begin to write motor.c

project/motor.c

@@ -1,18 +1,99 @@
 #include<stdio.h>
-#include<fctnl.h>
+#include<fcntl.h>
 #include<string.h>
 #include<unistd.h>
 
 #define BASEPATH "/sys/class/gpio/"
 #define GPIO_FOLDER "gpio%s/"
 
-#define PIN_IN1 "6"
+#define PIN_MOTOR1_FORWARD "6"
-#define PIN_IN2 "13"
+#define PIN_MOTOR1_REVERSE "13"
-#define PIN_IN3 "19"
+#define PIN_MOTOR2_FORWARD "19"
-#define PIN_IN4 "26"
+#define PIN_MOTOR2_REVERSE "26"
+
+#define MOTOR_ON 0
+#define MOTOR_OFF 1
+
+void writeFile(char *filename, char *buffer, size_t count)
+{
+	int fd = open(filename, O_WRONLY);
+	write(fd, buffer, count);
+	close(fd);
+}
+
+void registerPin(char *pin)
+{
+	writeFile(BASEPATH "export", pin, strlen(pin));
+}
+
+void freePin(char *pin)
+{
+	writeFile(BASEPATH "unexport", pin, strlen(pin));
+}
+
+void setDirection(char *pin, char *direction, int dirlen)
+{
+	char path[50];
+	sprintf(path, BASEPATH GPIO_FOLDER "direction", pin);
+	writeFile(path, direction, dirlen);
+}
+
+void registerOutput(char *pin)
+{
+	registerPin(pin);
+	setDirection(pin, "out", 3);
+}
+
+void writeOutput(char *pin, int state)
+{
+	char path[50];
+	sprintf(path, BASEPATH GPIO_FOLDER "value", pin);
+	FILE *fd = fopen(path, "w");
+	fprintf(fd, "%i", state);
+	fclose(fd);
+}
+
+void forward(int motorNumber)
+{
+	if(motorNumber == 1)
+	{
+		writeOutput(PIN_MOTOR1_FORWARD, MOTOR_ON);		
+	}
+	else if(motorNumber == 2)
+	{
+		writeOutput(PIN_MOTOR2_FORWARD, MOTOR_ON);
+	}
+	else if(motorNumber == 3)
+	{
+		writeOutput(PIN_MOTOR1_FORWARD, MOTOR_ON);
+		writeOutput(PIN_MOTOR2_FORWARD, MOTOR_ON);
+	}		
+}
+
+void reverse(int motorNumber)
+{
+	if(motorNumber == 1)
+	{
+		writeOutput(PIN_MOTOR1_REVERSE, MOTOR_ON);
+	}
+	else if(motorNumber == 2)
+	{
+		writeOutput(PIN_MOTOR2_REVERSE, MOTOR_ON);
+	}
+	else if(motorNumber == 3)
+	{
+		writeOutput(PIN_MOTOR1_REVERSE, MOTOR_ON);
+		writeOutput(PIN_MOTOR2_REVERSE, MOTOR_ON);
+	}
+}
 
 int main()
 {
+	registerOutput(PIN_MOTOR1_FORWARD);
+	registerOutput(PIN_MOTOR1_REVERSE);
+	registerOutput(PIN_MOTOR2_FORWARD);
+	registerOutput(PIN_MOTOR2_REVERSE);
+	
 	
 	return 0;
 }