Compare commits
5 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
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2f29dc80ce | ||
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60a9c97758 | ||
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5974a3a1d5 | ||
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c265e4c1fb | ||
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8b0c083d5d |
@@ -1,5 +0,0 @@
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language: rust
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rust:
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||||||
- nightly
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||||||
script:
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||||||
- true
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||||||
@@ -81,7 +81,9 @@ fn main() {
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chan_select! {
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chan_select! {
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||||||
rpanic.recv() => { },
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rpanic.recv() => { },
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signal.recv() -> signal => {
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signal.recv() -> signal => {
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#[cfg(debug_assertions)]
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println!("received signal: {:?}", signal);
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println!("received signal: {:?}", signal);
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sdone.send(());
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sdone.send(());
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}
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}
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}
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}
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166
V1/switch.c
166
V1/switch.c
@@ -1,102 +1,120 @@
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/*
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||||||
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* switch.c
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* How to register an button and count this
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* author: Simon Wörner, Manuel Vögele,
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* Siegfried Kienzle
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* 24-March-2017
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*
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* */
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#define BUTTON "17"
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#define IN "in\n"
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#define OUT "out\n"
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#define HIGH "1\n"
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#define LOW "0\n"
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#define MAXBYTES 1
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#include <stdio.h>
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#include <stdio.h>
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#include <fcntl.h>
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#include <stdlib.h>
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#include <string.h>
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#include <string.h>
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#include <time.h>
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#include <unistd.h>
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#include <unistd.h>
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#include <fcntl.h>
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#define BASEPATH "/sys/class/gpio/"
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int writeIntoFile(char* value, char* path)
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#define GPIO_FOLDER "gpio%s/"
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#define PIN_BUTTON "17"
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#define PIN_LED "18"
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#define LED_ON 0
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#define LED_OFF 1
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#define BUTTON_PRESSED 0
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#define BUTTON_RELEASED 1
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void writeFile(char *filename, char *buffer, size_t count)
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{
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{
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int fd = open(filename, O_WRONLY);
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int fd;
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write(fd, buffer, count);
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char buffer[3];
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close(fd);
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strcpy(buffer, value);
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if((fd=open(path, O_RDWR | O_CREAT | O_TRUNC)) == -1) {
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perror(NULL);
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return EXIT_FAILURE;
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}
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if((write(fd, &buffer, sizeof(buffer))) == -1) {
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perror("Cannot write into file");
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return EXIT_FAILURE;
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}
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printf("Success");
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close(fd);
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return EXIT_SUCCESS;
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}
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}
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void registerPin(char *pin)
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int reserve(char* gpioPort)
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{
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{
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writeFile(BASEPATH "export", pin, strlen(pin));
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char str[3];
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strcpy(str, gpioPort);
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strcat(str, "\n");
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return writeIntoFile(str,"/sys/class/gpio/export");
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}
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}
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void freePin(char *pin)
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int setDirection(char* gpioPort, char* inOut)
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||||||
{
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{
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||||||
writeFile(BASEPATH "unexport", pin, strlen(pin));
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char *direc = "/direction";
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char *gpioPath = "/sys/class/gpio/gpio";
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char path[32];
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strcpy(path, gpioPath);
