpio = 68;
//i2c_init();
//system("chmod 777 /sys/class/gpio");
#if 0
system("chmod 777 /sys/class/gpio/export");
system("echo 68 > export");
system("chmod 777 /sys/class/gpio/gpio68/direction");
system("chmod 777 /sys/class/gpio/gpio68/edge");
system("chmod 777 /sys/class/gpio/gpio68/value");
gpio_export(gpio);
gpio_set_dir(gpio, 0);
gpio_set_edge(gpio, "rising");
gpio_fd = gpio_fd_open(gpio);
gpio_fd_close(gpio_fd);
#endif
printf("main finished!");
return 0;
}
JNIEXPORT jint JNICALL Java_com_robot_et_core_hardware_wakeup_WakeUp_wakeUpInit
(JNIEnv *env, jclass cls)
{
int gpio;
int ret;
/* i2c init */
ret = i2c_init();
if (ret < 0)
{
return ret;
}
system("setenforce 0");
system("chmod 777 /sys/class/gpio");
system("chmod 777 /sys/class/gpio/export");
system("echo 68 > /sys/class/gpio/export");
system("chmod 777 /sys/class/gpio/gpio68");
system("chmod 777 /sys/class/gpio/gpio68/direction");
system("chmod 777 /sys/class/gpio/gpio68/edge");
system("chmod 777 /sys/class/gpio/gpio68/value");
gpio = GPIO_C4;
gpio_export(gpio);
gpio_set_dir(gpio, 0);
gpio_set_edge(gpio, (char*)"rising");
gpioC4_fileId = gpio_fd_open(gpio);
if (gpioC4_fileId < 0)
{
return WAKEUP_FAIL;
}
return gpioC4_fileId;
}
JNIEXPORT jint JNICALL Java_com_robot_et_core_hardware_wakeup_WakeUp_faceWakeUpInit
(JNIEnv *env, jclass cls)
{
int gpio;
system("setenforce 0");
system("chmod 777 /sys/class/gpio");
system("chmod 777 /sys/class/gpio/export");
system("echo 72 > /sys/class/gpio/export");
system("chmod 777 /sys/class/gpio/gpio72");
system("chmod 777 /sys/class/gpio/gpio72/direction");
system("chmod 777 /sys/class/gpio/gpio72/edge");
system("chmod 777 /sys/class/gpio/gpio72/value");
gpio = GPIO_C8;
gpio_export(gpio);
gpio_set_dir(gpio, 0);
gpio_set_edge(gpio, (char*)"rising");
gpioC8_fileId = gpio_fd_open(gpio);
if (gpioC8_fileId < 0)
{
return WAKEUP_FAIL;
}
return gpioC8_fileId;
}
void init(void) {
//Setup LED0 as GPIO OUT
export_gpio(LED0);
set_gpio_direction(LED0, "out");
set_gpio_value(LED0, led0_value);
led0_fd = gpio_fd_open(LED0);
//Setup MUX for PWM on LED1
set_mux_value(LED1_MUX, LED1_MUX_VAL);
set_pwm(LED1_PWM, LED1_PWM_FREQ, read_ain(POT)/41); //Divide by 41 to put in the range [0, 99]
//Setup button as GPIO IN
export_gpio(BUTTON);
set_gpio_direction(BUTTON, "in");
set_gpio_edge(BUTTON, "rising");
button_fd = gpio_fd_open(BUTTON);
}
int main(int argc, char **argv, char **envp){
struct pollfd fdset[2];
int nfds = 2;
int gpio_fd, timeout, rc;
char *buf[MAX_BUF];
unsigned int gpio;
int len;
if (argc < 2) {
printf("Usage: gpio-int <gpio-pin>\n\n");
printf("Waits for a change in the GPIO pin voltage level or input on stdin\n");
exit(-1);
}
gpio = atoi(argv[1]);
gpio_fd = gpio_fd_open(gpio);
timeout = POLL_TIMEOUT;
fdset[0].fd = gpio_fd;
fdset[0].events = POLLPRI | POLLERR;
printf("timeout: %i\n", timeout);
rc = poll(fdset, nfds, timeout);
if (rc < 0) {
printf("\npoll() failed!\n");
return -1;
}
if (rc == 0) {
printf(".");
}
if (fdset[0].revents & POLLPRI) {
len = read(fdset[1].fd, buf, MAX_BUF);
printf("\npoll() GPIO %d interrupt occurred\n", gpio);
}
if (fdset[0].revents & POLLIN) {
(void)read(fdset[0].fd, buf, 1);
printf("POLLIN");
}
printf("%i\n", rc);
printf("%i\n", fdset[0].revents);
/*struct pollfd pfd;
pfd.fd = open("GPIO", O_RDONLY|O_NONBLOCK);
pfd.events = POLLIN | POLLPRI;
int a = poll(&pfd, 1, -1);
printf("%i\n", a);
return 0;*/
}
int gpio_input_trap_proc()
{
int shutdown_fd = -1;
int gpio_shutdown;
char *buf[MAX_BUF];
fd_set exceptfds;
int res;
gpio_shutdown = GetGpioNumberByFuncName("shutdownSwitch");
if (-1 != gpio_shutdown) {
LOG(LOG_NOTICE, "set shutdownSwitch on GPIO %d", gpio_shutdown);
gpio_export(gpio_shutdown);
gpio_set_dir(gpio_shutdown, 2);
gpio_set_value(gpio_shutdown, 1);
gpio_set_edge(gpio_shutdown, "both");
//shutdown_fd = gpio_fd_open(gpio_shutdown);
} else {
LOG(LOG_NOTICE, "No set shutdownSwitch on GPIO pin");
return 0;
}
// Trap an output GPIO is restric by GPIO driver in Linux kernel
// https://github.com/torvalds/linux/commit/d468bf9ecaabd3bf3a6134e5a369ced82b1d1ca1
// /var/log/kern.log shows:
// GPIO chip pinctrl-bcm2835: gpio_lock_as_irq: tried to flag a GPIO set as output for IRQ
// gpio-18 (sysfs): failed to flag the GPIO for IRQ
// But with dummy read() it still works, however if we use poll() to trap POLLPRI
// system could freeze (could be kernel bugs)
while (1) {
shutdown_fd = gpio_fd_open(gpio_shutdown);
FD_ZERO(&exceptfds);
FD_SET(shutdown_fd, &exceptfds);
read(shutdown_fd, buf, MAX_BUF); //dummy read(); any newly opened file is considered changed.
res = select(shutdown_fd+1,
NULL, // readfds - not needed
NULL, // writefds - not needed
&exceptfds,
NULL); // timeout (never)
if (res > 0 && FD_ISSET(shutdown_fd, &exceptfds)) {
if (gpio_get_value(gpio_shutdown) == 0) {
LOG(LOG_NOTICE, "get shutdown signal from GPIO %d", gpio_shutdown);
Shutdown();
}
}
gpio_fd_close(shutdown_fd);
read(shutdown_fd, buf, MAX_BUF);
}
return 0;
}
int main(int argc, char** argv)
{
//create a variable to store whether we are sending a '1' or a '0'
char set_value[5];
//Integer to keep track of whether we want on or off
int toggle = 0;
int onOffTime; // Time in micro sec to keep the signal on/off
int gpio = 60;
int gpio_fd;
if (argc < 2) {
printf("Usage: %s <on/off time in us>\n\n", argv[0]);
printf("Toggle gpio 60 at the period given\n");
exit(-1);
}
onOffTime = atoi(argv[1]);
printf("**********************************\n"
"* Welcome to PIN Blink program *\n"
"* ....blinking gpio 60 *\n"
"* ....period of %d us.........*\n"
"**********************************\n", 2*onOffTime);
//Using sysfs we need to write the gpio number to /sys/class/gpio/export
//This will create the folder /sys/class/gpio/gpio60
gpio_export(gpio);
printf("...export file accessed, new pin now accessible\n");
//SET DIRECTION
gpio_set_dir(gpio, "out");
printf("...direction set to output\n");
gpio_fd = gpio_fd_open(gpio, O_RDONLY);
//Run an infinite loop - will require Ctrl-C to exit this program
while(1)
{
toggle = !toggle;
gpio_set_value(gpio, toggle);
// printf("...value set to %d...\n", toggle);
//Pause for a while
usleep(onOffTime);
}
gpio_fd_close(gpio_fd);
return 0;
}
void RangeFinder::start() {
nfds = 2;
// Set the signal callback for Ctrl-C
// signal(SIGINT, signal_handler);
// gpio = atoi(argv[1]);
export_gpio();
set_gpio_direction(0);
set_gpio_edge("both"); // Can be rising, falling or both
gpio_fd = gpio_fd_open();
threadRunning = 1;
pthread_create(&rangeFinderThread_t, 0, &RangeFinder::start_thread, this);
}
/******************************************************************
* void* mode_unpressed_handler(void* ptr)
* wait on rising edge of mode button
*******************************************************************/
void* mode_unpressed_handler(void* ptr){
struct pollfd fdset[1];
char buf[MAX_BUF];
int gpio_fd = gpio_fd_open(MODE_BTN);
fdset[0].fd = gpio_fd;
fdset[0].events = POLLPRI; // high-priority interrupt
// keep running until the program closes
while(get_state() != EXITING) {
// system hangs here until FIFO interrupt
poll(fdset, 1, POLL_TIMEOUT);
if (fdset[0].revents & POLLPRI) {
lseek(fdset[0].fd, 0, SEEK_SET);
read(fdset[0].fd, buf, MAX_BUF);
if(get_mode_button_state()==UNPRESSED){
mode_unpressed_func();
}
}
}
gpio_fd_close(gpio_fd);
return 0;
}
int main(int argc, char *argv[])
{
HueLightResponse *hueLightResponder= NULL;
HueIPResponse *IPAddr= new HueIPResponse("https://www.meethue.com/api/nupnp");
http.AddRequest(IPAddr);
int state = HUE_STATE_NEED_IP;
struct pollfd fdset[2];
int nfds = 2;
int gpio_fd, timeout, rc;
char *buf[MAX_BUF];
unsigned int interrupt_line= 17;/*17;*/
unsigned int reset_line= 4;
int len;
int counter=0;
Stream *theLog = new linuxLog();
afSPI *theSPI = new linuxSPI();
gpio_export(interrupt_line);
gpio_set_dir(interrupt_line, 0);
gpio_set_edge(interrupt_line, "falling");
gpio_fd = gpio_fd_open(interrupt_line);
timeout = POLL_TIMEOUT;
fprintf(stdout,"Test\n");
theLib = iafLib::create(0,isr_callback,onAttributeSet_callback,onAttributeSetComplete_callback,theLog,theSPI);
theLib->mcuISR();
/* we need to hook up and use the reset line */
gpio_export(reset_line);
gpio_set_dir(reset_line, 1);
gpio_set_value(reset_line,0);
timespec sleep_time;
timespec remaining;
sleep_time.tv_sec=0;
sleep_time.tv_nsec=250000;
nanosleep(&sleep_time,&remaining);
/* check for E_INTR? and call again? */
gpio_set_value(reset_line,1);
while (1) {
counter++;
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = STDIN_FILENO;
fdset[0].events = POLLIN;
fdset[1].fd = gpio_fd;
fdset[1].events = POLLPRI;
lseek(gpio_fd, 0, SEEK_SET); /* consume any prior interrupt */
read(gpio_fd, buf, sizeof (buf));
rc = poll(fdset, nfds, timeout);
if (rc < 0) {
printf("\npoll() failed!\n");
return -1;
}
if (rc == 0) {
printf(".");
}
if (fdset[1].revents & POLLPRI) {
len = read(fdset[1].fd, buf, MAX_BUF);
printf("\npoll() GPIO %d interrupt occurred\n", interrupt_line);
lseek(gpio_fd, 0, SEEK_SET); /* consume interrupt */
read(gpio_fd, buf, sizeof (buf));
theLib->mcuISR();
}
if (fdset[0].revents & POLLIN) {
(void)read(fdset[0].fd, buf, 1);
//printf("\npoll() stdin read 0x%2.2X\n", (unsigned int) buf[0]);
}
switch (state)
{
case HUE_STATE_NEED_IP:
// we need to check and see if we have an IP, then we can switch
if (IPAddr->completed())
{
state = HUE_STATE_HAS_IP;
IPAddr->get_ip(hue_ip);
fprintf(stderr,"IP: %s\n",hue_ip);
sprintf(hue_prefix,"http://%s/api/huelibrary/",hue_ip);
state = HUE_STATE_HAS_IP;
}
break;
case HUE_STATE_HAS_IP:
// every so many loops check and start the lights query to update the lights..
