oap-head.c

这个开发机器人项目源码

    
    /* Set timer count to zero */
    result = oap_i2c_smbus_write_byte(file, RESET_TIMER_COUNT_COMMAND);

    if (result < 0) {
        fprintf(stderr, "Error setting timer count to zero\n");
        close(file);
        exit(EXIT_FAILURE);
    }
}

void activate(int file)
{
    __s32 result;
    
    /* Activate PWM output */
    result = oap_i2c_smbus_write_byte(file, ENABLE_PWM_OUTPUT_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error activating PWM output\n");
        close(file);
        exit(EXIT_FAILURE);
    }
}
    
void disable(int file)
{
    __s32 result;
    
    /* Disable PWM output */
    result = oap_i2c_smbus_write_byte(file, DISABLE_PWM_OUTPUT_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error disabling PWM output\n");
        close(file);
        exit(EXIT_FAILURE);
    }
}

void report_state(int file)
{
    __s32 result;
    
    /* Read PWM power state */
    result = oap_i2c_smbus_read_byte_data(file, READ_PWM_OUTPUT_STATUS_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error reading PWM output status\n");
        close(file);
        exit(EXIT_FAILURE);
    }
    
    printf("PWM output, timer, IR sensing status: %s\n", 
           result ? "Active" : "Disabled");

    /* Read Pan servo setpoint */
    result = oap_i2c_smbus_read_byte_data(file, READ_PAN_SERVO_SETPOINT_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error reading pan servo setpoint\n");
        close(file);
        exit(EXIT_FAILURE);
    }
    
    printf("Pan servo setpoint: %d\n", result);
    
    /* Read Pan servo actual */
    result = oap_i2c_smbus_read_word_data(file, READ_PAN_SERVO_ACTUAL_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error reading pan servo actual\n");
        close(file);
        exit(EXIT_FAILURE);
    }
    
    printf("Pan servo actual driven position: %d\n", result / 256);
    printf("Pan servo reading timer count: %d\n", result % 256);
    
    /* Read Tilt servo setpoint */
    result = oap_i2c_smbus_read_byte_data(file, READ_TILT_SERVO_SETPOINT_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error reading tilt servo setpoint\n");
        close(file);
        exit(EXIT_FAILURE);
    }
    
    printf("Tilt servo setpoint: %d\n", result);
    
    /* Read Tilt servo actual */
    result = oap_i2c_smbus_read_word_data(file, READ_TILT_SERVO_ACTUAL_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error reading tilt servo actual\n");
        close(file);
        exit(EXIT_FAILURE);
    }
    
    printf("Tilt servo actual driven position: %d\n", result / 256);
    printf("Tilt servo reading timer count: %d\n", result % 256);
    
    /* Read raw analog IR sensor */
    result = oap_i2c_smbus_read_byte_data(file, READ_RAW_ANALOG_IR_SENSOR_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error reading raw IR sensor analog value\n");
        close(file);
        exit(EXIT_FAILURE);
    }
    
    printf("IR sensor raw ADC bitcount: %d\n", result);
    
    /* Read 8-bit timer count */
    result = oap_i2c_smbus_read_byte_data(file, READ_CURRENT_TIMER_COUNT_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error reading timer count\n");
        close(file);
        exit(EXIT_FAILURE);
    }
    
    printf("8-bit free running timer tick count: %d\n", result);
    
    /* IR Triggered Event Status */
    result = oap_i2c_smbus_read_byte_data(file, READ_IR_TRIGGERED_EVENT_STATUS_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error reading IR triggered event status\n");
        close(file);
        exit(EXIT_FAILURE);
    }
    
    printf("IR Triggered Event Stored: %s\n", result ? "yes" : "no");

    if (result) {
        /* IR Triggered Event is stored - get the details */

        /* IR triggered event pan actual driven position */
        result = oap_i2c_smbus_read_byte_data(file, READ_IR_TRIGGERED_EVENT_PAN_ACTUAL_COMMAND);
        if (result < 0) {
            fprintf(stderr, "Error reading IR triggered event pan actual\n");
            close(file);
            exit(EXIT_FAILURE);
        }
    
        printf("IR Triggered Event Pan position: %d\n", result);

