oap-head.c

这个开发机器人项目源码

/*
 * $Id: oap-head.c,v 1.5 2005/02/19 14:39:09 dwalters Exp $
 * 
 * Copyright (C) 2003 Dafydd Walters <[e-mail]>
 * 
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <linux/i2c.h>
#include <linux/i2c-dev.h>
#include "../../config_api/config_api.h"
#include "../include26/i2c-dev-26.h"

#define VERSION "1.0"
#define CONFIG_FILENAME "/etc/oap.conf"
#define READ_PAN_SERVO_SETPOINT_COMMAND 1               // SMBus Read Byte
#define READ_PAN_SERVO_ACTUAL_COMMAND 2                 // SMBus Read Word
#define READ_TILT_SERVO_SETPOINT_COMMAND 3              // SMBus Read Byte
#define READ_TILT_SERVO_ACTUAL_COMMAND 4                // SMBus Read Word
#define READ_MAX_CHANGE_PER_PERIOD_COMMAND 5            // SMBus Read Byte
#define READ_RAW_ANALOG_IR_SENSOR_COMMAND 6             // SMBus Read Byte
#define READ_IR_SENSOR_NEUTRAL_VALUE_COMMAND 7          // SMBus Read Byte
#define READ_IR_SENSOR_TRIGGER_THRESHOLD_COMMAND 8      // SMBus Read Byte
#define READ_IR_TRIGGERED_EVENT_PAN_ACTUAL_COMMAND 9    // SMBus Read Byte
#define READ_IR_TRIGGERED_EVENT_STATUS_COMMAND 10       // SMBus Read Byte
#define READ_IR_TRIGGERED_EVENT_MODE_COMMAND 11         // SMBus Read Byte
#define READ_IR_TRIGGERED_EVENT_ANALOG_COMMAND 12       // SMBus Read Byte
#define READ_IR_TRIGGERED_EVENT_TIMER_COUNT_COMMAND 13  // SMBus Read Byte
#define READ_CURRENT_TIMER_COUNT_COMMAND 14             // SMBus Read Byte
#define READ_PWM_OUTPUT_STATUS_COMMAND 15               // SMBus Read Byte
#define WRITE_PAN_SERVO_SETPOINT_COMMAND 100            // SMBus Write Byte
#define WRITE_TILT_SERVO_SETPOINT_COMMAND 101           // SMBus Write Byte
#define WRITE_MAX_CHANGE_PER_PERIOD_COMMAND 102         // SMBus Write Byte
#define WRITE_IR_SENSOR_NEUTRAL_VALUE_COMMAND 103       // SMBus Write Byte
#define WRITE_IR_SENSOR_TRIGGER_THRESHOLD_COMMAND 104   // SMBus Write Byte
#define RESET_IR_TRIGGERED_EVENT_COMMAND 105            // SMBus Send Byte
#define WRITE_IR_TRIGGERED_EVENT_MODE_COMMAND 106       // SMBus Write Byte
#define RESET_TIMER_COUNT_COMMAND 107                   // SMBus Send Byte
#define ENABLE_PWM_OUTPUT_COMMAND 108                   // SMBus Send Byte
#define DISABLE_PWM_OUTPUT_COMMAND 109                  // SMBus Send Byte

static int device_address;
static char filename[100];
static int file;

static void read_config();
static int check_params(int argc, char* argv[]);
static void report_state(int file);
static void set_pan_servo_setpoint(int file, __u8 setpoint);
static void set_tilt_servo_setpoint(int file, __u8 setpoint);
static void set_max_change_per_period(int file, __u8 setpoint);
static void set_ir_sensor_neutral(int file, __u8 setpoint);
static void set_ir_sensor_trigger_threshold(int file, __u8 setpoint);
static void set_ir_triggered_event_mode(int file, __u8 setpoint);
static void reset_ir_event(int file);
static void zero_timer(int file);
static void activate(int file);
static void disable(int file);
static void show_usage(void);

int main(int argc, char* argv[])
{

    if (!check_params(argc, argv)) {
        show_usage();
        exit(EXIT_FAILURE);
    }

    /* Load configuration settings */
    read_config();

    /* Open device */    
    if ((file = open(filename, O_RDWR)) < 0) {
        fprintf(stderr, "Unable to open device %s\n", filename);
        exit(EXIT_FAILURE);
    }
    
    /* Select slave device address */
    if (ioctl(file, I2C_SLAVE, device_address) < 0) {
        fprintf(stderr, "Unable to set slave device address to %d\n", 
                device_address);
        close(file);
        exit(EXIT_FAILURE);
    }