if (counter % 100 == 0)
{
//check to see how many HTTP requests are outstanding
if (hueLightResponder == NULL)
{
printf("****initializing new request to get the lights\n");
char hue_request[1024];
sprintf(hue_request,"%slights",hue_prefix);
hueLightResponder = new HueLightResponse(hue_request,theLib);
http.AddRequest(hueLightResponder);
}
else if (hueLightResponder->completed())
{
delete hueLightResponder;
char hue_request[1024];
sprintf(hue_request,"%slights",hue_prefix);
hueLightResponder = new HueLightResponse(hue_request,theLib);
http.AddRequest(hueLightResponder);
}
}
}
http.Update();
http.Status();
theLib->loop();
fflush(stdout);
}
gpio_fd_close(gpio_fd);
return 0;
}
/****************************************************************
* Main
****************************************************************/
int main(int argc, char **argv, char **envp)
{
struct pollfd fdset[5]; // modified to 3, 2 previously ...
int nfds = 5; // how many different gpiointerrupts do you have, thats nfds ...
int gpio_fd[4], timeout, rc;
char buf[MAX_BUF];
unsigned int gpio;
int len;
int i; // counter variable ...
ledport[0] = 60; // gpios of leds
ledport[1] = 48; // gpios of leds
ledport[2] = 49; // gpios of leds
ledport[3] = 30; // gpios of leds
int buttonport[4] = {23,7,26,51}; //gpios of buttons
int toggle[4] = {0}; // array used to toggle leds ...
unsigned int seq = 0x3;
signal(SIGINT, signal_handler);
system("echo 'welcome to the led interrupt program, press hw button to toggle led'");
// access led
for(i=0;i<4;i++)
{
gpio_export(ledport[i]);
gpio_set_dir(ledport[i],"out");
gpio_set_value(ledport[i],0);
}
for(i=0;i<4;i++)
{
gpio_export(buttonport[i]);
gpio_set_dir(buttonport[i], "in");
gpio_set_edge(buttonport[i], "both"); // Can be rising, falling or both
gpio_fd[i] = gpio_fd_open(buttonport[i], O_RDONLY);
}
timeout = POLL_TIMEOUT;
while (keepgoing)
{
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = STDIN_FILENO;
fdset[0].events = POLLIN;
for(i=1;i<5;i++)
{
fdset[i].fd = gpio_fd[(i-1)];
fdset[i].events = POLLPRI;
}
rc = poll(fdset, nfds, timeout);
if (rc < 0)
{
printf("\npoll() failed!\n");
return -1;
}
if (rc == 0)
{
//printf(".");
}
for(i=1;i<5;i++)
{
if (fdset[i].revents & POLLPRI)
{
lseek(fdset[i].fd, 0, SEEK_SET); // Read from the start of the file
len = read(fdset[i].fd, buf, MAX_BUF);
//printf("\npoll() GPIO %d interrupt occurred, value=%c, len=%d\n",
// buttonport[i-1], buf[0], len);
if(buf[0] == '1')
{
turnTimes(1, 1,&seq, avgANval);
printf("Brightest Light at: %d (%d) \n",
avgANval[brightPos], brightPos);
turnToLight( &seq);
sleep(1);
}
}
}
trackLight( &seq);
if (fdset[0].revents & POLLIN)
{
(void)read(fdset[0].fd, buf, 1);
printf("\npoll() stdin read 0x%2.2X\n", (unsigned int) buf[0]);
}
fflush(stdout);
}
return 0;
}
int main(int argc, char **argv, char **envp)
{
struct pollfd fdset[3];
int nfds = 3;
int gpio_b1_fd, gpio_b2_fd, gpio_b3_fd;
int timeout, rc;
char *buf[MAX_BUF];
int b1_first = 1;
int b2_first = 1;
int b3_first = 1;
gpio_b1_fd = gpio_fd_open(20);
gpio_b2_fd = gpio_fd_open(7);
gpio_b3_fd = gpio_fd_open(106);
timeout = POLL_TIMEOUT;
while (1) {
memset((void*)fdset, 0, sizeof(fdset));
memset(buf, 0, MAX_BUF);
//fdset[0].fd = STDIN_FILENO;
//fdset[0].events = POLLIN;
fdset[0].fd = gpio_b1_fd;
fdset[0].events = POLLPRI;
fdset[1].fd = gpio_b2_fd;
fdset[1].events = POLLPRI;
fdset[2].fd = gpio_b3_fd;
fdset[2].events = POLLPRI;
rc = poll(fdset, nfds, timeout);
if (rc < 0) {
printf("\npoll() failed! %s\n", strerror(errno));
return -1;
}
if (rc == 0) {
// timeout occured
//printf(".");
}
if (fdset[0].revents & POLLPRI) {
printf("b1_first = %i\n", b1_first);
read(fdset[0].fd, buf, MAX_BUF);
if ( b1_first == 1 )
{
b1_first = 0;
}
else
{
printf("\npoll() GPIO %d interrupt occurred -> Button 1\n", 20);
syslog(LOG_ERR, "* BUTTON 1 *");
syslog(LOG_ERR, "* SHUTDOWN 1 *");
//printf("buf[0] = %i\n", (int)buf[0]);
// SHUTDOWN
gpio_set_value(82, 0);
nanosleep((const struct timespec[]){{0, 100000000L}}, NULL);
gpio_set_value(82, 1);
nanosleep((const struct timespec[]){{0, 100000000L}}, NULL);
gpio_set_value(82, 0);
nanosleep((const struct timespec[]){{0, 100000000L}}, NULL);
int main(int argc, char *argv[])
{
struct pollfd fdset[2];
int nfds = 2;
int gpio_fd, timeout, rc;
char *buf[MAX_BUF];
unsigned int interrupt_line= 17;/*17;*/
unsigned int reset_line= 4;
int len;
int counter=0;
Stream *theLog = new linuxLog();
afSPI *theSPI = new linuxSPI();
gpio_export(interrupt_line);
gpio_set_dir(interrupt_line, 0);
gpio_set_edge(interrupt_line, "falling");
gpio_fd = gpio_fd_open(interrupt_line);
timeout = POLL_TIMEOUT;
fprintf(stdout,"Test\n");
theLib = iafLib::create(0,isr_callback,onAttributeSet_callback,onAttributeSetComplete_callback,theLog,theSPI);
theLib->mcuISR();
/* we need to hook up and use the reset line */
gpio_export(reset_line);
gpio_set_dir(reset_line, 1);
gpio_set_value(reset_line,0);
timespec sleep_time;
timespec remaining;
sleep_time.tv_sec=0;
sleep_time.tv_nsec=250000;
nanosleep(&sleep_time,&remaining);
/* check for E_INTR? and call again? */
gpio_set_value(reset_line,1);
while (1) {
counter++;
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = STDIN_FILENO;
fdset[0].events = POLLIN;
fdset[1].fd = gpio_fd;
fdset[1].events = POLLPRI;
lseek(gpio_fd, 0, SEEK_SET); /* consume any prior interrupt */
read(gpio_fd, buf, sizeof (buf));
rc = poll(fdset, nfds, timeout);
if (rc < 0) {
printf("\npoll() failed!\n");
return -1;
}
if (rc == 0) {
printf(".");
}
if (fdset[1].revents & POLLPRI) {
len = read(fdset[1].fd, buf, MAX_BUF);
printf("\npoll() GPIO %d interrupt occurred\n", interrupt_line);
lseek(gpio_fd, 0, SEEK_SET); /* consume interrupt */
read(gpio_fd, buf, sizeof (buf));
theLib->mcuISR();
}
if (fdset[0].revents & POLLIN) {
(void)read(fdset[0].fd, buf, 1);
//printf("\npoll() stdin read 0x%2.2X\n", (unsigned int) buf[0]);
}
if (blinking) {
if (counter % 20 ==0 ) {
toggleModuloLED();
}
} else {
setModuloLED(false);
}
theLib->loop();
fflush(stdout);
}
gpio_fd_close(gpio_fd);
return 0;
}
/****************************************************************
* Main
****************************************************************/
int main(int argc, char **argv, char **envp)
{
struct pollfd fdset[2];
int nfds = 2;
int gpio_fd, timeout, rc;
char *buf[MAX_BUF];
unsigned int gpio;
int len;
if (argc < 2) {
printf("Usage: gpio-int <gpio-pin>\n\n");
printf("Waits for a change in the GPIO pin voltage level or input on stdin\n");
exit(-1);
}
gpio = atoi(argv[1]);
gpio_export(gpio);
gpio_set_dir(gpio, 0);
gpio_set_edge(gpio, "rising");
gpio_fd = gpio_fd_open(gpio);
timeout = POLL_TIMEOUT;
while (1) {
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = STDIN_FILENO;
fdset[0].events = POLLIN;
fdset[1].fd = gpio_fd;
fdset[1].events = POLLPRI;
rc = poll(fdset, nfds, timeout);
if (rc < 0) {
printf("\npoll() failed!\n");
return -1;
}
if (rc == 0) {
printf(".");
}
if (fdset[1].revents & POLLPRI) {
len = read(fdset[1].fd, buf, MAX_BUF);
printf("\npoll() GPIO %d interrupt occurred\n", gpio);
}
if (fdset[0].revents & POLLIN) {
(void)read(fdset[0].fd, buf, 1);
printf("\npoll() stdin read 0x%2.2X\n", (unsigned int) buf[0]);
}
fflush(stdout);
}
gpio_fd_close(gpio_fd);
return 0;
}
int wiringOliISR (int pin, char *pinName, int mode, void (*function)(void))
{
pthread_t threadId ;
pthread_attr_t attr;
char *modeS ;
char fName [64] ;
// char pinS [8] ;
// pid_t pid ;
int count, i ;
char c ;
int bcmGpioPin ;
// char pinName[10] = {};
bcmGpioPin = pinGpio(pin) ;
if (mode != INT_EDGE_SETUP)
{
/**/ if (mode == INT_EDGE_FALLING)
modeS = "falling" ;
else if (mode == INT_EDGE_RISING)
modeS = "rising" ;
else
modeS = "both" ;
// There's really no need to fork now,
// as we're no longer using gpio utility here!