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strcat(path, gpioPort);
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strcat(path, direc);
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return writeIntoFile(inOut, path);
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}
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}
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void setDirection(char *pin, char *direction, int dirlen)
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int setOutput(char* gpioPort, char* volt)
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{
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{
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char path[50];
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char *val = "/value";
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sprintf(path, BASEPATH GPIO_FOLDER "direction", pin);
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char *gpioPath = "/sys/class/gpio/gpio";
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||||||
writeFile(path, direction, dirlen);
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char path[28];
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strcpy(path, gpioPath);
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strcat(path, gpioPort);
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strcat(path, val);
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return writeIntoFile(volt, path);
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}
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}
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void registerInput(char *pin)
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int mainLoop(char* gpioPort)
|
||||||
{
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{
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registerPin(pin);
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int fid, portValue, count, countButton;
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setDirection(pin, "in", 2);
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char *val = "/value";
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char *gpioPath = "/sys/class/gpio/gpio";
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char path[28];
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strcpy(path, gpioPath);
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strcat(path, gpioPort);
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strcat(path, val);
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|
while(true)
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{
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||||||
|
if( (fid=open(path, O_RDONLY)) == -1)
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perror("Fehler ");
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||||||
|
if(readInput(fid) == 1)
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||||||
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{
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||||||
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countButton++;
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printf("%d", countButton);
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||||||
|
}
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||||||
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||||||
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close(fid);
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||||||
|
}
|
||||||
}
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}
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|
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||||||
void registerOutput(char *pin)
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char[] readInput(int fid)
|
||||||
{
|
{
|
||||||
registerPin(pin);
|
char buffer[MAXBYTES];
|
||||||
setDirection(pin, "out", 3);
|
read(fid, &buffer, MAXBYTES);
|
||||||
|
return buffer;
|
||||||
}
|
}
|
||||||
|
|
||||||
int readInput(char *pin)
|
int unexport(char* gpioport)
|
||||||
{
|
{
|
||||||
char path[50];
|
char str[3];
|
||||||
int state;
|
strcpy(str, gpioPort);
|
||||||
sprintf(path, BASEPATH GPIO_FOLDER "value", pin);
|
strcat(str, "\n");
|
||||||
FILE *fd = fopen(path, "r");
|
return writeIntoFile(str,"/sys/class/gpio/unexport");
|
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fscanf(fd, "%i", &state);
|
|
||||||
fclose(fd);
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||||||
return state;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
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);
|
|
||||||
}
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|
||||||
|
|
||||||
int main()
|
int main()
|
||||||
{
|
{
|
||||||
struct timespec sleeptime, sleepremain;
|
reserve(BUTTON);
|
||||||
int oldstate = BUTTON_PRESSED;
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setDirection(BUTTON, IN);
|
||||||
int state;
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mainLoop(BUTTON);
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||||||
int count = 0;
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unexport(BUTTON);
|
||||||
registerInput(PIN_BUTTON);
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return 0;
|
||||||
registerOutput(PIN_LED);
|
|
||||||
sleeptime.tv_sec = 0;
|
|
||||||
sleeptime.tv_nsec = 1000000;
|
|
||||||
while (1)
|
|
||||||
{
|
|
||||||
nanosleep(&sleeptime, &sleepremain);
|
|
||||||
state = readInput(PIN_BUTTON);
|
|
||||||
if (state == BUTTON_PRESSED && oldstate == BUTTON_RELEASED)
|
|
||||||
{
|
|
||||||
count++;
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|
||||||
printf("Number of button pushes: %i\n", count);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (state == BUTTON_PRESSED)
|
|
||||||
writeOutput(PIN_LED, LED_ON);
|
|
||||||
else
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|
||||||
writeOutput(PIN_LED, LED_OFF);
|
|
||||||
|
|
||||||
oldstate = state;
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|||||||
1
V2/delay/.gitignore
vendored
1
V2/delay/.gitignore
vendored
@@ -1 +0,0 @@
|
|||||||
*.eps
|
|
||||||
@@ -1,41 +0,0 @@
|
|||||||
# Auswertung
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
## No Load
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
### No Realtime
|
|
||||||
|
|
||||||
Läuft der Prozess ohne Load und Realtime so liegt das Delay im Mean bei etwa **100µs**.
|
|
||||||
Der Ausreiser bei *11.000µs* Sleep Periode lässt sich durch eine kurze zeitigte Last durch einen Hintergrundprozess erklären, da bei jeder Messung (100 Durchläufe) immer der Worst Case betrachtet wird.
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
### Realtime
|
|
||||||
|
|
||||||
Im Vergleich dazu sinkt bei aktiver Realtime Priorität das Mean Delay auf etwa **25µs**.
|
|
||||||
|
|
||||||
Hier gibt es dafür mehr Ausreiser welche aber nicht über **190µs** hinaus gehen, auch hier lassen sich diese durch eine kurze zeitigte Last von einen Hintergrundprozess erklären.
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
## Load
|
|
||||||
|
|
||||||
### No Realtime
|
|
||||||
|
|
||||||
Bei Load ohne Realtime gibt es zu Begin einen großen Ausreiser mit über **10.000 µs**.
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
### Realtime
|
|
||||||
|
|
||||||
Durch die Realtime Priorität können solche Ausreiser vermieden werden, hier liegt der Mean etwas über dem ohne Last (etwa **27,5µs**) und die Ausreiser gehen bis knapp **55µs**.
|
|
||||||
|
|
||||||
Dies liegt immer weit unter den Werten ohne Load ohne Realtime Priorität.
