int serial_avail(void)
{
int k =-1;
k = mraa_uart_data_available(uart, 0);
return k;
}
mrb_value mrb_mraa_uart_read_to_prompt(mrb_state *mrb, mrb_value self) {
mraa_uart_context uart;
mrb_int timeout, nargs, i;
char prompt, str_arg[1], buf[1];
mrb_value result;
timeout = mrb_fixnum(IV_GET("@timeout"));
nargs = mrb_get_args(mrb, "|z", &str_arg);
if (nargs == 0) {
char *str = mrb_str_to_cstr(mrb, IV_GET("@prompt"));
prompt = str[0];
}
else
prompt = str_arg[0];
uart = (mraa_uart_context)mrb_data_get_ptr(mrb, self, &mrb_mraa_uart_ctx_type);
result = mrb_str_buf_new(mrb, mrb_fixnum(IV_GET("@read_bufsize")));
while (mraa_uart_data_available(uart, timeout) > 0) {
i = mraa_uart_read(uart, buf, 1);
if (i == 0) break;
if (*buf == prompt) break;
result = mrb_str_cat_cstr(mrb, result, buf);
}
return result;
}
/**
* Check to see if data is available on the device for reading
*
* @param millis number of milliseconds to wait, or 0 to return immediately
* @return true if there is data available to read, false otherwise
*/
bool
dataAvailable(unsigned int millis = 0)
{
if (mraa_uart_data_available(m_uart, millis))
return true;
else
return false;
}
bool rn2903_data_available(const rn2903_context dev, unsigned int millis)
{
assert(dev != NULL);
if (mraa_uart_data_available(dev->uart, millis))
return true;
else
return false;
}
int is_incoming_modem(){
char msg[40];
int x=0;
if ( (x = mraa_uart_data_available(uart,0) ) < 0 ) {
writeToFile(src, "error reading data from uart\n");
exit(UART_ERROR);
}
return x;
}
mrb_value mrb_mraa_uart_data_available(mrb_state *mrb, mrb_value self) {
mraa_uart_context uart;
unsigned int millis, nargs;
nargs = mrb_get_args(mrb, "|i", &millis);
if (nargs == 0)
millis = 0;
uart = (mraa_uart_context)mrb_data_get_ptr(mrb, self, &mrb_mraa_uart_ctx_type);
return ( mraa_uart_data_available(uart, millis) == 1 ) ? mrb_true_value() : mrb_false_value();
}
void Modem_SIM800::WriteLine(std::string line)
{
while(mraa_uart_data_available(this->_serial, 100))
{
char deadBuf[2] = {0};
mraa_uart_read(this->_serial, deadBuf, 1);
} // clear responses
mraa_uart_write(this->_serial, line.c_str(), strlen(line.c_str()));
mraa_uart_write(this->_serial, "\r\n", strlen("\r\n"));
Logging::LogMessage(std::string("--> ") + line);
}
int is_incoming_modem(){
char msg[40];
int x=0;
if ( (x = mraa_uart_data_available(uart,0) ) < 0 ) {
writeToFile(src, "error reading data from uart\n");
exit(UART_ERROR);
}
/*else if(x>0)
printf("at is_incoming_modem X (m_len outside the function) is:%d\n", x);*/
return x;
}
void Modem_SIM800::Init()
{
_enabled = true;
this->_serial = mraa_uart_init(0);
mraa_uart_set_baudrate(this->_serial, 9600);
// TODO: Error handling
while(mraa_uart_data_available(this->_serial, 0)) {this->Read();} // clear anything the modem sent on startup
// get the auto-bauder started
this->WriteLine("ATE0"); this->Read(); // disable echo of commands
if (mraa_uart_data_available(this->_serial, 100))
{
this->Read(); // read extra echo
}
this->WriteLine("AT"); this->Read();
this->WriteLine("AT"); this->Read();
this->WriteLine("AT"); this->Read();
while(mraa_uart_data_available(this->_serial, 100))
{
char deadBuf[2] = {0};
mraa_uart_read(this->_serial, deadBuf, 1);
} // clear responses
if(!this->CheckReply("ATE0", "OK"))
{
// TODO: error handle
}
Logging::LogMessage(this->GetOperator());
}
static bool ecezo_data_available(const ecezo_context dev, unsigned int millis)
{
assert(dev != NULL);
// i2c, we don't support this
if (dev->i2c)
{
return false;
}
// uart
if (mraa_uart_data_available(dev->uart, millis))
return true;
else
return false;
}
/**
* n_direction_flag: 0 from edison to beaglebone
* 1 from beaglebone to edison