// if ((pid = fork ()) < 0) {
// printf("Failed to fork!\n");
// return -1;
// }
// if (pid == 0) // Child, exec
// {
gpio_export(bcmGpioPin);
gpio_set_dir(bcmGpioPin, 0, pinName);
gpio_set_edge(bcmGpioPin, modeS, pinName);
// sysFds [bcmGpioPin] = gpio_fd_open(bcmGpioPin, pinName);
// }
// else // Parent, wait
// wait (NULL) ;
}
if (sysFds [bcmGpioPin] == -1)
{
sprintf (fName, "/sys/class/gpio/gpio%d%s/value", bcmGpioPin, pinName) ;
// printf("Opening %s for ISR!\n", fName);
// if ((sysFds [bcmGpioPin] = open (fName, O_RDWR)) < 0) {
if ((sysFds [bcmGpioPin] = gpio_fd_open (bcmGpioPin, pinName)) < 0) {
printf("Failed to gpio_fd_open!\n");
return -1;
}
}
// Clear any initial pending interrupt
ioctl (sysFds [bcmGpioPin], FIONREAD, &count) ;
for (i = 0 ; i < count ; ++i)
read (sysFds [bcmGpioPin], &c, 1) ;
isrFunctions [bcmGpioPin] = function ;
pinPass = bcmGpioPin ;
strcpy(pinPassName, pinName);
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
pthread_mutex_lock (&pinMutex) ;
pthread_create (&threadId, &attr, interruptHandler, NULL) ;
while (pinPass != -1)
delay (1) ;
pthread_mutex_unlock (&pinMutex) ;
pthread_attr_destroy ( &attr );
return 0 ;
}
int main(int argc, char *argv[]){
//The gpio port numbers needed to drive the motor
unsigned int gpio1 = 30;
unsigned int gpio2 = 31;
unsigned int gpio3 = 48;
unsigned int gpio4 = 51;
unsigned int gpio5 = 15;
unsigned int gpios[4] = {gpio1, gpio2, gpio3, gpio4};
int gpio_fd1, gpio_fd2, gpio_fd3, gpio_fd4, gpio_fd5;
int behavior = atoi(argv[1]);
int rc;
int len;
int nfds = 2;
//Port numbers for the analog in
char AnalogIn1[] = "AIN0";
char AnalogIn2[] = "AIN1";
//char analogs[] = {AnalogIn1, AnalogIn2};
//printf("checking init analogs: %s \n", analogs[0]);
char buf[64];
//Arrays to hold the values we get back from the sensors
struct pollfd fdset[2];
int Sensor1_val;
int Sensor2_val;
//int Sensor_sum;
int mode = atoi(argv[1]);
//Initializes the position as zero, but we dont really know where this is
int pos = 0;
//Set up the gpios so we can use them to drive the motor
gpio_export(gpio1);
gpio_export(gpio2);
gpio_export(gpio3);
gpio_export(gpio4);
gpio_export(gpio5);
gpio_set_dir(gpio1, "out");
gpio_set_dir(gpio2, "out");
gpio_set_dir(gpio3, "out");
gpio_set_dir(gpio4, "out");
gpio_set_dir(gpio5, "in");
gpio_set_edge(gpio5, "rising");
gpio_fd1 = gpio_fd_open(gpio1, O_RDONLY);
gpio_fd2 = gpio_fd_open(gpio2, O_RDONLY);
gpio_fd3 = gpio_fd_open(gpio3, O_RDONLY);
gpio_fd4 = gpio_fd_open(gpio4, O_RDONLY);
gpio_fd5 = gpio_fd_open(gpio5, O_RDONLY);
int cycle = 0;
int minValue = 999999;
int minPosition = 0;
int Sensor_avg = 0;
//Wait for the start button to be pushed before we acutally start doing anything
printf("Press the start button to begin the program \n");
len = read(gpio_fd5, buf, 64);
while(1){
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = STDIN_FILENO;
fdset[0].events = POLLIN;
fdset[1].fd = gpio_fd5;
fdset[1].events = POLLPRI;
rc = poll(fdset, nfds, 3000);
if(rc < 0){
printf("Poll failed \n");
}
if(fdset[1].revents & POLLPRI){
lseek(fdset[1].fd, 0, SEEK_SET);
len = read(fdset[1].fd, buf, 64);
printf("Triggered \n");
//pos = problemOne(gpios, pos);
pos = problemTwo(gpios, AnalogIn1, AnalogIn2, pos, mode);
//break;
}
}
printf("Begining our steps to attempt to come up with ");
for(cycle = 0; cycle <= MAX_CYCLES; cycle++){
printf("One cycle number: %d", cycle);
Sensor1_val = analogIn(AnalogIn1);
Sensor2_val = analogIn(AnalogIn2);
Sensor_avg = (Sensor1_val + Sensor2_val)/ 2;
if(Sensor_avg < minValue){
minValue = Sensor_avg;
minPosition = cycle;
}
//Should move the IR sensors here
}
printf("%d\n", minValue);
if(minPosition <=10){
//Rotate clockwise to position
}
else{
//Rotate counterclockwise to position
}
while(1){
Sensor1_val = analogIn(AnalogIn1);
Sensor2_val = analogIn(AnalogIn2);
if(Sensor1_val > Sensor2_val){
//Rotate clockwise once
}
else{
//Rotate counterclockwise
}
}
return 0;
}
int main(int argc, char** argv){
//variable declarations
struct pollfd fdset[1];
int nfds = 1;
int timeout = 100;
int rc;
char* buf[MAX_BUF];
int gpio1, gpio2, gpio_count1, gpio_count2;
int gpio1_fd, gpio2_fd;
int gpio2_value = 0;
int program = 0;
int ain = 0;
float duty_cycle = 0;
int i2c_read;
//check that at least two arguments are passed in
if(argc < 3){
printf("Usage: %s <input-gpio> <output-gpio>\n", argv[0]);
printf("polls input-gpio, and writes value to output-gpio\n");
fflush(stdout);
return 1;
}
//set signal handler
if (signal(SIGINT, signal_handler) == SIG_ERR)
printf("\ncan't catch SIGINT\n");
//assign gpio values
gpio1 = atoi(argv[1]);
gpio2 = atoi(argv[2]);
//argument 1 will be input
export_gpio(gpio1);
set_gpio_direction(gpio1, "in");
set_gpio_edge(gpio1, "falling");
gpio1_fd = gpio_fd_open(gpio1);
//argument 2 will be output
export_gpio(gpio2);
set_gpio_direction(gpio2, "out");
set_gpio_value(gpio2, gpio2_value);
gpio2_fd = gpio_fd_open(gpio2);
//prepare gpio_count1 and gpio_count2
gpio_count1 = 30;
gpio_count2 = 31;
export_gpio(gpio_count1);
export_gpio(gpio_count2);
set_mux_value("gpmc_wait0",7);
set_gpio_direction(gpio_count1, "out");
set_gpio_direction(gpio_count2, "out");
//prepare i2c bus
int file;
while(keepgoing){
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = gpio1_fd;
fdset[0].events = POLLPRI;
//fdset[1].fd = gpio2_fd;
//fdset[1].events = POLLPRI;
rc = poll(fdset, nfds, timeout);
if (rc < 0){
printf("\npoll() failed!\n");
}
if((fdset[0].revents & POLLPRI) == POLLPRI) {
read(fdset[0].fd, buf, MAX_BUF);
usleep(100);
gpio2_value = ~(gpio2_value)&1;
set_gpio_value(gpio2, gpio2_value);
program++;
if(program > 3) program = 0;
set_gpio_value(gpio_count1, program & 1);
set_gpio_value(gpio_count2, program & 2);
}
switch(program){
case 0:
duty_cycle = read_ain("ain6");
duty_cycle = duty_cycle/4095 * 100;
set_mux_value("gpmc_a2", 6);
set_pwm("ehrpwm.1:0", 1000, (int) duty_cycle);
break;
case 1:
ain = read_ain("ain6");
printf("ain5 = %d\n", ain);
unset_pwm("ehrpwm.1:0");
break;
case 2:
unset_pwm("ehrpwm.1:0");
break;
case 3:
if((file = open("/dev/i2c-3", O_RDWR)) < 0){
printf("failed to open i2c-3 bus\n");
return 1;
}
if (ioctl(file, I2C_SLAVE, 72) < 0){
printf("Could not set address for i2c\n");
return 1;
}
i2c_read = i2c_smbus_read_byte_data(file, 0);
close(file);
printf("0x%02x (%d)\n", i2c_read, i2c_read);
break;
default:
break;
}
}
gpio_fd_close(gpio1_fd);
gpio_fd_close(gpio2_fd);
unexport_gpio(gpio1);
unexport_gpio(gpio2);
unexport_gpio(gpio_count1);
unexport_gpio(gpio_count2);
unset_pwm("ehrpwm.1:0");
set_mux_value("gpmc_a2", 7);
fflush(stdout);
return 0;
}
int main(int argc, char** argv){
//Create an array to store GPIO FDs the switches are connected to
int switchGPIOFDs[4];
int switchPorts[4] = {50, 51, 3, 2};
int ledPorts[4] = {30,31,48,60};
int nfds = 5;
int rc, timeout, value, i;
struct pollfd fdset[5];
timeout = POLL_TIMEOUT;
for(i = 0; i<4 ; i++){
gpio_export(switchPorts[i]);
gpio_export(ledPorts[i]);
gpio_set_dir(switchPorts[i], "in");
gpio_set_dir(ledPorts[i], "out");
gpio_set_edge(switchPorts[i], "both");
switchGPIOFDs[i] = gpio_fd_open(switchPorts[i], O_RDONLY);
}
//Set signal callback for Ctrl-C
signal(SIGINT, signal_handler);
while(keepgoing){
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = STDIN_FILENO;
fdset[0].events = POLLIN;
//Set the FDs for the switch GPIOs
for(i = 0; i<4; i++){
fdset[i+1].fd = switchGPIOFDs[i];
fdset[i+1].events = POLLPRI;
}
rc = poll(fdset, nfds, timeout);
if(rc < 0) {
printf("\npoll() failed\n");
return -1;
}
if(rc == 0){
printf(".");
}
for(i=0; i<4; i++){
if(fdset[i+1].revents & POLLPRI){
gpio_get_value(switchPorts[i], &value);
gpio_set_value(ledPorts[i], value);
}
}
fflush(stdout);
}
for(i = 0; i<4; i++){
gpio_fd_close(switchGPIOFDs[i]);
}
return 0;
}
/****************************************************************
* Main
****************************************************************/
int main(int argc, char **argv, char **envp)
{
struct pollfd fdset[7];
//struct pollfd2 fdset2[2];