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
Binary file not shown.
|
Before Width: | Height: | Size: 50 KiB |
@@ -1,100 +0,0 @@
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1000000 74885
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|
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2000000 70188
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3000000 100960
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|
||||||
4000000 96993
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|
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5000000 97920
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|
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6000000 95671
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|
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7000000 95193
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|
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8000000 96590
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|
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9000000 93091
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|
||||||
10000000 99800
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|
||||||
11000000 97447
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|
||||||
12000000 604203
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|
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13000000 104094
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|
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14000000 95803
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|
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15000000 95638
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|
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16000000 102138
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|
||||||
17000000 102025
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|
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18000000 91546
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|
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19000000 96641
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|
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20000000 99028
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|
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21000000 120893
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|
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22000000 100362
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|
||||||
23000000 96186
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|
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24000000 97427
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|
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25000000 136011
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|
||||||
26000000 97303
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|
||||||
27000000 106304
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|
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28000000 101138
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|
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29000000 107326
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|
||||||
30000000 98307
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|
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31000000 102672
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|
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32000000 126308
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|
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33000000 96300
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|
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34000000 98373
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|
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35000000 95499
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|
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36000000 96948
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|
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37000000 100012
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|
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38000000 145522
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|
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39000000 103847
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|
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40000000 99775
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|
||||||
41000000 97942
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|
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42000000 100953
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|
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43000000 145006
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|
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44000000 100518
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|
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45000000 97123
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|
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46000000 97738
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|
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47000000 163093
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|
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48000000 96574
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|
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49000000 99272
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|
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50000000 102283
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|
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51000000 141284
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|
||||||
52000000 110285
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|
||||||
53000000 98504
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|
||||||
54000000 99068
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|
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55000000 105413
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|
||||||
56000000 116444
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|
||||||
57000000 94664
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|
||||||
58000000 106010
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|
||||||
59000000 96990
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|
||||||
60000000 116771
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|
||||||
61000000 105616
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|
||||||
62000000 101075
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|
||||||
63000000 108201
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|
||||||
64000000 100692
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|
||||||
65000000 97401
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|
||||||
66000000 96037
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|
||||||
67000000 156027
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|
||||||
68000000 101695
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|
||||||
69000000 100123
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|
||||||
70000000 96780
|
|
||||||
71000000 97292
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|
||||||
72000000 98376
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|
||||||
73000000 101387
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|
||||||
74000000 95961
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|
||||||
75000000 98504
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|
||||||
76000000 100942
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|
||||||
77000000 97391
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|
||||||
78000000 100610
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|
||||||
79000000 95913
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|
||||||
80000000 96685
|
|
||||||
81000000 96468
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|
||||||
82000000 162291
|
|
||||||
83000000 138063
|
|
||||||
84000000 97220
|
|
||||||
85000000 96690
|
|
||||||
86000000 103070
|
|
||||||
87000000 96431
|
|
||||||
88000000 102827
|
|
||||||
89000000 132035
|
|
||||||
90000000 97650
|
|
||||||
91000000 101599
|
|
||||||
92000000 96850
|
|
||||||
93000000 105641
|
|
||||||
94000000 100006
|
|
||||||
95000000 96558
|
|
||||||
96000000 96290
|
|
||||||
97000000 99299
|
|
||||||
98000000 97207
|
|
||||||
99000000 96728
|
|
||||||
100000000 99478
|
|
||||||
Binary file not shown.
