#include "BoneHeader.h"

#include "i2c-dev.h"

#include <poll.h>

#include <signal.h>

#include <errno.h>

#include <unistd.h>

#include <fcntl.h>

//inherits

//

// int export_gpio(int gpio);

// int unexport_gpio(int gpio);

// int set_gpio_direction(int gpio, char* direction);

// int set_gpio_value(int gpio, int value);

// int set_gpio_edge(int gpio, char* edge);

// int gpio_fd_open(int gpio);

// int gpio_fd_close(int fd);

// int set_mux_value(char* mux, int value);

// int read_ain(char* ain);

int keepgoing = 1;

//signal handler that breaks program loop and cleans up

void signal_handler(int signo){

if (signo == SIGINT) {

printf("\n^C pressed, unexporting gpios and exiting..\n");

keepgoing = 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;

}