int nfds = 7;
int gpio_fd,gpio_fd2,gpio_fd3,gpio_fd4,gpio_fd5,gpio_fd6,timeout, rc;
char buf[MAX_BUF];
int right, down, left, up, shake, exit1;
int len;
if (argc < 1) {
printf("Usage: gpio-int <gpio-pin>\n\n");
printf("Waits for a change in the GPIO pin voltage level or input on stdin\n");
exit(-1);
}
// Set the signal callback for Ctrl-C
signal(SIGINT, signal_handler);
right = 7;
down = 49;
left = 30;
up = 60;
shake = 50;
exit1 = 31;
gpio_export(right);
gpio_set_dir(right, "in");
gpio_set_edge(right, "rising"); // Can be rising, falling or both
gpio_fd = gpio_fd_open(right, O_RDONLY);
gpio_export(down);
gpio_set_dir(down, "in");
gpio_set_edge(down, "rising"); // Can be rising, falling or both
gpio_fd2 = gpio_fd_open(down, O_RDONLY);
gpio_export(left);
gpio_set_dir(left, "in");
gpio_set_edge(left, "rising"); // Can be rising, falling or both
gpio_fd3 = gpio_fd_open(left, O_RDONLY);
gpio_export(up);
gpio_set_dir(up, "in");
gpio_set_edge(up, "rising"); // Can be rising, falling or both
gpio_fd4 = gpio_fd_open(up, O_RDONLY);
gpio_export(shake);
gpio_set_dir(shake, "in");
gpio_set_edge(shake, "rising"); // Can be rising, falling or both
gpio_fd5 = gpio_fd_open(shake, O_RDONLY);
gpio_export(exit1);
gpio_set_dir(exit1, "in");
gpio_set_edge(exit1, "rising"); // Can be rising, falling or both
gpio_fd6 = gpio_fd_open(exit1, O_RDONLY);
timeout = POLL_TIMEOUT;
int count=0;
int length = 8;
int height = 8;
int i;
int j;
//int stop = 0;
int LEDarray [length][height];
for (i = 0; i < length; i++) {
for (j = 0; j < height; j++) {
LEDarray[i][j] = 0;
}
}
LEDarray [0][0] = 1;
for (i = 0; i < length; i++) {
for (j = 0; j < height; j++) {
printf("%i ", LEDarray [i][j]);
}
printf("\n");
}
//initialize the start point as 0,0
int x = 0;
int y = 0;
//char input[1];
while (keepgoing) {
int rightDir = 0;
int downDir = 0;
int leftDir = 0;
int upDir = 0;
int setShake = 0;
int setExit = 0;
memset((void*)fdset, 0, sizeof(fdset));
//memset((void*)fdset2, 0, sizeof(fdset2));
fdset[0].fd = STDIN_FILENO;
fdset[0].events = POLLIN;
fdset[1].fd = gpio_fd;
fdset[1].events = POLLPRI;
fdset[2].fd = gpio_fd2;
fdset[2].events = POLLPRI;
fdset[3].fd = gpio_fd3;
fdset[3].events = POLLPRI;
fdset[4].fd = gpio_fd4;
fdset[4].events = POLLPRI;
fdset[5].fd = gpio_fd5;
fdset[5].events = POLLPRI;
fdset[6].fd = gpio_fd6;
fdset[6].events = POLLPRI;
/*
fdset[0].fd = STDIN_FILENO;
fdset[0].events = POLLIN;
fdset[1].fd = gpio_fd2;
fdset[1].events = POLLPRI;
*/
rc = poll(fdset, nfds, timeout);
if (rc < 0) {
printf("\npoll() failed!\n");
return -1;
}
if (rc == 0) {
printf(".\n");
}
if (fdset[1].revents & POLLPRI) {
lseek(fdset[1].fd, 0, SEEK_SET); // Read from the start of the file
len = read(fdset[1].fd, buf, MAX_BUF);
//printf("\npoll() GPIO %d interrupt occurred, value=%c, len=%d, count =%d\n",
//gpio, buf[0], len, count);
rightDir = 1;
count++;
}
if (fdset[0].revents & POLLIN) {
(void)read(fdset[0].fd, buf, 1);
printf("\npoll() stdin read 0x%2.2X\n", (unsigned int) buf[0]);
}
if (fdset[2].revents & POLLPRI) {
lseek(fdset[2].fd, 0, SEEK_SET); // Read from the start of the file
len = read(fdset[2].fd, buf, MAX_BUF);
//printf("\npoll() GPIO %d interrupt occurred, value=%c, len=%d, count =%d\n",
//gpio, buf[0], len, count);
downDir = 1;
count++;
}
if (fdset[3].revents & POLLPRI) {
lseek(fdset[3].fd, 0, SEEK_SET); // Read from the start of the file
len = read(fdset[3].fd, buf, MAX_BUF);
//printf("\npoll() GPIO %d interrupt occurred, value=%c, len=%d, count =%d\n",
//gpio, buf[0], len, count);
leftDir = 1;
count++;
}
if (fdset[4].revents & POLLPRI) {
lseek(fdset[4].fd, 0, SEEK_SET); // Read from the start of the file
len = read(fdset[4].fd, buf, MAX_BUF);
//printf("\npoll() GPIO %d interrupt occurred, value=%c, len=%d, count =%d\n",
//gpio, buf[0], len, count);
upDir = 1;
count++;
}
if (fdset[5].revents & POLLPRI) {
lseek(fdset[5].fd, 0, SEEK_SET); // Read from the start of the file
len = read(fdset[5].fd, buf, MAX_BUF);
//printf("\npoll() GPIO %d interrupt occurred, value=%c, len=%d, count =%d\n",
//gpio, buf[0], len, count);
setShake = 1;
count++;
}
if (fdset[6].revents & POLLPRI) {
lseek(fdset[6].fd, 0, SEEK_SET); // Read from the start of the file
len = read(fdset[6].fd, buf, MAX_BUF);
//printf("\npoll() GPIO %d interrupt occurred, value=%c, len=%d, count =%d\n",
//gpio, buf[0], len, count);
setExit = 1;
count++;
}
if(rightDir == 1){
y++;
LEDarray [x][y] = 1;
//printArray(length, height, LEDarray);
printf("\n");
for (i = 0; i < length; i++) {
for (j = 0; j < height; j++) {
printf("%i ", LEDarray [i][j]);
}
printf("\n");
}
}
else if(downDir == 1){
x++;
LEDarray [x][y] = 1;
//printArray(length, height, LEDarray);
for (i = 0; i < length; i++) {
for (j = 0; j < height; j++) {
printf("%i ", LEDarray [i][j]);
}
printf("\n");
}
}
else if(leftDir == 1){
y--;
LEDarray [x][y] = 1;
//printArray(length, height, LEDarray);
for (i = 0; i < length; i++) {
for (j = 0; j < height; j++) {
printf("%i ", LEDarray [i][j]);
}
printf("\n");
}
}
else if(upDir == 1){
x--;
LEDarray [x][y] = 1;
//printArray(length, height, LEDarray);
for (i = 0; i < length; i++) {
for (j = 0; j < height; j++) {
printf("%i ", LEDarray [i][j]);
}
printf("\n");
}
}
else if(setShake == 1){
//LEDarray = intialZero(length, height, LEDarray);
for (i = 0; i < length; i++) {
for (j = 0; j < height; j++) {
LEDarray[i][j] = 0;
}
}
//printArray(length, height, LEDarray);
for (i = 0; i < length; i++) {
for (j = 0; j < height; j++) {
printf("%i ", LEDarray [i][j]);
}
printf("\n");
}
}
else if(setExit == 1){
keepgoing = 0;
//printArray(length, height, LEDarray);
for (i = 0; i < length-1; i++) {
for (j = 0; j < height-1; j++) {
printf("%i ", LEDarray [i][j]);
}
printf("\n");
}
}
fflush(stdout);
}
gpio_fd_close(gpio_fd);
gpio_fd_close(gpio_fd2);
gpio_fd_close(gpio_fd3);
gpio_fd_close(gpio_fd4);
gpio_fd_close(gpio_fd5);
gpio_fd_close(gpio_fd6);
return 0;
}
int main(int argc, char** argv){
//variable declarations
struct pollfd fdset[1];
int nfds = 1;
int timeout = 3000;
int rc;
char* buf[MAX_BUF];
int gpio1, gpio2;
int gpio1_fd, gpio2_fd;
int gpio2_value = 0;
int pattern =0;
int value =0;
char *end;
int res, i2cbus, address, size, file;
int daddress;
char filename[20];
//Setting the signal handler for Ctrl + C
if (signal(SIGINT, signal_handler) == SIG_ERR)
printf("\ncan't catch SIGINT\n");
//Argument checking for at least five
if(argc < 6){
printf("Usage: %s <input-gpio> <output-gpio> <i2c-bus> <i2c-address> <register>\n", argv[0]);
printf("polls input-gpio, and writes value to output-gpio\n");
fflush(stdout);
return 1;
}
//Assigning gpio values
gpio1 = atoi(argv[1]);
gpio2 = atoi(argv[2]);
//Input for Argument 1
export_gpio(gpio1);
set_gpio_direction(gpio1, "in");
set_gpio_edge(gpio1, "falling");
gpio1_fd = gpio_fd_open(gpio1);
//Output for Argument 2
export_gpio(gpio2);
set_gpio_direction(gpio2, "out");
set_gpio_value(gpio2, gpio2_value);
gpio2_fd = gpio_fd_open(gpio2);
//Assigning I2C values
i2cbus = atoi(argv[3]);
address = atoi(argv[4]);
daddress = atoi(argv[5]);
size = I2C_SMBUS_BYTE;
sprintf(filename, "/dev/i2c-%d", i2cbus);
file = open(filename, O_RDWR);
if (file<0) {
if (errno == ENOENT) {
fprintf(stderr, "Error: Could not open file "
"/dev/i2c-%d: %s\n", i2cbus, strerror(ENOENT));
} else {
fprintf(stderr, "Error: Could not open file "
"`%s': %s\n", filename, strerror(errno));
if (errno == EACCES)
fprintf(stderr, "Run as root?\n");
}
exit(1);
}
if (ioctl(file, I2C_SLAVE, address) < 0) {
fprintf(stderr,
"Error: Could not set address to 0x%02x: %s\n",
address, strerror(errno));
return -errno;
}
while(loop){
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = gpio1_fd;
fdset[0].events = POLLPRI;
rc = poll(fdset, nfds, timeout);
if (rc < 0){
printf("\npoll() failed!\n");
}
if (rc == 0){
printf(".");
}
if((fdset[0].revents & POLLPRI) == POLLPRI) {
read(fdset[0].fd, buf, MAX_BUF);
printf("interrupt value=%c\n", buf[0]);
pattern++;
if(pattern == 4){
pattern = 0;
}
}
printf("Case %d\n",pattern);