|
Before Width: | Height: | Size: 58 KiB |
@@ -1,100 +0,0 @@
|
|||||||
1000000 16656
|
|
||||||
2000000 25916
|
|
||||||
3000000 21532
|
|
||||||
4000000 21365
|
|
||||||
5000000 28073
|
|
||||||
6000000 61812
|
|
||||||
7000000 25969
|
|
||||||
8000000 22677
|
|
||||||
9000000 28709
|
|
||||||
10000000 44480
|
|
||||||
11000000 47542
|
|
||||||
12000000 44199
|
|
||||||
13000000 26011
|
|
||||||
14000000 50844
|
|
||||||
15000000 24220
|
|
||||||
16000000 47490
|
|
||||||
17000000 30084
|
|
||||||
18000000 22418
|
|
||||||
19000000 24543
|
|
||||||
20000000 130157
|
|
||||||
21000000 87386
|
|
||||||
22000000 28783
|
|
||||||
23000000 41480
|
|
||||||
24000000 34803
|
|
||||||
25000000 51356
|
|
||||||
26000000 115667
|
|
||||||
27000000 57116
|
|
||||||
28000000 25699
|
|
||||||
29000000 27147
|
|
||||||
30000000 25419
|
|
||||||
31000000 25408
|
|
||||||
32000000 25971
|
|
||||||
33000000 25752
|
|
||||||
34000000 27513
|
|
||||||
35000000 22138
|
|
||||||
36000000 25356
|
|
||||||
37000000 24461
|
|
||||||
38000000 24919
|
|
||||||
39000000 26107
|
|
||||||
40000000 27034
|
|
||||||
41000000 27025
|
|
||||||
42000000 48784
|
|
||||||
43000000 188304
|
|
||||||
44000000 65535
|
|
||||||
45000000 72815
|
|
||||||
46000000 81399
|
|
||||||
47000000 89305
|
|
||||||
48000000 72733
|
|
||||||
49000000 27411
|
|
||||||
50000000 27557
|
|
||||||
51000000 101504
|
|
||||||
52000000 26026
|
|
||||||
53000000 25078
|
|
||||||
54000000 25693
|
|
||||||
55000000 22349
|
|
||||||
56000000 26401
|
|
||||||
57000000 27381
|
|
||||||
58000000 27996
|
|
||||||
59000000 23610
|
|
||||||
60000000 28079
|
|
||||||
61000000 22913
|
|
||||||
62000000 23371
|
|
||||||
63000000 28777
|
|
||||||
64000000 26476
|
|
||||||
65000000 27091
|
|
||||||
66000000 24528
|
|
||||||
67000000 23684
|
|
||||||
68000000 23675
|
|
||||||
69000000 22883
|
|
||||||
70000000 24904
|
|
||||||
71000000 26925
|
|
||||||
72000000 22332
|
|
||||||
73000000 24405
|
|
||||||
74000000 26530
|
|
||||||
75000000 23811
|
|
||||||
76000000 26094
|
|
||||||
77000000 22854
|
|
||||||
78000000 24511
|
|
||||||
79000000 22833
|
|
||||||
80000000 31417
|
|
||||||
81000000 21719
|
|
||||||
82000000 23324
|
|
||||||
83000000 26803
|
|
||||||
84000000 26585
|
|
||||||
85000000 26437
|
|
||||||
86000000 29864
|
|
||||||
87000000 26000
|
|
||||||
88000000 28438
|
|
||||||
89000000 28689
|
|
||||||
90000000 22794
|
|
||||||
91000000 23148
|
|
||||||
92000000 22096
|
|
||||||
93000000 26096
|
|
||||||
94000000 27233
|
|
||||||
95000000 25661
|
|
||||||
96000000 24244
|
|
||||||
97000000 25797
|
|
||||||
98000000 22609
|
|
||||||
99000000 25673
|
|
||||||
100000000 26861
|
|
||||||
Binary file not shown.
|
Before Width: | Height: | Size: 44 KiB |
@@ -1,100 +0,0 @@
|
|||||||
1000000 10251030
|
|
||||||
2000000 81073
|
|
||||||
3000000 75124
|
|
||||||
4000000 74646
|
|
||||||
5000000 63594
|
|
||||||
6000000 74833
|
|
||||||
7000000 72323
|
|
||||||
8000000 75230
|
|
||||||
9000000 75063
|
|
||||||
10000000 73386
|
|
||||||
11000000 78688
|
|
||||||
12000000 76335
|
|
||||||
13000000 74814
|
|
||||||
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|
|
||||||
15000000 79221
|
|
||||||
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|
|
||||||
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|
|
||||||
18000000 113772
|
|
||||||
19000000 86679
|
|
||||||
20000000 81460
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
80000000 74693
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
84000000 72257
|
|
||||||
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|
|
||||||
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|
|
||||||
87000000 78009
|
|
||||||
88000000 104926
|
|
||||||
89000000 78459
|
|
||||||
90000000 83397
|
|
||||||
91000000 78648
|
|
||||||
92000000 67649
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
99000000 78830
|
|
||||||
100000000 67622
|
|
||||||
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|
