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);
}
