//! The main function.
int main(int argc, char **argv)
{
pruIo *Io = pruio_new(PRUIO_DEF_ACTIVE, 0x98, 0, 1); //! ouvrir l'interruption Pruss (/ dev / uio5),charger les instructions de pasm_init.p au PRU et les exécute, et appeler les fonctions initialize des UDT du sous-système.
do {
if (Io->Errr) {
printf("initialisation failed (%s)\n", Io->Errr); break;}
if (pruio_cap_config(Io, P_IN, 2.)) { // Cette fonction configure un axe d'en-tête pour la capture et Analyse Pulse (CAP) trains. La configuration des broches est vérifié. Si elle est pas configuré comme entrée pour le module de la Cap dans le sous-système PWM, libpruio essaie d'adapter le muxing broches.
printf("failed setting input @P_IN (%s)\n", Io->Errr); break;}
float_t
f1 // Variable for calculated frequency.
, d1 // Variable for calculated duty cycle.
, f0 = 31250 // The required frequency.
, d0 = .5; // The required duty cycle.
if (pruio_pwm_setValue(Io, P_OUT, f0, d0)) { //Cette fonction définit la sortie PWM sur une broche d'en-tête. sortie PWM peuvent être soit générés par un eHRPWM ou d'un module eCAP. En fonction du nombre de broches spécifié (paramètre à billes), le module PWM correspondant est configuré pour la fréquence et le rapport cyclique déterminé.
printf("failed setting output @P_OUT (%s)\n", Io->Errr); break;}
if (pruio_config(Io, 1, 0x1FE, 0, 4)) { //Cette fonction est utilisée pour télécharger la configuration de l'hôte (ARM) au conducteur (PRU). Le PRU s'arrêté (si en cours d'exécution) et les nouvelles configurations se charger. Aussi les instructions Pru_Run se ré-initialisés.
printf("config failed (%s)\n", Io->Errr); break;}
struct termios oldt, newt; // make terminal non-blocking
tcgetattr( STDIN_FILENO, &oldt );
newt = oldt;
newt.c_lflag &= ~( ICANON );
newt.c_cc[VMIN] = 0;
newt.c_cc[VTIME] = 1;
tcsetattr( STDIN_FILENO, TCSANOW, &newt );
while(1) { // run endless loop
if (1 == isleep(1)) {
if (pruio_pwm_setValue(Io, P_OUT, f0, d0)) { // set new output
printf("failed setting PWM output (%s)\n", Io->Errr); break;}
printf("\n--> Frequency: %10f , Duty: %10f\n", f0, d0); // info
}
if (pruio_cap_Value(Io, P_IN, &f1, &d1)) { // get current input
printf("failed reading input @P_IN (%s)\n", Io->Errr); break;}
printf("\r Frequency: %10f , Duty: %10f ", f1, d1); // info
fflush(STDIN_FILENO);
}
finish:
tcsetattr( STDIN_FILENO, TCSANOW, &oldt ); // reset terminal
printf("\n");
} while (0);
pruio_destroy(Io); /* destroy driver structure */
return 0;
}
int main( int argc, char *argv[] )
{
float temp;
uint32 cur_time;
uint32 start_time;
float duty_cycle;
float target_temp;
char print_string[ 200 ];
util_print_procId();
force_stop = FALSE;
door_open = FALSE;
timer_init();
if( argc != 2 )
{
util_print_debug( "Error: The only argument is the path to the JSON file.\n" );
return( -1 );
}
//Set up signal handler:
if( signal( SIGINT, signalHandler ) == SIG_ERR )
{
util_print_debug( "MPU: Error setting up ctrl-c interrupt.\n" );
return( -1 );
}
util_print_debug( argv[ 1 ] );
if( !pid_init( argv[ 1 ] ) )
{
util_print_debug( "Error: There was an error loading the profile.\n" );
return( -1 );
}
pruIo *io = pruio_new(PRUIO_DEF_ACTIVE, 0x98, 0, 1);
start_time = 0;
cur_time = 0;
duty_cycle = 1.0;
if( pruio_config( io, 1, 0x1FE, 0, 4 ) )
{
sprintf( print_string, "config failed (%s)\n", io->Errr );
util_print_debug( print_string );
return( -1 );
}
pruio_pwm_setValue( io, P_OUT, PWM_FREQ, duty_cycle );
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_CLOSE ); //close door
while( !force_stop )
{
temp = util_calc_temp( io->Adc->Value[ 1 ] );
target_temp = pid_find_target( cur_time / 1000.0 );
duty_cycle = pid_calc( target_temp, temp );
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_IDLE );
if( duty_cycle == -1 )
{
force_stop = TRUE;
}
// DOOR CRACKING CODE
if ( ( temp - target_temp) > 5.0 )
{
// OPEN DOOR
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_OPEN );
door_open = TRUE;
}
else if ( ( duty_cycle > 0.0 ) && door_open )
{
// CLOSE DOOR
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_CLOSE );
door_open = FALSE;
}
pruio_pwm_setValue( io, P_OUT, -1, duty_cycle );
util_print_point( cur_time / 1000, target_temp, temp );
//block for 2 seconds.