Before Width: | Height: | Size: 69 KiB |
@@ -1,100 +0,0 @@
|
|||||||
1000000 22281
|
|
||||||
2000000 15345
|
|
||||||
3000000 14709
|
|
||||||
4000000 13867
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
12000000 23578
|
|
||||||
13000000 23828
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
19000000 23404
|
|
||||||
20000000 18447
|
|
||||||
21000000 24166
|
|
||||||
22000000 22385
|
|
||||||
23000000 28885
|
|
||||||
24000000 23510
|
|
||||||
25000000 21313
|
|
||||||
26000000 27656
|
|
||||||
27000000 18063
|
|
||||||
28000000 26386
|
|
||||||
29000000 18044
|
|
||||||
30000000 19023
|
|
||||||
31000000 19222
|
|
||||||
32000000 18534
|
|
||||||
33000000 23941
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
37000000 36505
|
|
||||||
38000000 23891
|
|
||||||
39000000 19246
|
|
||||||
40000000 18246
|
|
||||||
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|
|
||||||
42000000 17966
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
50000000 23719
|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
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|
|
||||||
60000000 20911
|
|
||||||
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|
|
||||||
62000000 19745
|
|
||||||
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|
|
||||||
64000000 19048
|
|
||||||
65000000 25497
|
|
||||||
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|
|
||||||
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|
|
||||||
68000000 20415
|
|
||||||
69000000 23582
|
|
||||||
70000000 26332
|
|
||||||
71000000 20177
|
|
||||||
72000000 25270
|
|
||||||
73000000 19532
|
|
||||||
74000000 25042
|
|
||||||
75000000 24668
|
|
||||||
76000000 25543
|
|
||||||
77000000 33971
|
|
||||||
78000000 35887
|
|
||||||
79000000 46503
|
|
||||||
80000000 45504
|
|
||||||
81000000 52368
|
|
||||||
82000000 23348
|
|
||||||
83000000 36568
|
|
||||||
84000000 16037
|
|
||||||
85000000 16548
|
|
||||||
86000000 16017
|
|
||||||
87000000 37882
|
|
||||||
88000000 14955
|
|
||||||
89000000 22341
|
|
||||||
90000000 23477
|
|
||||||
91000000 14197
|
|
||||||
92000000 15749
|
|
||||||
93000000 22822
|
|
||||||
94000000 15521
|
|
||||||
95000000 45511
|
|
||||||
96000000 34095
|
|
||||||
97000000 49033
|
|
||||||
98000000 53501
|
|
||||||
99000000 36409
|
|
||||||
100000000 37909
|
|
||||||
@@ -1,11 +0,0 @@
|
|||||||
#!/usr/bin/env bash
|
|
||||||
set -o xtrace
|
|
||||||
|
|
||||||
SCRIPT_DIR=$(cd "$(dirname "$0")" && pwd)
|
|
||||||
|
|
||||||
cd "${SCRIPT_DIR}" && gnuplot -c sleep_delay.gp
|
|
||||||
|
|
||||||
while IFS= read -r -d '' f; do
|
|
||||||
output=$(echo "$f" | sed -E 's/\.eps$/.png/')
|
|
||||||
convert -density 300 "eps2:${f}" "$output"
|
|
||||||
done < <(find "${SCRIPT_DIR}" -name '*.eps' -print0)
|
|
||||||
@@ -1,20 +0,0 @@
|
|||||||
set title "{/=20 nanosleep delays}"
|
|
||||||
set terminal postscript eps enhanced
|
|
||||||
set xlabel "{/=20Period to sleep [nanoseconds]}"
|
|
||||||
set ylabel "{/=20Measured delay [nanoseconds]}"
|
|
||||||
set grid
|
|
||||||
set autoscale
|
|
||||||
set style data lines
|
|
||||||
show style data
|
|
||||||
|
|
||||||
set output 'delay_idle.eps'
|
|
||||||
plot 'delay_idle.txt' using ($1):($2) title "{/=17 Load: no, RT: no}" lw 6
|
|
||||||
|
|
||||||
set output 'delay_load.eps'
|
|
||||||
plot 'delay_load.txt' using ($1):($2) title "{/=17 Load: yes, RT: no}" lw 6
|
|
||||||
|
|
||||||
set output 'delay_idle_rt.eps'
|
|
||||||
plot 'delay_idle_rt.txt' using ($1):($2) title "{/=17 Load: no, RT: yes}" lw 6
|
|
||||||
|
|
||||||
set output 'delay_load_rt.eps'
|
|
||||||
plot 'delay_load_rt.txt' using ($1):($2) title "{/=17 Load: yes, RT: yes}" lw 6
|
|
||||||
31
V2/diff.c
Normal file
31
V2/diff.c
Normal file
@@ -0,0 +1,31 @@
|
|||||||
|
#include<stdio.h>
|
||||||
|
#include<time.h>
|
||||||
|
#include<pthread.h>
|
||||||
|
|
||||||
|
int main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
struct timespec time1, start, ende;
|
||||||
