int main (void)
{
pwm_frame_t * next_pwm = malloc(sizeof(pwm_frame_t));
initialize_pru();
start_pru();
pru_pwm_frame_t * pwm_out = get_pwm_pointer();
init_pwm(next_pwm);
output_pwm(next_pwm, pwm_out);
signal(SIGINT, signal_handler);
while(pruDataMem_int[0] != 0){
scanf("%d %d %d %d", &(next_pwm->zero), &(next_pwm->one), &(next_pwm->two), &(next_pwm->three));
printf("ping: %d\n", pruDataMem_int[1]/5800);
pruDataMem_int[2] = 0;
next_pwm->zero *= 1000;
next_pwm->one *= 1000;
next_pwm->two *= 1000;
next_pwm->three *= 1000;
output_pwm(next_pwm, pwm_out);
}
uninitialize_pru();
return(0);
}
int main (int argc, char ** argv)
{
if (argc != 2){
printf("you need to give me the number of frames to captures\n");
exit(-1);
}
int num_frames = atoi(argv[1]);
initialize_pru();
start_pru();
FILE * image_data = fopen("/media/usb/image.data", "w");
if (image_data == NULL){
fprintf(stderr, "Failed to open image output file");
exit(-1);
}
const char *version = FreeImage_GetVersion();
printf("Freeimage version %s\n", version);
FIBITMAP* dib = FreeImage_Allocate(320, 203, 16, 0xF800, 0x07E0,0x001F); // allocate 320x203 RGB565 bitmap
int bytespp = FreeImage_GetLine(dib)/FreeImage_GetWidth(dib);
FREE_IMAGE_TYPE image_type = FreeImage_GetImageType(dib);
if (image_type == FIT_BITMAP){
printf("1\n");
}
printf("%d %d\n", FreeImage_GetHeight(dib), FreeImage_GetWidth(dib));
BYTE * bits = FreeImage_GetBits(dib);
FILE * fp = fopen("image.data", "rb");
char filename[] = "/root/1314-BeagleBone-Quadcopter/code/ControlTower/ramfs/latest_image.bmp";
int i = 0;
for (i = 0; i < num_frames; i++){
while(i==pruDataMem_int[100]){usleep(100000);}
int buffer = pruDataMem_int[1];
printf("%d buffer=%d\n", pruDataMem_int[100], buffer);
if (i%10==0){
memcpy(bits, pru1_ddr+buffer*320*240*2, 320*203*2);
FreeImage_Save(FIF_BMP, dib, filename,0);
}
}
uninitialize_pru();
fflush(image_data);
printf("%d\n", ((volatile uint8_t *)pru1_ddr)[0]);
fclose(image_data);
prussdrv_pru_disable (PRU_NUM);
prussdrv_exit ();
return(0);
}
/*****************************************************************
* int initialize_cape()
* sets up necessary hardware and software
* should be the first thing your program calls
*****************************************************************/
int initialize_cape(){
FILE *fd;
printf("\n");
// check if another project was using resources
// kill that process cleanly with sigint if so
#ifdef DEBUG
printf("checking for existing PID_FILE\n");
#endif
fd = fopen(PID_FILE, "r");
if (fd != NULL) {
int old_pid;
fscanf(fd,"%d", &old_pid);
if(old_pid != 0){
printf("warning, shutting down existing robotics project\n");
kill((pid_t)old_pid, SIGINT);
sleep(1);
}
// close and delete the old file
fclose(fd);
remove(PID_FILE);
}
// create new pid file with process id
#ifdef DEBUG
printf("opening PID_FILE\n");
#endif
fd = fopen(PID_FILE, "ab+");