while( ( cur_time - start_time <= PWM_PERIOD_MS ) && !force_stop )
{
if( !timer_get( &cur_time ) )
{
printf( "There was an error with the timer.\n" );
return( 0 );
}
}
start_time = start_time + PWM_PERIOD_MS;
}
// I WISH WE COULD WAIT UNTIL THE OVEN IS AT 100 DEGREES C TO CLOSE THIS DOWN
pruio_pwm_setValue( io, P_OUT, -1, 0.0f );
pruio_pwm_setValue( io, SERVO_PIN, SERVO_FREQ, SERVO_DUTY_CLOSE ); // CLOSE THE DOOR
// STALL BEFORE SHUTTING DOWN PWM
timer_get( &start_time );
cur_time = start_time;
while( ( cur_time - start_time ) < 500 )
{
timer_get( &cur_time );
}
pruio_destroy(io); /* destroy driver structure */
return 0;
}
//! The main function.
int main(int argc, char **argv)
{
pruIo *Io = pruio_new(PRUIO_DEF_ACTIVE, 0x98, 0, 1); //! create new driver structure
do {
if (Io->Errr) {
printf("initialisation failed (%s)\n", Io->Errr); break;}
if (pruio_cap_config(Io, P_IN, 2.)) { // configure input pin
printf("failed setting input @P_IN (%s)\n", Io->Errr); break;}
float_t
f1 // Variable for calculated frequency.
, d1 // Variable for calculated duty cycle.
, f0 = .5 // The required frequency.
, d0 = .5; // The required duty cycle.
if (pruio_pwm_setValue(Io, P_OUT, f0, d0)) {
printf("failed setting output @P_OUT (%s)\n", Io->Errr); break;}
// pin config OK, transfer local settings to PRU and start
if (pruio_config(Io, 1, 0x1FE, 0, 4)) {
printf("config failed (%s)\n", Io->Errr); break;}
struct termios oldt, newt; // make terminal non-blocking
tcgetattr( STDIN_FILENO, &oldt );
newt = oldt;
newt.c_lflag &= ~( ICANON );
newt.c_cc[VMIN] = 0;
newt.c_cc[VTIME] = 1;
tcsetattr( STDIN_FILENO, TCSANOW, &newt );
while(1) { // run endless loop
if (1 == isleep(1)) {
switch (getchar()) { // evaluate keystroke
case '0' : d0 = 0.0; break;
case '1' : d0 = 0.1; break;
case '2' : d0 = 0.2; break;
case '3' : d0 = 0.3; break;
case '4' : d0 = 0.4; break;
case '5' : d0 = 0.5; break;
case '6' : d0 = 0.6; break;
case '7' : d0 = 0.7; break;
case '8' : d0 = 0.8; break;
case '9' : d0 = 0.9; break;
case ',' : d0 = 1.0; break;
case 'm' : f0 = (f0 > 5.5 ? f0 - 5. : .5); break;
case 'p' : f0 = (f0 < 999995. ? f0 + 5. : 1000000.); break;
case '*' : f0 = (f0 < 1000000 ? f0 * 2 : 1000000.); break;
case '/' : f0 = (f0 > .5 ? f0 / 2 : .5); break;
case '+' : f0 = 1000000; break;
case '-' : f0 = .5; break;
default: goto finish;
};
if (pruio_pwm_setValue(Io, P_OUT, f0, d0)) { // set new output
printf("failed setting PWM output (%s)\n", Io->Errr); break;}
printf("\n--> Frequency: %10f , Duty: %10f\n", f0, d0); // info
}
if (pruio_cap_Value(Io, P_IN, &f1, &d1)) { // get current input
printf("failed reading input @P_IN (%s)\n", Io->Errr); break;}
printf("\r Frequency: %10f , Duty: %10f ", f1, d1); // info
fflush(STDIN_FILENO);
}
finish:
tcsetattr( STDIN_FILENO, TCSANOW, &oldt ); // reset terminal
printf("\n");
} while (0);
pruio_destroy(Io); /* destroy driver structure */
return 0;
}
//-------------------------------! The main function.
int main(int argc, char **argv)
{ float_t f1 = 500.0F; // Variable for calculated frequency.
float_t d1 = 0.9F; // Variable for calculated duty cycle.
float_t f0 = 500.0F; // The required frequency.
float_t d0 = .9F; // The required duty cycle.