        /* IR triggered event ADC bitcount */
        result = oap_i2c_smbus_read_byte_data(file, READ_IR_TRIGGERED_EVENT_ANALOG_COMMAND);
        if (result < 0) {
            fprintf(stderr, "Error reading IR triggered event analog bitcount\n");
            close(file);
            exit(EXIT_FAILURE);
        }
    
        printf("IR Triggered Event ADC bitcount: %d\n", result);

        /* IR triggered event timer */
        result = oap_i2c_smbus_read_byte_data(file, READ_IR_TRIGGERED_EVENT_TIMER_COUNT_COMMAND);
        if (result < 0) {
            fprintf(stderr, "Error reading IR triggered event timer\n");
            close(file);
            exit(EXIT_FAILURE);
        }
    
        printf("IR Triggered Event timer count: %d\n", result);

        printf("IR Triggered Event is now locked. Use 'oap-head r' to reset.\n");
    }    

    /* Maximum Change Per Period */
    result = oap_i2c_smbus_read_byte_data(file, READ_MAX_CHANGE_PER_PERIOD_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error reading max change per period\n");
        close(file);
        exit(EXIT_FAILURE);
    }
    
    printf("'Maximum Change Per Period' configuration setting: %d\n", result);

    /* IR Sensor Neutral */
    result = oap_i2c_smbus_read_byte_data(file, READ_IR_SENSOR_NEUTRAL_VALUE_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error reading IR sensor neutral\n");
        close(file);
        exit(EXIT_FAILURE);
    }
    
    printf("'IR Sensor Neutral' configuration setting: %d\n", result);

    /* IR sensor trigger */
    result = oap_i2c_smbus_read_byte_data(file, READ_IR_SENSOR_TRIGGER_THRESHOLD_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error reading IR sensor trigger\n");
        close(file);
        exit(EXIT_FAILURE);
    }
    
    printf("'IR Sensor Trigger Threhsold' configuration setting: %d\n", result);

    /* IR triggered event mode */
    result = oap_i2c_smbus_read_byte_data(file, READ_IR_TRIGGERED_EVENT_MODE_COMMAND);
    if (result < 0) {
        fprintf(stderr, "Error reading IR triggered event mode\n");
        close(file);
        exit(EXIT_FAILURE);
    }
    
    printf("'IR Triggered Event Mode' configuration setting: %d\n", result);

}

int check_params(int argc, char* argv[])
{
    if ((argc == 2) && (strcmp(argv[1], "s") == 0)) 
        return 1;
    
    if ((argc == 3) && (strcmp(argv[1], "p") == 0)) 
        return 1;
    
    if ((argc == 3) && (strcmp(argv[1], "t") == 0)) 
        return 1;
    
    if ((argc == 3) && (strcmp(argv[1], "c") == 0)) 
        return 1;
    
    if ((argc == 3) && (strcmp(argv[1], "n") == 0)) 
        return 1;
    
    if ((argc == 3) && (strcmp(argv[1], "i") == 0)) 
        return 1;
    
    if ((argc == 2) && (strcmp(argv[1], "r") == 0)) 
        return 1;
    
    if ((argc == 3) && (strcmp(argv[1], "m") == 0)) 
        return 1;
    
    if ((argc == 2) && (strcmp(argv[1], "z") == 0)) 
        return 1;
    
    if ((argc == 2) && (strcmp(argv[1], "a") == 0)) 
        return 1;
    
    if ((argc == 2) && (strcmp(argv[1], "d") == 0)) 
        return 1;
    
    return 0;
}

void read_config()
{
    config_t conf;
    char s_device_address[4];

    /* Open configuration file */
    if (!config_open(&conf, CONFIG_FILENAME, C_READ)) {
        fprintf(stderr, "Unable to open configuration file %s for reading\n", 
                CONFIG_FILENAME);
        exit(EXIT_FAILURE);
    }

    /* Read configuration settings */
    if (!config_read(&conf, "I2C", "DeviceName", filename, 100)) {
        fprintf(stderr, 
        "Unable to read DeviceName from [I2C] section of configuration file\n");
        config_close(&conf);
        exit(EXIT_FAILURE);
    }
    
    if (!config_read(&conf, "Head Control Module", "I2CAddress", 
                s_device_address, 4)) {
        fprintf(stderr, 
        "Unable to read I2CAddress from [Head Control Module] section of\n" 
        "configuration file.\n");
        config_close(&conf);
        exit(EXIT_FAILURE);
    }
    device_address = atoi(s_device_address);

    /* Close configuration file */
    config_close(&conf);
}