* check https://github.com/peidong/drone/blob/master/Edison/main/edison-bbb-communication-code.md for commands
*/
int communication_with_beaglebone_uart(int nflag_direction, struct T_drone *pT_drone, int nflag_receive_success){
/**
* check if uart available
*/
while (pT_drone->nflag_enable_uart != 1){
usleep(1300);
}
pT_drone->nflag_enable_uart = 0;
mraa_uart_context beaglebone_uart;
if (nflag_direction == 1){
/**
* From beaglebone to edison
*/
beaglebone_uart = mraa_uart_init_raw("/dev/ttyO4");
mraa_uart_set_baudrate(beaglebone_uart, 38400);
mraa_uart_set_mode(beaglebone_uart, 8, MRAA_UART_PARITY_NONE , 1);
while (mraa_uart_data_available(beaglebone_uart, 10000) != 1){
printf("data not available\n");
/*usleep(10000);*/
}
/**
* Start receive
*/
char c_flag[1];
char arrc_buffer[20];
int nflag_find_beginning = 0;
int nflag_find_end = 0;
int n_index = 0;
/**
* Read the message array
*/
while (nflag_find_beginning != 1){
mraa_uart_read(beaglebone_uart, c_flag, 1);
if (c_flag[0] == '~'){
nflag_find_beginning = 1;
n_index = 0;
while (nflag_find_end != 1){
mraa_uart_read(beaglebone_uart, arrc_buffer + n_index, 1);
if (arrc_buffer[n_index] == '$'){
arrc_buffer[n_index] = '\0';
nflag_find_end = 1;
//break;
}else if (arrc_buffer[n_index] == '~'){
nflag_find_end = -1;
nflag_find_beginning = 1;
n_index = 0;
//continue;
}else{
n_index++;
}
}
}
}
/**
* Process the message
*/
int n_command_index = -1;
if (arrc_buffer[0] == '0'){
/**
* stop
*/
n_command_index = 0;
printf("stop received\n");
}else if (arrc_buffer[0] == '1'){
/**
* auto control
*/
char arrc_command_index[4];
int n_temp_index;
for (n_temp_index = 0; n_temp_index <= 2; n_temp_index++){
arrc_command_index[n_temp_index] = arrc_buffer[n_temp_index];
}
arrc_command_index[3] = '\0';
n_command_index = atoi(arrc_command_index);
printf("auto control received: %d\n", n_command_index);
}else if (arrc_buffer[0] == '2'){
/**
* manual control command
*/
char arrc_command_index[4];
int n_temp_index;
for (n_temp_index = 0; n_temp_index <= 2; n_temp_index++){
arrc_command_index[n_temp_index] = arrc_buffer[n_temp_index];
}
arrc_command_index[3] = '\0';
n_command_index = atoi(arrc_command_index);
printf("manual control received: %d\n", n_command_index);
}else if (arrc_buffer[0] == '3'){
/**
* pid tuning
*/
char arrc_command_index[4];
int n_temp_index;
for (n_temp_index = 0; n_temp_index <= 2; n_temp_index++){
arrc_command_index[n_temp_index] = arrc_buffer[n_temp_index];
}
arrc_command_index[3] = '\0';
n_command_index = atoi(arrc_command_index);
printf("pid tuning received: %d\n", n_command_index);
char arrc_pid_value[9];
for (n_temp_index = 0; n_temp_index <= 7; n_temp_index++){
arrc_pid_value[n_temp_index] = arrc_buffer[n_temp_index + 3];
}
arrc_buffer[8] = '\0';
if (n_command_index == 301){
pT_drone->d_kp_pitch = atof(arrc_pid_value);
}else if (n_command_index == 302){
pT_drone->d_ki_pitch = atof(arrc_pid_value);
}else if (n_command_index == 303){
pT_drone->d_kd_pitch = atof(arrc_pid_value);
}else if (n_command_index == 304){
pT_drone->d_kp_roll = atof(arrc_pid_value);
}else if (n_command_index == 305){
pT_drone->d_ki_roll = atof(arrc_pid_value);
}else if (n_command_index == 306){
pT_drone->d_kd_roll = atof(arrc_pid_value);
}else if (n_command_index == 307){
pT_drone->d_kp_yaw = atof(arrc_pid_value);
}else if (n_command_index == 308){
pT_drone->d_kd_yaw = atof(arrc_pid_value);
}else if (n_command_index == 309){
pT_drone->d_ki_yaw = atof(arrc_pid_value);
}else if (n_command_index == 310){
pT_drone->d_kp_second_pitch = atof(arrc_pid_value);
}else if (n_command_index == 311){
pT_drone->d_kd_second_pitch = atof(arrc_pid_value);
}else if (n_command_index == 312){
pT_drone->d_kp_second_roll = atof(arrc_pid_value);