float_t MINFREQ = 2.0F; //
char buffer[256], *msg = buffer;
pruIo *Io;
int charX=0;
Io = pruio_new(PRUIO_DEF_ACTIVE, 16, 0x98, 0); //pruIo* pruio_new(uint16 Act, uint8 Av, uint32 OpD, uint8 SaD);
pruio_destroy(Io); //destroy driver structure
Io = pruio_new(PRUIO_DEF_ACTIVE, 16, 0x98, 0); //pruIo* pruio_new(uint16 Act, uint8 Av, uint32 OpD, uint8 SaD);
//output GpioUdt::setValue PwmMod::setValue
//input GpioUdt::config CapMod::config
msg= pruio_pwm_setValue(Io, P_FANA, f0, d0);
if(msg)printf("1%s\n",msg); //char* pruio_pwm_setValue(pruIo* Io, uint8 Ball, float_t Hz, float_t Du);
msg= pruio_pwm_setValue(Io, P_FANB, f0, d0);
if(msg)printf("2%s\n",msg); //char* pruio_pwm_setValue(pruIo* Io, uint8 Ball, float_t Hz, float_t Du);
msg= pruio_config(Io, 1, 0x1FE, 1e6, 0);
if(msg)printf("3%s\n",msg); //char* pruio_config(pruIo* Io, uint32 Samp, uint32 Mask, uint32 Tmr, uint16 Mds);
msg= pruio_cap_config(Io, (uint8)P_IN, MINFREQ); //NO NON-FLOAT with decimal, get interpreted at double
if(msg)printf("4%s\n",msg); //char* pruio_cap_config(pruIo* Io, uint8 Ball, float_t FLow);
// not using ring buffer mode. couldn't get 2 PWM outputs to work with SAMP>1
// So TMR value is ignored
// msg= pruio_rb_start(Io); if(msg)printf("5%s\n",msg); //char* pruio_rb_start(pruIo* Io);
printf("Samples: %d\n", Io->Adc->Samples);
printf("TimerVal: %d ns\n",Io->Adc->TimerVal);
// printf("Dram[0]= %d\n",Io->DRam[0] ); //most recent write position
struct termios oldt, newt; // make terminal non-blocking
int localerr=0;
if( 0>tcgetattr( STDIN_FILENO, &oldt ) )
{ localerr = errno;
printf("tcgetattr failed, error = %d\n",localerr);
}
newt = oldt;
newt.c_lflag &= ~( ICANON );
newt.c_cc[VMIN] = 0;
newt.c_cc[VTIME] = 1;
tcsetattr( STDIN_FILENO, TCSANOW, &newt );
int irun=1;
while(irun) // Terminate on ESC, else run endless loop
{ if (1 == isleep(1000)) // got a char
{ charX = getchar();
switch (charX) // evaluate keystroke
{ case '0' : d0 = 0.0; break;
case '1' : d0 = 0.1; break;
case '2' : d0 = 0.2; break;
case '3' : d0 = 0.3; break;
case '4' : d0 = 0.4; break;
case '5' : d0 = 0.5; break;
case '6' : d0 = 0.6; break;
case '7' : d0 = 0.7; break;
case '8' : d0 = 0.8; break;
case '9' : d0 = 0.9; break;
case ',' : d0 = 1.0; break;
case 'm' : f0 = (f0 > 5.5 ? f0 - 5. : .5); break;
case 'p' : f0 = (f0 < 999995. ? f0 + 5. : 1000000.); break;
case '*' : f0 = (f0 < 1000000 ? f0 * 2 : 1000000.); break;
case '/' : f0 = (f0 > .5 ? f0 / 2 : .5); break;
case '+' : f0 = 1000000; break;
case '-' : f0 = .5; break;
default: {irun = 0; break;} //anything other than above, quit
};
if(irun)
{ msg = pruio_pwm_setValue(Io, P_FANA, f0, d0);
if(msg)
{ printf("6failed setting PWMA output (%s)\n", Io->Errr); irun=0;
}else
{ printf("6\n");
}
msg = pruio_pwm_setValue(Io, P_FANB, f0, d0);
if(msg)
{ printf("7failed setting PWMB output (%s)\n", Io->Errr); irun=0;
}else
{ printf("7\n");
}
}
}
if(irun)
{ if (pruio_cap_Value(Io, P_IN, &f1, &d1)) // get current input
{ printf("8failed reading input @P_IN=%d (%s)\n", P_IN, Io->Errr); break;
}
printf("Freq %6.1f Duty: %6.1f Freq: %6.1f Duty: %6.1f ADC: %4d %4d %4d\n", f0, d0, f1, d1,Io->Adc->Value[1],Io->Adc->Value[2],Io->Adc->Value[3]); // info
fflush(STDIN_FILENO);
}
} //end while
tcsetattr( STDIN_FILENO, TCSANOW, &oldt ); // reset terminal
printf("Exiting\n");
if (pruio_pwm_setValue(Io, P_FANA, f0, 1)) // set new output
{ printf("failed setting PWMA output (%s)\n", Io->Errr);
}
if (pruio_pwm_setValue(Io, P_FANB, f0, 1)) // set new output
{ printf("failed setting PWMB output (%s)\n", Io->Errr);
}
pruio_destroy(Io); //destroy driver structure
return 0;
}