if (fd < 0) {
printf("\n error opening PID_FILE for writing\n");
return -1;
}
pid_t current_pid = getpid();
printf("Current Process ID: %d\n", (int)current_pid);
fprintf(fd,"%d",(int)current_pid);
fflush(fd);
fclose(fd);
// check the device tree overlay is actually loaded
if (is_cape_loaded() != 1){
printf("ERROR: Device tree overlay not loaded by cape manager\n");
return -1;
}
// initialize mmap io libs
printf("Initializing GPIO\n");
if(initialize_gpio()){
printf("mmap_gpio_adc.c failed to initialize gpio\n");
return -1;
}
//export all GPIO output pins
gpio_export(RED_LED);
gpio_set_dir(RED_LED, OUTPUT_PIN);
gpio_export(GRN_LED);
gpio_set_dir(GRN_LED, OUTPUT_PIN);
gpio_export(MDIR1A);
gpio_set_dir(MDIR1A, OUTPUT_PIN);
gpio_export(MDIR1B);
gpio_set_dir(MDIR1B, OUTPUT_PIN);
gpio_export(MDIR2A);
gpio_set_dir(MDIR2A, OUTPUT_PIN);
gpio_export(MDIR2B);
gpio_set_dir(MDIR2B, OUTPUT_PIN);
gpio_export(MDIR3A);
gpio_set_dir(MDIR3A, OUTPUT_PIN);
gpio_export(MDIR3B);
gpio_set_dir(MDIR3B, OUTPUT_PIN);
gpio_export(MDIR4A);
gpio_set_dir(MDIR4A, OUTPUT_PIN);
gpio_export(MDIR4B);
gpio_set_dir(MDIR4B, OUTPUT_PIN);
gpio_export(MOT_STBY);
gpio_set_dir(MOT_STBY, OUTPUT_PIN);
gpio_export(PAIRING_PIN);
gpio_set_dir(PAIRING_PIN, OUTPUT_PIN);
gpio_export(SPI1_SS1_GPIO_PIN);
gpio_set_dir(SPI1_SS1_GPIO_PIN, OUTPUT_PIN);
gpio_export(SPI1_SS2_GPIO_PIN);
gpio_set_dir(SPI1_SS2_GPIO_PIN, OUTPUT_PIN);
gpio_export(INTERRUPT_PIN);
gpio_set_dir(INTERRUPT_PIN, INPUT_PIN);
gpio_export(SERVO_PWR);
gpio_set_dir(SERVO_PWR, OUTPUT_PIN);
printf("Initializing ADC\n");
if(initialize_adc()){
printf("mmap_gpio_adc.c failed to initialize adc\n");
return -1;
}
printf("Initializing eQEP\n");
if(init_eqep(0)){
printf("mmap_pwmss.c failed to initialize eQEP\n");
return -1;
}
if(init_eqep(1)){
printf("mmap_pwmss.c failed to initialize eQEP\n");
return -1;
}
if(init_eqep(2)){
printf("mmap_pwmss.c failed to initialize eQEP\n");
return -1;
}
// setup pwm driver
printf("Initializing PWM\n");
if(simple_init_pwm(1,PWM_FREQ)){
printf("simple_pwm.c failed to initialize PWMSS 0\n");
return -1;
}
if(simple_init_pwm(2,PWM_FREQ)){
printf("simple_pwm.c failed to initialize PWMSS 1\n");
return -1;
}
// start some gpio pins at defaults
deselect_spi1_slave(1);
deselect_spi1_slave(2);
disable_motors();
//set up function pointers for button press events
printf("Initializing button interrupts\n");
initialize_button_handlers();
// Load binary into PRU
printf("Initializing PRU\n");
if(initialize_pru()){
printf("ERROR: PRU init FAILED\n");
return -1;
}
// Start Signal Handler
printf("Initializing exit signal handler\n");
signal(SIGINT, ctrl_c);
signal(SIGTERM, ctrl_c);
// Print current battery voltage
printf("Battery Voltage: %2.2fV\n", get_battery_voltage());
// all done
set_state(PAUSED);
printf("\nRobotics Cape Initialized\n");
return 0;
}