switch(pattern){
// Blink led
case 0:
if(gpio2_value){
gpio2_value = 0;
}
else{
gpio2_value = 1;
}
set_gpio_value(gpio2, gpio2_value);
break;
// PWM output for blinking LED by frequency and duty cycle
case 1:
set_mux_value("gpmc_a2",6);
set_pwm("ehrpwm.1:0",10,25);
break;
// Analog In for reading Voltage from POT
case 2: unset_pwm("ehrpwm.1:0");
value = read_ain("ain6");
printf("Voltage: %d\n",value);
break;
// I2C Device reading temperature from the sensor
case 3:
printf("Case 3\n");
res = i2c_smbus_write_byte(file, daddress);
if (res < 0) {
fprintf(stderr, "Warning - write failed, filename=%s, daddress=%d\n",
filename, daddress);
}
res = i2c_smbus_read_byte_data(file, daddress);
if (res < 0) {
fprintf(stderr, "Error: Read failed, res=%d\n", res);
exit(2);
}
printf("Temperature: %d°C\n", res);
break;
default:
break;
}
}
close(file);
gpio_fd_close(gpio1_fd);
gpio_fd_close(gpio2_fd);
unexport_gpio(gpio1);
unexport_gpio(gpio2);
fflush(stdout);
return 0;
}
int main(int argc, char **argv, char **envp)
{
struct pollfd fdset[7];
int nfds = 7;
int gpio_fd1, gpio_fd2, gpio_fd3, gpio_fd4,gpio_fd5,gpio_fd6, timeout, rc;
char buf[MAX_BUF];
unsigned int gpio;
int len;
char board[HEIGHT][WIDTH];
int xpos=WIDTH/2;
int ypos=HEIGHT/2;
int row;
int col;
int colorint=0;
char color[]={'x','y','z'};
for(row=0;row<HEIGHT;row++){
printf("\n");
for(col=0;col<WIDTH;col++){
board[row][col]=' ';
}
}
int res, i2cbus, address, file;
char filename[20];
int force = 0;
i2cbus = lookup_i2c_bus("1");
printf("i2cbus = %d\n", i2cbus);
if (i2cbus < 0)
help();
address = parse_i2c_address("0x70");
printf("address = 0x%2x\n", address);
if (address < 0)
help();
file = open_i2c_dev(i2cbus, filename, sizeof(filename), 0);
// printf("file = %d\n", file);
if (file < 0
|| check_funcs(file)
|| set_slave_addr(file, address, force))
exit(1);
// Check the return value on these if there is trouble
i2c_smbus_write_byte(file, 0x21); // Start oscillator (p10)
i2c_smbus_write_byte(file, 0x81); // Disp on, blink off (p11)
i2c_smbus_write_byte(file, 0xe7); // Full brightness (page 15)
// Display a series of pictures
system("/home/root/homework3/i2csetup.sh");
board[xpos][ypos]='x';
printboard(board,file,colorint);
//printf("wgat");
/*if (argc < 2) {
printf("Usage: gpio-int <gpio-pin>\n\n");
printf("Waits for a change in the GPIO pin voltage level or input on stdin\n");
FILE* f = fopen("/sys/class/leds/beaglebone\:green\:usr0/brightness", "w");
FILE* trig = fopen("/sys/class/leds/beaglebone\:green\:usr0/trigger", "w");
if (trig == NULL){
printf("oops\n");
exit(EXIT_FAILURE);
}
fprintf(trig, "none");
fclose(trig);
if (fled== NULL){
printf("oops\n");
exit(EXIT_FAILURE);
}
printf("should light up\n");
fprintf(fled, "1");
fclose(fled);
usleep(10000000);
exit(-1);
}
*/
// Set the signal callback for Ctrl-C
signal(SIGINT, signal_handler);
gpio_export(GPIOIN1);
gpio_set_dir(GPIOIN1, "in");
gpio_set_edge(GPIOIN1, "both"); // Can be rising, falling or both
gpio_fd1 = gpio_fd_open(GPIOIN1, O_RDONLY);
gpio_export(GPIOIN2);
gpio_set_dir(GPIOIN2, "in");
gpio_set_edge(GPIOIN2, "both"); // Can be rising, falling or both
gpio_fd2 = gpio_fd_open(GPIOIN2, O_RDONLY);
gpio_export(GPIOIN3);
gpio_set_dir(GPIOIN3, "in");
gpio_set_edge(GPIOIN3, "both"); // Can be rising, falling or both
gpio_fd3 = gpio_fd_open(GPIOIN3, O_RDONLY);
gpio_export(GPIOIN4);
gpio_set_dir(GPIOIN4, "in");
gpio_set_edge(GPIOIN4, "both"); // Can be rising, falling or both
gpio_fd4 = gpio_fd_open(GPIOIN4, O_RDONLY);
gpio_export(GPIOIN5);
gpio_set_dir(GPIOIN5, "in");
gpio_set_edge(GPIOIN5, "both"); // Can be rising, falling or both
gpio_fd5 = gpio_fd_open(GPIOIN5, O_RDONLY);
gpio_export(GPIOIN6);
gpio_set_dir(GPIOIN6, "in");
gpio_set_edge(GPIOIN6, "both"); // Can be rising, falling or both
gpio_fd6 = gpio_fd_open(GPIOIN6, O_RDONLY);
timeout = POLL_TIMEOUT;
FILE* f0 = fopen("/sys/class/leds/beaglebone:green:usr0/trigger", "w");
FILE* f1 = fopen("/sys/class/leds/beaglebone:green:usr1/trigger", "w");
FILE* f2 = fopen("/sys/class/leds/beaglebone:green:usr2/trigger", "w");
FILE* f3 = fopen("/sys/class/leds/beaglebone:green:usr3/trigger", "w");
if (f0 == NULL){
exit(EXIT_FAILURE);
}
fprintf(f0, "none");
fclose(f0);
if (f1 == NULL){
exit(EXIT_FAILURE);
}
fprintf(f1, "none");
fclose(f1);
if (f2 == NULL){
exit(EXIT_FAILURE);
}
fprintf(f2, "none");
fclose(f2);
if (f3 == NULL){
exit(EXIT_FAILURE);
}
fprintf(f3, "none");
fclose(f3);
while (keepgoing) {
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = STDIN_FILENO;
fdset[0].events = POLLIN;
fdset[1].fd = gpio_fd1;
fdset[1].events = POLLPRI;
fdset[2].fd = gpio_fd2;
fdset[2].events = POLLPRI;
fdset[3].fd = gpio_fd3;
fdset[3].events = POLLPRI;
fdset[4].fd = gpio_fd4;
fdset[4].events = POLLPRI;
fdset[5].fd = gpio_fd5;
fdset[5].events = POLLPRI;
fdset[6].fd = gpio_fd6;
fdset[6].events = POLLPRI;
rc = poll(fdset, nfds, timeout);
if (rc < 0) {
printf("\npoll() failed!\n");
return -1;
}
if (fdset[1].revents & POLLPRI) {
lseek(fdset[1].fd, 0, SEEK_SET); // Read from the start of the file
read(fdset[1].fd, buf, MAX_BUF);
FILE* f = fopen("/sys/class/leds/beaglebone:green:usr3/brightness", "w");
if (f == NULL){
exit(EXIT_FAILURE);
}
if (buf[0]=='1'){
fprintf(f, "0");
}
if (buf[0]=='0'){
fprintf(f, "1");
if((xpos+1)<WIDTH){
board[xpos+1][ypos]='x';
xpos++;
}
printboard(board,file,colorint);
}
fclose(f);
}
if (fdset[2].revents & POLLPRI) {
lseek(fdset[2].fd, 0, SEEK_SET); // Read from the start of the file
read(fdset[2].fd, buf, MAX_BUF);
FILE* f = fopen("/sys/class/leds/beaglebone:green:usr2/brightness", "w");
if (f == NULL){
exit(EXIT_FAILURE);
}
if (buf[0]=='1'){
fprintf(f, "0");
}
if (buf[0]=='0'){
fprintf(f, "1");
if((xpos-1)>=0){
board[xpos-1][ypos]='x';
xpos--;
}
printboard(board,file,colorint);
}
fclose(f);
}
if (fdset[3].revents & POLLPRI) {
lseek(fdset[3].fd, 0, SEEK_SET); // Read from the start of the file
read(fdset[3].fd, buf, MAX_BUF);
FILE* f = fopen("/sys/class/leds/beaglebone:green:usr1/brightness", "w");
if (f == NULL){
exit(EXIT_FAILURE);
}
if (buf[0]=='1'){
fprintf(f, "0");
}
if (buf[0]=='0'){
if((ypos+1)<HEIGHT){
board[xpos][ypos+1]='x';
ypos++;
}
printboard(board,file,colorint);
fprintf(f, "1");
}
fclose(f);
}
if (fdset[4].revents & POLLPRI) {
lseek(fdset[4].fd, 0, SEEK_SET); // Read from the start of the file
read(fdset[4].fd, buf, MAX_BUF);
FILE* f = fopen("/sys/class/leds/beaglebone:green:usr0/brightness", "w");
if (f == NULL){
exit(EXIT_FAILURE);
}
if (buf[0]=='1'){
fprintf(f, "0");
}
if (buf[0]=='0'){
if((ypos-1)>=0){
board[xpos][ypos-1]='x';
ypos--;
}
printboard(board,file,colorint);
fprintf(f, "1");
}
fclose(f);
}
if (fdset[5].revents & POLLPRI) {
lseek(fdset[5].fd, 0, SEEK_SET); // Read from the start of the file
read(fdset[5].fd, buf, MAX_BUF);
if (buf[0]=='0'){
for(row=0;row<HEIGHT;row++){
printf("\n");
for(col=0;col<WIDTH;col++){
board[row][col]=' ';
}
printf("\n");
system("i2cget -y 1 0x48 0");
printboard(board,file,colorint);
}
}
}
if (fdset[6].revents & POLLPRI) {
lseek(fdset[6].fd, 0, SEEK_SET); // Read from the start of the file
read(fdset[6].fd, buf, MAX_BUF);
if (buf[0]=='0'){
if(colorint<=0){
colorint++;
}else{
colorint=0;
}
printf("\n");
system("i2cget -y 1 0x4a 0");
printboard(board,file,colorint);
}
}
/*if (fdset[0].revents & POLLIN) {
(void)read(fdset[0].fd, buf, 1);
printf("\npoll() stdin read 0x%2.2X\n", (unsigned int) buf[0]);
}*/
fflush(stdout);
}
gpio_fd_close(gpio_fd1);
gpio_fd_close(gpio_fd2);
gpio_fd_close(gpio_fd3);
gpio_fd_close(gpio_fd4);
return 0;
}
int main(int argc, char **argv, char **envp)
{
int xbound = atoi(argv[1]);
int ybound = atoi(argv[2]);
struct pollfd fdset[7];
int nfds = 7;
int gpio_fd1, gpio_fd2, gpio_fd3, gpio_fd4, gpio_fd5, gpio_fd6, timeout, rc;
char buf[MAX_BUF];
unsigned int gpio1, gpio2, gpio3, gpio4, gpio5, gpio6, gpio7, gpio8;
int len;
if (argc < 2) {
printf("Usage: gpio-int <gpio-pin>\n\n");
printf("Waits for a change in the GPIO pin voltage level or input on stdin\n");