    if (strcmp(argv[1], "s") == 0) {
        /* Report servo postions, state and configuration */
        report_state(file);
    }
    else if (strcmp(argv[1], "p") == 0) {
        /* Set Pan servo setpoint */
        set_pan_servo_setpoint(file, atoi(argv[2]));
    }
    else if (strcmp(argv[1], "t") == 0) {
        /* Set Tilt servo setpoint */
        set_tilt_servo_setpoint(file, atoi(argv[2]));
    }
    else if (strcmp(argv[1], "c") == 0) {
        /* Set Maximum Change Per Period setting */
        set_max_change_per_period(file, atoi(argv[2]));
    }
    else if (strcmp(argv[1], "n") == 0) {
        /* Set IR Sensor Neutral setting */
        set_ir_sensor_neutral(file, atoi(argv[2]));
    }
    else if (strcmp(argv[1], "i") == 0) {
        /* Set IR Sensor Trigger Threshold setting */
        set_ir_sensor_trigger_threshold(file, atoi(argv[2]));
    }
    else if (strcmp(argv[1], "m") == 0) {
        /* Set IR Triggered Event Mode setting */
        set_ir_triggered_event_mode(file, atoi(argv[2]));
    }
    else if (strcmp(argv[1], "r") == 0) {
        /* Reset ir event */
        reset_ir_event(file);
    }
    else if (strcmp(argv[1], "z") == 0) {
        /* Reset ir event */
        zero_timer(file);
    }
    else if (strcmp(argv[1], "a") == 0) {
        /* Activate PWM otuput */
        activate(file);
    }
    else if (strcmp(argv[1], "d") == 0) {
        /* Disable PWM output */
        disable(file);
    }
    
    close(file);
    exit(EXIT_SUCCESS);
}

void show_usage(void)
{
    printf("\nOpen Automaton Project Head Control Module utility - "
           "(oap-head) version %s\nCopyright (C) 2003 Dafydd Walters\n\n"
           "oap-head comes with ABSOLUTYELY NO WARRANTY; for details "
           "see the\nGNU General Public License at http://www.gnu.org"
           "/licenses/gpl.html\n\n", VERSION);

    printf("Usage: oap-head <command>\n"
            "Commands:\n"
            "  s        Report servo positons, state and configuration\n"
            "  p <nnn>  Pan servo setpoint\n"
            "  t <nnn>  Tilt servo setpoint\n"
            "  c <nnn>  Set \"Maximum Change Per Period\" setting\n"
            "  n <nnn>  Set \"IR Sensor Neutral\" setting\n"
            "  i <nnn>  Set \"IR Sensor Trigger Threshold\" setting\n"
            "  m <n>    Set \"IR Triggered Event Mode\" setting\n"
            "  r        Reset IR triggered event\n"
            "  z        Reset 8-bit free running timer counter\n"
            "  a        Activate PWM output, timer and IR sensing\n"
            "  d        Disable PWM output, timer and IR sensing (low power)\n"
            "\n");
}

void set_pan_servo_setpoint(int file, __u8 setpoint)
{
    __s32 result;

    /* Set pan servo setpoint */
    result = oap_i2c_smbus_write_byte_data(file, WRITE_PAN_SERVO_SETPOINT_COMMAND,
                                       setpoint);
    if (result < 0) {
        fprintf(stderr, "Error setting pan servo setpoint\n");
        close(file);
        exit(EXIT_FAILURE);
    }
}

void set_tilt_servo_setpoint(int file, __u8 setpoint)
{
    __s32 result;

    /* Set tilt servo setpoint */
    result = oap_i2c_smbus_write_byte_data(file, WRITE_TILT_SERVO_SETPOINT_COMMAND,
                                       setpoint);
    if (result < 0) {
        fprintf(stderr, "Error setting tilt servo setpoint\n");
        close(file);
        exit(EXIT_FAILURE);
    }
}

void set_max_change_per_period(int file, __u8 setting)
{
    __s32 result;

    /* Set max Change Per Period setting */
    result = oap_i2c_smbus_write_byte_data(file, WRITE_MAX_CHANGE_PER_PERIOD_COMMAND,
                                       setting);
    if (result < 0) {
        fprintf(stderr, "Error setting max Change Per Period setting\n");
        close(file);
        exit(EXIT_FAILURE);
    }
}

void set_ir_sensor_neutral(int file, __u8 setting)
{
    __s32 result;

    /* Set IR Sensor Neutral Setting */
    result = oap_i2c_smbus_write_byte_data(file, WRITE_IR_SENSOR_NEUTRAL_VALUE_COMMAND,
                                       setting);
    if (result < 0) {
        fprintf(stderr, "Error setting IR Sensor Neutral setting\n");
        close(file);
        exit(EXIT_FAILURE);
    }
}

void set_ir_sensor_trigger_threshold(int file, __u8 setting)
{
    __s32 result;

    /* Set IR Sensor Trigger Threshold Setting */
    result = oap_i2c_smbus_write_byte_data(file, WRITE_IR_SENSOR_TRIGGER_THRESHOLD_COMMAND,
                                       setting);
    if (result < 0) {
        fprintf(stderr, "Error setting IR Sensor Trigger Treshold setting\n");
        close(file);
        exit(EXIT_FAILURE);
    }
}

void set_ir_triggered_event_mode(int file, __u8 setting)
{
    __s32 result;

    /* Set IR Triggered Event Mode setting */
    result = oap_i2c_smbus_write_byte_data(file, WRITE_IR_TRIGGERED_EVENT_MODE_COMMAND,
                                       setting);
    if (result < 0) {
        fprintf(stderr, "Error setting IR Triggered Event Mode setting\n");
        close(file);
        exit(EXIT_FAILURE);
    }
}

void reset_ir_event(int file)
{
    __s32 result;
    
    /* Reset IR event */
    result = oap_i2c_smbus_write_byte(file, RESET_IR_TRIGGERED_EVENT_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error resetting IR triggered event\n");
        close(file);
        exit(EXIT_FAILURE);
    }
}
    
void zero_timer(int file)
{
    __s32 result;