}else if (n_command_index == 313){
pT_drone->d_kd_second_roll = atof(arrc_pid_value);
}else if (n_command_index == 314){
pT_drone->d_kp_second_yaw = atof(arrc_pid_value);
}else if (n_command_index == 315){
pT_drone->d_kd_second_yaw = atof(arrc_pid_value);
}
printf("pid tuning value: %lf\n", atof(arrc_pid_value));
}else if (arrc_buffer[0] == '4'){
/**
* feedback
*/
printf("feedback received\n");
}
}else if (nflag_direction == 0){
/**
* From edison to beaglebone
*/
}
pT_drone->nflag_enable_uart = 1;
return 0;
}
int main(){
/**********************************************************************/
/**********************************************************************/
/* Begin. */
mraa_uart_context uart;
uart = mraa_uart_init(0);
mraa_uart_set_baudrate(uart, 115200);
char buffer[] = "hhh";
char flush[]="xxxxxxxxxxxx";
char str[] = "HELLO";
if (uart == NULL) {
fprintf(stderr, "UART failed to setup\n");
printf("UART failed");
return 1;
}
printf("firstavail:%d\n",mraa_uart_data_available(uart,0));
while (mraa_uart_data_available(uart,0))
{
mraa_uart_read(uart, flush, sizeof(uart));
printf("Flush: %c %c %c %c %c %c %c %c",flush[0], flush[1], flush[2],flush[3],flush[4],flush[5],flush[6],flush[7]);
usleep(150);
}
printf("available: %d",mraa_uart_data_available(uart,0));
char speed_user_input[MAXBUFSIZ];
char turn_user_input[MAXBUFSIZ];
mraa_pwm_context speed_pwm_in1, speed_pwm_in2, turn_pwm;
speed_pwm_in1 = mraa_pwm_init(3);
speed_pwm_in2 = mraa_pwm_init(5);
turn_pwm = mraa_pwm_init(6);
if (speed_pwm_in1 == NULL || speed_pwm_in2 == NULL || turn_pwm == NULL) {
fprintf(stderr, "Failed to initialized.\n");
return 1;
}
mraa_pwm_period_us(speed_pwm_in1,870); //1150Hz
mraa_pwm_enable(speed_pwm_in1, 1);
mraa_pwm_period_us(speed_pwm_in2,870);
mraa_pwm_enable(speed_pwm_in2, 1);
mraa_pwm_period_ms(turn_pwm,20);
mraa_pwm_enable(turn_pwm, 1);
mraa_pwm_write(turn_pwm, CENTER);
mraa_pwm_write(speed_pwm_in1, 1.0f);
mraa_pwm_write(speed_pwm_in2, 1.0f);
int n = 5;
int spd = 0;
char direction = 'C';
char cross_clr = 'B';
float angle = 0.0f;
while (1)
{
//sleep(2);
//readCharAry(uart,flush);
spd = 50;
mraa_uart_read(uart, buffer, 1);
if(buffer[0]=='\n')
{
printf("new line ");
mraa_uart_read(uart, buffer, 1);
if(buffer[0]=='\n')
{
printf("new line ");
mraa_uart_read(uart, buffer, 1);
}
}
mraa_uart_read(uart, buffer+1, 1);
if(buffer[1]=='\n')
{
buffer[0] = 'h';
buffer[1] = 'h';
}
int sign = 0;
if(cross_clr == 'M')
{
speed_control(speed_pwm_in1, speed_pwm_in2, 0.0f);
sleep(1);
char* nearestBeaconID = (char*)malloc(5);
getStrongestBeacon(nearestBeaconID);
printf("the nearestBeaconID is: %s\n", nearestBeaconID);
sign = 1;
angle = CENTER + 0.015f;
mraa_pwm_write(turn_pwm, angle);
usleep(15000);
speed_control(speed_pwm_in1, speed_pwm_in2, 54);
printf("speed: %d",spd);
usleep(5500000);
speed_control(speed_pwm_in1, speed_pwm_in2, 0.0f);
//sleep(1);
mraa_uart_write(uart, str, 1);
//while(!mraa_uart_data_available(uart, 10)){};
mraa_uart_read(uart, buffer, 1);
while(buffer[0] == '\n')
{
mraa_uart_read(uart, buffer, 1);
}
if(buffer[0] == '\0') direction = 'C';
mraa_uart_read(uart, buffer + 1, 1);
cross_clr = buffer[1];
}
printf("buff:%c %c %c \n",buffer[0], buffer[1],buffer[2]);
if(!sign){
if (direction == 'L') angle = CENTER - 0.005f;
if (direction == 'R') angle = CENTER + 0.005f;
if (direction == 'C') angle = CENTER;}
else
{
if (direction == 'C') angle = CENTER +0.013f;
if (direction == 'L') angle = CENTER +0.005f;
if (direction == 'R') angle = CENTER + 0.019f;
}
mraa_pwm_write(turn_pwm, angle);
speed_control(speed_pwm_in1, speed_pwm_in2, spd);
printf("speed: %d",spd);
usleep(250000);
direction = buffer[0];
cross_clr = buffer[1];
}
return 0;
}