exit(-1);
}
// Set the signal callback for Ctrl-C
signal(SIGINT, signal_handler);
gpio1 = atoi(argv[5]);
gpio2 = atoi(argv[6]);
gpio3 = atoi(argv[7]);
gpio4 = atoi(argv[8]);
gpio5 = atoi(argv[9]);
gpio6 = atoi(argv[10]);
gpio_export(gpio1);
gpio_export(gpio2);
gpio_export(gpio3);
gpio_export(gpio4);
gpio_export(gpio5);
gpio_export(gpio6);
gpio_set_dir(gpio1, "in");
gpio_set_dir(gpio2, "in");
gpio_set_dir(gpio3, "in");
gpio_set_dir(gpio4, "in");
gpio_set_dir(gpio5, "in");
gpio_set_dir(gpio6, "in");
gpio_set_edge(gpio1, "rising");
gpio_set_edge(gpio2, "rising");
gpio_set_edge(gpio3, "rising");
gpio_set_edge(gpio4, "rising");
gpio_set_edge(gpio5, "rising");
gpio_set_edge(gpio6, "rising");
gpio_fd1 = gpio_fd_open(gpio1, O_RDONLY);
gpio_fd2 = gpio_fd_open(gpio2, O_RDONLY);
gpio_fd3 = gpio_fd_open(gpio3, O_RDONLY);
gpio_fd4 = gpio_fd_open(gpio4, O_RDONLY);
gpio_fd5 = gpio_fd_open(gpio5, O_RDONLY);
gpio_fd6 = gpio_fd_open(gpio6, O_RDONLY);
timeout = POLL_TIMEOUT;
int erase = 1;
char **a;
a = (char **) malloc(xbound*sizeof(char *));
int t = 0;
for(t; t <= atoi(argv[1]) ; t++){
a[t] = (char *) malloc(ybound*sizeof(char));
}
int r = 0;
int s = 0;
for(r; r <= xbound; r++)
{
s = 0;
for(s; s <= ybound; s++)
{
a[r][s] = 'a';
printf("%c", a[r][s]);
}
printf("\n");
}
int posx = atoi(argv[3]);
int posy = atoi(argv[4]);
a[posx][posy] = 'X';
while (keepgoing) {
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = STDIN_FILENO;
fdset[0].events = POLLIN;
fdset[1].fd = gpio_fd1;
fdset[1].events = POLLPRI;
fdset[2].fd = gpio_fd2;
fdset[2].events = POLLPRI;
fdset[3].fd = gpio_fd3;
fdset[3].events = POLLPRI;
fdset[4].fd = gpio_fd4;
fdset[4].events = POLLPRI;
fdset[5].fd = gpio_fd5;
fdset[5].events = POLLPRI;
fdset[6].fd = gpio_fd6;
fdset[6].events = POLLPRI;
rc = poll(fdset, nfds, timeout);
if (rc < 0) {
printf("\npoll() failed!\n");
return -1;
}
int i = 1;
for( i; i <= 6; i++){
if (fdset[i].revents & POLLPRI) {
lseek(fdset[i].fd, 0, SEEK_SET); // Read from the start of the file
len = read(fdset[i].fd, buf, MAX_BUF);
if(i == 5)
{
printf("Switching draw modes \n");
erase = !erase;
}
else if(i == 6)
{
system(" clear ");
r = 0;
s = 0;
for(r; r <= atoi(argv[1]); r++)
{
s = 0;
for(s; s <= atoi(argv[2]); s++)
{
a[r][s] = 'a';
printf("%c", a[r][s]);
}
printf("\n");
}
}
else if(i == 1)
{
system(" clear ");
if(posx == xbound)
{
printf("Cant go past bounds \n");
r = 0;
s = 0;
for(r; r <= atoi(argv[1]); r++)
{
s = 0;
for(s; s <= atoi(argv[2]); s++)
{
printf("%c", a[r][s]);
}
printf("\n");
}
}
else
{
r = 0;
s = 0;
posx +=1;
if(erase == 0)
{
a[posx][posy] = 'X';
}
else{
a[posx][posy] = 'a';
}
for(r; r <= atoi(argv[1]); r++)
{
s = 0;
for(s; s <= atoi(argv[2]); s++)
{
printf("%c", a[r][s]);
}
printf("\n");
}
}
}
else if(i == 2)
{
system(" clear ");
if(posx == 0)
{
printf("Cant go past bounds \n");
r = 0;
s = 0;
for(r; r <= atoi(argv[1]); r++)
{
s =0;
for(s; s <= atoi(argv[2]); s++)
{
printf("%c", a[r][s]);
}
printf("\n");
}
}
else
{
r = 0;
s = 0;
posx -=1;
if(erase == 0)
{
a[posx][posy] = 'X';
}
else
{
a[posx][posy] = 'a';
}
for(r; r <= atoi(argv[1]); r++)
{
s = 0;
for(s; s <= atoi(argv[2]); s++)
{
printf("%c", a[r][s]);
}
printf("\n");
}
}
}
else if(i == 3)
{
system( "clear");
if(posy == ybound)
{
printf("Cant go past bounds \n");
r = 0;
s = 0;
for(r; r <= atoi(argv[1]); r++)
{
s = 0;
for(s; s <= atoi(argv[2]); s++)
{
printf("%c", a[r][s]);
}
printf("\n");
}
}
else
{
r = 0;
s = 0;
posy +=1;
if(erase == 0)
{
a[posx][posy] = 'X';
}
else
{
a[posx][posy] = 'a';
}
for(r; r <= atoi(argv[1]); r++)
{
s= 0;
for(s; s <= atoi(argv[2]); s++)
{
printf("%c", a[r][s]);
}
printf("\n");
}
}
}
else if( i == 4)
{
system(" clear ");
if(posy == 0)
{
printf("Cant go past bounds \n");
r = 0;
s = 0;
for(r; r <= atoi(argv[1]); r++)
{
s = 0;
for(s; s <= atoi(argv[2]); s++)
{
printf("%c", a[r][s]);
}
printf("\n");
}
}
else
{
r = 0;
s = 0;
posy -=1;
if(erase == 0)
{
a[posx][posy] = 'X';
}
else
{
a[posx][posy] = 'a';
}
for(r; r <= atoi(argv[1]); r++)
{
s = 0;
for(s; s <= atoi(argv[2]); s++)
{
printf("%c", a[r][s]);
}
printf("\n");
}
}
}
else{
continue;
}
}
}
if (fdset[0].revents & POLLIN) {
(void)read(fdset[0].fd, buf, 1);
printf("\npoll() stdin read 0x%2.2X\n", (unsigned int) buf[0]);
}
fflush(stdout);
}
gpio_fd_close(gpio_fd1);
gpio_fd_close(gpio_fd2);
gpio_fd_close(gpio_fd3);
gpio_fd_close(gpio_fd4);
return 0;
}
int main(int argc, char **argv, char **envp)
{
struct pollfd fdset[10];
int nfds = 10;
int gpio_fdbut0, gpio_fdbut1, gpio_fdbut2, gpio_fdbut3, gpio_fdbut4, gpio_fdbut5, gpio_fdbut6, gpio_fdbut7, gpio_fdbut8, gpio_fdbut9, timeout, rc;
char buf[MAX_BUF];
unsigned int gpio;
unsigned int but0 = 50; //0->1 p14 //L
unsigned int but1 = 60; //1->0 p12 //R
unsigned int but2 = 3; //1->0 p3 //U
unsigned int but3 = 2; //0->1 p2 // D use these for directional
unsigned int but4 = 30; //1->0 p10 // A
unsigned int but5 = 31; //1->0 p12 // B
unsigned int but6 = 48; //1->0 p15 // Start
unsigned int but7 = 49; //0->1 p23 //Select
unsigned int but8 = 115; //0->1 p27 //End
unsigned int but9 = 14; //1->0 p26 //Change game
int len;
int state[4];
state[0] = 1;
state[1] = 1;
state[2] = 1;
state[3] = 1;
char ain0[] = "AIN0";
char ain1[] = "AIN1";
int ainR[2];
int deadband = 200; //deadband control
//output an analog pin, to enable reading
printf("test\n");
system("SLOTS=/sys/devices/bone_capemgr.*/slots");
system("PINS=/sys/kernel/debug/pinctrl/44e10800.pinmux/pins");
system("echo cape-bone-iio > SLOTS");
// Set the signal callback for Ctrl-C
signal(SIGINT, signal_handler);
gpio_export(but0);
gpio_export(but1);
gpio_export(but2);
gpio_export(but3);
gpio_export(but4);
gpio_export(but5);
gpio_export(but6);
gpio_export(but7);
gpio_export(but8);
gpio_export(but9);
gpio_set_dir(but0, "in");
gpio_set_dir(but1, "in");
gpio_set_dir(but2, "in");
gpio_set_dir(but3, "in");
gpio_set_dir(but4, "in");
gpio_set_dir(but5, "in");
gpio_set_dir(but6, "in");
gpio_set_dir(but7, "in");
gpio_set_dir(but8, "in");
gpio_set_dir(but9, "in");
gpio_set_edge(but0, "falling");// Can be rising, falling or both
gpio_set_edge(but1, "falling");
gpio_set_edge(but2, "falling");
gpio_set_edge(but3, "falling");
gpio_set_edge(but4, "rising");
gpio_set_edge(but5, "rising");
gpio_set_edge(but6, "rising");
gpio_set_edge(but7, "rising");
gpio_set_edge(but8, "rising");
gpio_set_edge(but9, "rising");
gpio_fdbut0 = gpio_fd_open(but0, O_RDONLY);
gpio_fdbut1 = gpio_fd_open(but1, O_RDONLY);
gpio_fdbut2 = gpio_fd_open(but2, O_RDONLY);
gpio_fdbut3 = gpio_fd_open(but3, O_RDONLY);
gpio_fdbut4 = gpio_fd_open(but4, O_RDONLY);
gpio_fdbut5 = gpio_fd_open(but5, O_RDONLY);
gpio_fdbut6 = gpio_fd_open(but6, O_RDONLY);
gpio_fdbut7 = gpio_fd_open(but7, O_RDONLY);
gpio_fdbut8 = gpio_fd_open(but8, O_RDONLY);
gpio_fdbut9 = gpio_fd_open(but9, O_RDONLY);
timeout = POLL_TIMEOUT;
while (keepgoing) {
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = gpio_fdbut0;
fdset[0].events = POLLPRI;
fdset[1].fd = gpio_fdbut1;
fdset[1].events = POLLPRI;
fdset[2].fd = gpio_fdbut2;
fdset[2].events = POLLPRI;
fdset[3].fd = gpio_fdbut3;
fdset[3].events = POLLPRI;
fdset[4].fd = gpio_fdbut4;
fdset[4].events = POLLPRI;
fdset[5].fd = gpio_fdbut5;
fdset[5].events = POLLPRI;
fdset[6].fd = gpio_fdbut6;
fdset[6].events = POLLPRI;
fdset[7].fd = gpio_fdbut7;
fdset[7].events = POLLPRI;
fdset[8].fd = gpio_fdbut8;
fdset[8].events = POLLPRI;
fdset[9].fd = gpio_fdbut9;
fdset[9].events = POLLPRI;
rc = poll(fdset, nfds, timeout);
if (rc < 0) {
printf("\npoll() failed!\n");
return -1;
}
if (rc == 0) {
//printf(".");
}
if (fdset[0].revents & POLLPRI) {
lseek(fdset[0].fd, 0, SEEK_SET);// Read from the start of the file
len = read(fdset[0].fd, buf, MAX_BUF);
system("xdotool key a");
system("xdotool key Return");
//state[0] = !state[0];
}
if (fdset[1].revents & POLLPRI) {
lseek(fdset[1].fd, 0, SEEK_SET);// Read from the start of the file
len = read(fdset[1].fd, buf, MAX_BUF);
system("xdotool key d");
system("xdotool key Return");
//state[1] = !state[1];
}
if (fdset[2].revents & POLLPRI) {
lseek(fdset[2].fd, 0, SEEK_SET);// Read from the start of the file
len = read(fdset[2].fd, buf, MAX_BUF);
system("xdotool key w");
system("xdotool key Return");
//state[2] = !state[2];
}
if (fdset[3].revents & POLLPRI) {
lseek(fdset[3].fd, 0, SEEK_SET);// Read from the start of the file
len = read(fdset[3].fd, buf, MAX_BUF);
//system("xdotool key Down");
system("xdotool key s");
system("xdotool key Return");
//state[3] = !state[3];
}
if (fdset[4].revents & POLLPRI) {
lseek(fdset[4].fd, 0, SEEK_SET);// Read from the start of the file
len = read(fdset[4].fd, buf, MAX_BUF);
system("xdotool key q");
system("xdotool key Return");
}
if (fdset[5].revents & POLLPRI) {
lseek(fdset[5].fd, 0, SEEK_SET);// Read from the start of the file
len = read(fdset[5].fd, buf, MAX_BUF);
system("xdotool key Control_L");
}
if (fdset[6].revents & POLLPRI) {
lseek(fdset[6].fd, 0, SEEK_SET);// Read from the start of the file
len = read(fdset[6].fd, buf, MAX_BUF);
system("xdotool key Return");
}
if (fdset[7].revents & POLLPRI) {
lseek(fdset[7].fd, 0, SEEK_SET);// Read from the start of the file
len = read(fdset[7].fd, buf, MAX_BUF);
system("xdotool key d");
}
if (fdset[8].revents & POLLPRI) {
lseek(fdset[8].fd, 0, SEEK_SET);// Read from the start of the file
len = read(fdset[8].fd, buf, MAX_BUF);
system("xdotool key e");
}
if (fdset[9].revents & POLLPRI) {
lseek(fdset[9].fd, 0, SEEK_SET);// Read from the start of the file
len = read(fdset[9].fd, buf, MAX_BUF);
system("xdotool key f");
}
/*
if (state[0] == 1){
system("xdotool key Left");
}
if (state[1] == 1){
system("xdotool key Right");
}
if (state[2] == 1){
system("xdotool key Up");
}
if (state[3] == 1){
system("xdotool key Down");
}
*/
ainR[0] = analogRead(ain0);
ainR[1] = analogRead(ain1);
ainR[0] = analogRead(ain0);
ainR[1] = analogRead(ain1);
ainR[0] = analogRead(ain0);
ainR[1] = analogRead(ain1);
ainR[0] = analogRead(ain0);
ainR[1] = analogRead(ain1);
ainR[0] = analogRead(ain0);
ainR[1] = analogRead(ain1);
//printf("value %d %d\n", ainR[0], ainR[1]);
if (ainR[0] - deadband > 880){
system("xdotool key s");
system("xdotool key Return");
}
if (ainR[0] + deadband < 880){
system("xdotool key w");
system("xdotool key Return");
}
if (ainR[1] - deadband > 880){
system("xdotool key d");
system("xdotool key Return");
}
if (ainR[1] + deadband < 880){
system("xdotool key a");
system("xdotool key Return");
//printf("Mission succesfull");
}
//fflush(stdout);
usleep(100); //0.1ms
}
gpio_fd_close(gpio_fdbut0);
gpio_fd_close(gpio_fdbut1);
gpio_fd_close(gpio_fdbut2);
gpio_fd_close(gpio_fdbut3);
gpio_fd_close(gpio_fdbut4);
gpio_fd_close(gpio_fdbut5);
gpio_fd_close(gpio_fdbut6);
gpio_fd_close(gpio_fdbut7);
gpio_fd_close(gpio_fdbut8);
gpio_fd_close(gpio_fdbut9);
return 0;
}
int main(int argc, char *argv[])
{
int ret = 0;
int fd;
int sysfs_fd;
int no_tty = !isatty( fileno(stdout) );
fd = open(device, O_RDWR);
if (fd < 0)
pabort("can't open device");
/*
* spi mode
*/
ret = ioctl(fd, SPI_IOC_WR_MODE, &mode);
if (ret == -1)
pabort("can't set spi mode");
ret = ioctl(fd, SPI_IOC_RD_MODE, &mode);
if (ret == -1)
pabort("can't get spi mode");
/*
* bits per word
*/
ret = ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
if (ret == -1)
pabort("can't set bits per word");
ret = ioctl(fd, SPI_IOC_RD_BITS_PER_WORD, &bits);
if (ret == -1)
pabort("can't get bits per word");
fprintf(stderr, "spi mode: %d\n", mode);
fprintf(stderr, "bits per word: %d\n", bits);
// enable master clock for the AD
// divisor results in roughly 4.9MHz
// this also inits the general purpose IO
gz_clock_ena(GZ_CLK_5MHz,5);
// enables sysfs entry for the GPIO pin
gpio_export(drdy_GPIO);
// set to input
gpio_set_dir(drdy_GPIO,0);
// set interrupt detection to falling edge
gpio_set_edge(drdy_GPIO,"falling");
// get a file descriptor for the GPIO pin
sysfs_fd = gpio_fd_open(drdy_GPIO);
// resets the AD7705 so that it expects a write to the communication register
printf("sending reset\n");
writeReset(fd);
// tell the AD7705 that the next write will be to the clock register
writeReg(fd,0x20);
// write 00001100 : CLOCKDIV=1,CLK=1,expects 4.9152MHz input clock
writeReg(fd,0x0C);
//channel1
writeReg(fd,0x11);
// intiates a self calibration and then after that starts converting
writeReg(fd,0x40);
ret = gpio_poll(sysfs_fd,1000);
if (ret<1) {
fprintf(stderr,"Poll error chennel1 set-up %d\n",ret);
}
//channel0
// tell the AD7705 that the next write will be the setup register
writeReg(fd,0x10);
// intiates a self calibration and then after that starts converting
writeReg(fd,0x40);
ret = gpio_poll(sysfs_fd,1000);
if (ret<1) {
fprintf(stderr,"Poll error chennel0 set-up %d\n",ret);
}
// we read data in an endless loop and display it
// this needs to run in a thread ideally
while (1) {
//channel0
// tell the AD7705 to read the data register (16 bits)
writeReg(fd,0x38);
ret = gpio_poll(sysfs_fd,1000);
if (ret<1) {
fprintf(stderr,"Poll error read data channel0 %d\n",ret);
}
// read the data register by performing two 8 bit reads
int value0 = readData(fd)-0x8000;
//channel1
// tell the AD7705 to read the data register (16 bits)
writeReg(fd,0x39);
ret = gpio_poll(sysfs_fd,1000);
if (ret<1) {
fprintf(stderr,"Poll error read data channel0 %d\n",ret);
}
// read the data register by performing two 8 bit reads
int value1 = readData(fd)-0x8000;
fprintf(stderr,"data0 = %d data1 = %d \r",value0,value1);
}
close(fd);
gpio_fd_close(sysfs_fd);
return ret;
}
int main(int argc, char **argv, char **envp) {
int file;
const char *filename = "/dev/i2c-1";
if((file = open(filename, O_RDWR)) < 0) {
perror("Failed to open the i2c bus.\n");
exit(1);
}
int device_addr = 0x53;
if(ioctl(file, I2C_SLAVE, device_addr) < 0) {
printf("Failed to acquire bus and/or talk to slave.\n");
exit(1);
}
write_i2c(file, 0x2c, SAMPLING_RATE); //BW_RATE -- Last 4 bits = sampling rate
write_i2c(file, 0x31, 0x20 | RANGE); //DATA_FORMAT -- Last 2 bits = range
write_i2c(file, 0x2e, 0x02); //INT_ENABLE
write_i2c(file, 0x38, 0x41); //FIFO_CTL
write_i2c(file, 0x2d, 0x08); //POWER_CTL
int buttons[] = BUTTON_GPIO_PINS;
int button_size = sizeof(buttons)/sizeof(buttons[0]);
int button_active_edges[] = BUTTON_ACTIVE_EDGES;
struct pollfd fdset[button_size];
int nfds = button_size;
int gpio_fd[button_size];
int button;
for(button = 0; button < button_size; button++)
{
gpio_export(buttons[button]);
gpio_set_dir(buttons[button], "in");
gpio_set_edge(buttons[button], button_active_edges[button] ? "rising" : "falling");
gpio_fd[button] = gpio_fd_open(buttons[button], O_RDONLY);
}
int num_samples = 0;
long int z_nooffset = 0;
long int z_accumulator = 0;
long int previous_z_accumulator = 0;
long int z_diff = 0;
long int previous_z = 0;
long int z_jerk_fifo[QUEUE_LENGTH] = {0};
long int z_accel_fifo[QUEUE_LENGTH] = {0};
while(1) {
memset((void*)fdset, 0, sizeof(fdset));
for(button = 0; button < button_size; button++) {
fdset[button].fd = gpio_fd[button];
fdset[button].events = POLLPRI;
}
poll(fdset, nfds, 100);
for(button = 0; button < button_size; button++) {
if(fdset[button].revents & POLLPRI) {
char buf[1];
read(fdset[button].fd, buf, 1);
int button_state;
gpio_get_value(buttons[button], &button_state);
while(button_state == button_active_edges[button]) {
char write_buf[1];
write_buf[0] = 0x32;
if(write(file, write_buf,1) != 1) {
printf("Failed to write to the i2c bus.\n");
}
int reg_num;
signed char read_buf[6];
if(read(file, read_buf, 6) != 6) {
printf("Failed to read from the i2c bus.\n");
}
else {
long int z_data = ((((long int)read_buf[5]) << 8)
| (0xff & read_buf[4]));
num_samples++;
if( num_samples > 1 ) {
z_diff = (z_data - previous_z);
z_nooffset += (z_diff -
z_jerk_fifo[QUEUE_LENGTH - 1]);
z_accumulator = (z_nooffset);
}
/*if( num_samples % 1 == 0 ) {
printf(" \r");
printf("Current vel = %d\r", z_nooffset);
fflush(stdout);
}*/
if( (z_accumulator * previous_z_accumulator) < 0
&& abs(z_accumulator -
previous_z_accumulator) > 50 ) {
// Put stuff to do on hits here!
printf("HIT!\n");
printf("Acceleration = %d.\n", z_nooffset);
fflush(stdout);
}
int index;
for( index = QUEUE_LENGTH - 1;
index >= 0; index-- ){
z_jerk_fifo[index] = z_jerk_fifo[index - 1];
z_accel_fifo[index] = z_accel_fifo[index - 1];
}
z_jerk_fifo[0] = z_diff;
z_accel_fifo[0] = z_nooffset;
previous_z = z_data;
previous_z_accumulator = z_accumulator;
}
gpio_get_value(buttons[button], &button_state);
}
}
}
}
}
ADCreader::ADCreader()
{
int ret = 0;
// set up ringbuffer
samples = new int[MAX_SAMPLES];
// pointer for incoming data
pIn = samples;
// pointer for outgoing data
pOut = samples;
// SPI constants
static const char *device = "/dev/spidev0.0";
mode = SPI_CPHA | SPI_CPOL;
bits = 8;
speed = 50000;
delay = 10;
drdy_GPIO = 22;
// open SPI device
fd = open(device, O_RDWR);
if (fd < 0)
pabort("can't open device");
/*
* spi mode
*/
ret = ioctl(fd, SPI_IOC_WR_MODE, &mode);
if (ret == -1)
pabort("can't set spi mode");
ret = ioctl(fd, SPI_IOC_RD_MODE, &mode);
if (ret == -1)
pabort("can't get spi mode");
/*
* bits per word
*/
ret = ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
if (ret == -1)
pabort("can't set bits per word");
ret = ioctl(fd, SPI_IOC_RD_BITS_PER_WORD, &bits);
if (ret == -1)
pabort("can't get bits per word");
/*
* max speed hz
*/
ret = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if (ret == -1)
pabort("can't set max speed hz");
ret = ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
if (ret == -1)
pabort("can't get max speed hz");
fprintf(stderr, "spi mode: %d\n", mode);
fprintf(stderr, "bits per word: %d\n", bits);
fprintf(stderr, "max speed: %d Hz (%d KHz)\n", speed, speed/1000);
// enable master clock for the AD
// divisor results in roughly 4.9MHz
// this also inits the general purpose IO
gz_clock_ena(GZ_CLK_5MHz,5);
// enables sysfs entry for the GPIO pin
gpio_export(drdy_GPIO);
// set to input
gpio_set_dir(drdy_GPIO,0);
// set interrupt detection to falling edge
gpio_set_edge(drdy_GPIO,"falling");
// get a file descriptor for the GPIO pin
sysfs_fd = gpio_fd_open(drdy_GPIO);
// resets the AD7705 so that it expects a write to the communication register
writeReset(fd);
// tell the AD7705 that the next write will be to the clock register
writeReg(fd,0x20);
// write 00001100 : CLOCKDIV=1,CLK=1,expects 4.9152MHz input clock
writeReg(fd,0x0C);
// tell the AD7705 that the next write will be the setup register
writeReg(fd,0x10);
// intiates a self calibration and then after that starts converting
writeReg(fd,0x40);
}
int main(int argc, char **argv, char **envp)
{
signal(SIGINT, signal_handler);
int i;
int buttons[] = BUTTON_GPIO_PINS;
int button_size = sizeof(buttons)/sizeof(buttons[0]);
int button_active_edges[] = BUTTON_ACTIVE_EDGES;
int leds[] = LED_GPIO_PINS;
int led_size = sizeof(leds)/sizeof(leds[0]);
struct pollfd fdset[button_size];
int nfds = 4;
int gpio_fd[button_size + led_size];
for(i = 0; i < button_size; i++)
{
gpio_export(buttons[i]);
gpio_set_dir(buttons[i], "in");
gpio_set_edge(buttons[i], "both");
gpio_fd[i] = gpio_fd_open(buttons[i], O_RDONLY);
}
for(i = 0; i < led_size; i++)
{
gpio_export(leds[i]);
gpio_set_dir(leds[i], "out");
gpio_fd[i+4] = gpio_fd_open(leds[i], O_RDONLY);
}
while(keepgoing)
{
memset((void*)fdset, 0, sizeof(fdset));
for(i = 0; i < button_size; i++)
{
fdset[i].fd = gpio_fd[i];
fdset[i].events = POLLPRI;
}
poll(fdset, nfds, TIMEOUT);
for(i = 0; i < button_size; i++)
{
if(fdset[i].revents & POLLPRI)
{
char buf[1];
read(fdset[i].fd, buf, 1);
int button_state;
gpio_get_value(buttons[i], &button_state);
int led_state = (button_active_edges[i] == button_state);
gpio_set_value(leds[i], led_state);
printf("\nButton (GPIO %d) changed state to %d.\n",
buttons[i], button_state);
printf("\tLED (GPIO %d) changed state to %d as a result\n",
leds[i], led_state);
}
}
fflush(stdout);
}
for(i = 0; i < button_size + led_size; i++)
{
gpio_fd_close(gpio_fd[i]);
}
printf("\nCtrl-C pressed--exiting...\n");
return 0;
}
/****************************************************************
* Main
****************************************************************/
int main(int argc, char **argv, char **envp)
{
struct pollfd fdset[2];
int nfds = 2;
int gpio_in_fd, gpio_out_fd, timeout, rc;
char buf[MAX_BUF];
int gpio_in, gpio_out;
int len;
if (argc < 3) {
printf("Usage: %s <gpio-in> <gpio-out>\n\n");
printf("Interrupt driven output\n");
exit(-1);
}
// Set the signal callback for Ctrl-C
signal(SIGINT, signal_handler);
gpio_in = atoi(argv[1]);
gpio_out = atoi(argv[2]);
gpio_export(gpio_in);
gpio_export(gpio_out);
gpio_set_dir(gpio_in, "in");
gpio_set_dir(gpio_out, "out");
gpio_set_edge(gpio_in, "both"); // Can be rising, falling or both
gpio_in_fd = gpio_fd_open(gpio_in, O_RDONLY);
gpio_out_fd = gpio_fd_open(gpio_out, O_RDONLY);
timeout = POLL_TIMEOUT;
while (keepgoing) {
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = STDIN_FILENO;
fdset[0].events = POLLIN;
fdset[1].fd = gpio_in_fd;
fdset[1].events = POLLPRI;
rc = poll(fdset, nfds, timeout);
if (rc < 0) {
printf("\npoll() failed!\n");
return -1;
}
if (fdset[1].revents & POLLPRI) {
lseek(fdset[1].fd, 0, SEEK_SET); // Read from the start of the file
len = read(fdset[1].fd, buf, MAX_BUF);
unsigned int value;
if (buf[0] == '0') {
value = 0;
} else if (buf[0] == '1') {
value = 1;
}
gpio_set_value(gpio_out, value);
}
fflush(stdout);
}
gpio_fd_close(gpio_in_fd);
gpio_fd_close(gpio_out_fd);
return 0;
}
/****************************************************************
* Main
****************************************************************/
int main(int argc, char **argv, char **envp)
{
struct pollfd fdset[5];
int nfds = 5;
int gpio_in_1_fd, gpio_out_1_fd, gpio_in_2_fd, gpio_out_2_fd, gpio_in_3_fd, gpio_out_3_fd, gpio_in_4_fd, gpio_out_4_fd;
int timeout, rc;
char buf[MAX_BUF];
int gpio_in_1, gpio_out_1, gpio_in_2, gpio_out_2, gpio_in_3, gpio_out_3, gpio_in_4, gpio_out_4;
int len;
// run with ./etch_gpio 50 115 51 49 20 48 7 112
if (argc < 9) {
printf("Usage: %s <gpio-in> <gpio-out>, ... , ... , ...\n\n");
printf("Interrupt driven output of four buttons, put in pairs of in/out\n");
exit(-1);
}
// Set the signal callback for Ctrl-C
signal(SIGINT, signal_handler);
gpio_in_1 = atoi(argv[1]);
gpio_out_1 = atoi(argv[2]);
gpio_export(gpio_in_1);
gpio_export(gpio_out_1);
gpio_set_dir(gpio_in_1, "in");
gpio_set_dir(gpio_out_1, "out");
gpio_set_edge(gpio_in_1, "falling");
gpio_in_1_fd = gpio_fd_open(gpio_in_1, O_RDONLY);
gpio_out_1_fd = gpio_fd_open(gpio_out_1, O_RDONLY);
gpio_in_2 = atoi(argv[3]);
gpio_out_2 = atoi(argv[4]);
gpio_export(gpio_in_2);
gpio_export(gpio_out_2);
gpio_set_dir(gpio_in_2, "in");
gpio_set_dir(gpio_out_2, "out");
gpio_set_edge(gpio_in_2, "falling");
gpio_in_2_fd = gpio_fd_open(gpio_in_2, O_RDONLY);
gpio_out_2_fd = gpio_fd_open(gpio_out_2, O_RDONLY);
gpio_in_3 = atoi(argv[5]);
gpio_out_3 = atoi(argv[6]);
gpio_export(gpio_in_3);
gpio_export(gpio_out_3);
gpio_set_dir(gpio_in_3, "in");
gpio_set_dir(gpio_out_3, "out");
gpio_set_edge(gpio_in_3, "falling");
gpio_in_3_fd = gpio_fd_open(gpio_in_3, O_RDONLY);
gpio_out_3_fd = gpio_fd_open(gpio_out_3, O_RDONLY);
gpio_in_4 = atoi(argv[7]);
gpio_out_4 = atoi(argv[8]);
gpio_export(gpio_in_4);
gpio_export(gpio_out_4);
gpio_set_dir(gpio_in_4, "in");
gpio_set_dir(gpio_out_4, "out");
gpio_set_edge(gpio_in_4, "falling");
gpio_in_4_fd = gpio_fd_open(gpio_in_4, O_RDONLY);
gpio_out_4_fd = gpio_fd_open(gpio_out_4, O_RDONLY);
timeout = POLL_TIMEOUT;
int grid[N][N];
int i, j;
for (i = 0; i < N; ++i)
{
for (j = 0; j < N; ++j)
{
grid[i][j] = 0;
}
}
point currentPoint = {.x = 0, .y = 0};
int currentDirection = NONE;
int isErasing = 0;
while (keepgoing) {
memset((void*)fdset, 0, sizeof(fdset));
fdset[0].fd = STDIN_FILENO;
fdset[0].events = POLLIN;
fdset[1].fd = gpio_in_1_fd;
fdset[1].events = POLLPRI;
fdset[2].fd = gpio_in_2_fd;
fdset[2].events = POLLPRI;
fdset[3].fd = gpio_in_3_fd;
fdset[3].events = POLLPRI;
fdset[4].fd = gpio_in_4_fd;
fdset[4].events = POLLPRI;
rc = poll(fdset, nfds, timeout);
if (rc < 0) {
printf("\npoll() failed!\n");
return -1;
}
if (fdset[1].revents & POLLPRI) {
lseek(fdset[1].fd, 0, SEEK_SET);
len = read(fdset[1].fd, buf, MAX_BUF);
unsigned int value;
if (buf[0] == '0') {
value = 0;
} else if (buf[0] == '1') {
value = 1;
}
gpio_set_value(gpio_out_1, value);
currentDirection = UP;
} else if (fdset[2].revents & POLLPRI) {
lseek(fdset[2].fd, 0, SEEK_SET);
len = read(fdset[2].fd, buf, MAX_BUF);
unsigned int value;
if (buf[0] == '0') {
value = 0;
} else if (buf[0] == '1') {
value = 1;
}
gpio_set_value(gpio_out_2, value);
currentDirection = DOWN;
} else if (fdset[3].revents & POLLPRI) {
lseek(fdset[3].fd, 0, SEEK_SET);
len = read(fdset[3].fd, buf, MAX_BUF);
unsigned int value;
if (buf[0] == '0') {
value = 0;
} else if (buf[0] == '1') {
value = 1;
}
gpio_set_value(gpio_out_3, value);
currentDirection = RIGHT;
} else if (fdset[4].revents & POLLPRI) {
lseek(fdset[4].fd, 0, SEEK_SET);
len = read(fdset[4].fd, buf, MAX_BUF);
unsigned int value;
if (buf[0] == '0') {
value = 0;
} else if (buf[0] == '1') {
value = 1;
}
gpio_set_value(gpio_out_4, value);
currentDirection = LEFT;
} else {
currentDirection = NONE;
}
if (fdset[0].revents & POLLIN) {
(void)read(fdset[0].fd, buf, 1);
//printf("\npoll() stdin read 0x%2.2X\n", (unsigned int) buf[0]);
if (buf[0]=='e') {
isErasing = !isErasing;
}
}
// Evaluate
currentPoint = updatePoint(currentDirection, currentPoint);
#ifdef DEBUG
printf("After Move: %d, %d\n", currentPoint.x, currentPoint.y);
#endif
updateBoardBasedOnCurrentPoint(grid, currentPoint, isErasing);
// Print the N by N matrix
printGrid(grid, isErasing);
}
gpio_fd_close(gpio_in_1_fd);
gpio_fd_close(gpio_out_1_fd);
gpio_fd_close(gpio_in_2_fd);
gpio_fd_close(gpio_out_2_fd);
gpio_fd_close(gpio_in_3_fd);
gpio_fd_close(gpio_out_3_fd);
gpio_fd_close(gpio_in_4_fd);
gpio_fd_close(gpio_out_4_fd);
return 0;
}
point updatePoint(int dir, point pt)
{
point returnPoint;
#ifdef DEBUG
printf("Before Move: %d, %d\n", pt.x, pt.y);
#endif
switch (dir) {
case UP:
#ifdef DEBUG
printf("Moving up\n");
#endif
if (pt.x > 0)
{
pt.x--;
}
// returnPoint = pt;
// break;
return pt;
case DOWN:
#ifdef DEBUG
printf("Moving down\n");
#endif
if (pt.x < N-1)
{
pt.x++;
}
// returnPoint = pt;
// break;
return pt;
case LEFT:
#ifdef DEBUG
printf("Moving left\n");
#endif
if (pt.y > 0)
{
pt.y--;
}
// returnPoint = pt;
// break;
return pt;
case RIGHT:
#ifdef DEBUG
printf("Moving right\n");
#endif
if (pt.y < N-1)
{
pt.y++;
}
// returnPoint = pt;
// break;
return pt;
case NONE:
#ifdef DEBUG
printf("Moving not at all\n");
#endif
// returnPoint = pt;
// break;
return pt;
default:
// Should never get here. Ever.
// printf("This message should never appear\n");
break;
// return returnPoint;
}
}