|
time1.tv_sec = 5;
|
||||||
|
time1.tv_nsec = 0;
|
||||||
|
clock_gettime(CLOCK_MONOTONIC, &start);
|
||||||
|
clock_nanosleep(CLOCK_MONOTONIC, 0, &time1, NULL);
|
||||||
|
clock_gettime(CLOCK_MONOTONIC, &ende);
|
||||||
|
|
||||||
|
int nsec_difference = (int) ((ende.tv_nsec - start.tv_nsec)/1000);
|
||||||
|
|
||||||
|
|
||||||
|
//microseconds
|
||||||
|
|
||||||
|
int sec_difference = (int) (ende.tv_sec - start.tv_sec)*1000*1000;
|
||||||
|
int real_time_slept = sec_difference + nsec_difference;
|
||||||
|
|
||||||
|
int difference_real_set = real_time_slept - time1.tv_sec * 1000 * 1000;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
printf("Real time slept: %d\n", real_time_slept);
|
||||||
|
printf("Difference Real time slept and actually sleep time: %d usec\n", difference_real_set);
|
||||||
|
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
62
V2/sleep/Cargo.lock
generated
62
V2/sleep/Cargo.lock
generated
@@ -1,62 +0,0 @@
|
|||||||
[root]
|
|
||||||
name = "sleep"
|
|
||||||
version = "0.1.0"
|
|
||||||
dependencies = [
|
|
||||||
"argparse 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
|
||||||
"libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)",
|
|
||||||
"time 0.1.36 (registry+https://github.com/rust-lang/crates.io-index)",
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "argparse"
|
|
||||||
version = "0.2.1"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "kernel32-sys"
|
|
||||||
version = "0.2.2"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
dependencies = [
|
|
||||||
"winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
|
||||||
"winapi-build 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "libc"
|
|
||||||
version = "0.2.21"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "redox_syscall"
|
|
||||||
version = "0.1.17"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "time"
|
|
||||||
version = "0.1.36"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
dependencies = [
|
|
||||||
"kernel32-sys 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
|
||||||
"libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)",
|
|
||||||
"redox_syscall 0.1.17 (registry+https://github.com/rust-lang/crates.io-index)",
|
|
||||||
"winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "winapi"
|
|
||||||
version = "0.2.8"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "winapi-build"
|
|
||||||
version = "0.1.1"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
|
|
||||||
[metadata]
|
|
||||||
"checksum argparse 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "37bb99f5e39ee8b23b6e227f5b8f024207e8616f44aa4b8c76ecd828011667ef"
|
|
||||||
"checksum kernel32-sys 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "7507624b29483431c0ba2d82aece8ca6cdba9382bff4ddd0f7490560c056098d"
|
|
||||||
"checksum libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)" = "88ee81885f9f04bff991e306fea7c1c60a5f0f9e409e99f6b40e3311a3363135"
|
|
||||||
"checksum redox_syscall 0.1.17 (registry+https://github.com/rust-lang/crates.io-index)" = "29dbdfd4b9df8ab31dec47c6087b7b13cbf4a776f335e4de8efba8288dda075b"
|
|
||||||
"checksum time 0.1.36 (registry+https://github.com/rust-lang/crates.io-index)" = "211b63c112206356ef1ff9b19355f43740fc3f85960c598a93d3a3d3ba7beade"
|
|
||||||
"checksum winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)" = "167dc9d6949a9b857f3451275e911c3f44255842c1f7a76f33c55103a909087a"
|
|
||||||
"checksum winapi-build 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "2d315eee3b34aca4797b2da6b13ed88266e6d612562a0c46390af8299fc699bc"
|
|
||||||
@@ -1,9 +0,0 @@
|
|||||||
[package]
|
|
||||||
name = "sleep"
|
|
||||||
version = "0.1.0"
|
|
||||||
authors = ["Simon Wörner <git@simon-woerner.de>"]
|
|
||||||
|
|
||||||
[dependencies]
|
|
||||||
argparse = ">=0.2.1"
|
|
||||||
libc = ">=0.2"
|
|
||||||
time = ">=0.1.36"
|
|
||||||
@@ -1,80 +0,0 @@
|
|||||||
extern crate libc;
|
|
||||||
|
|
||||||
use std::time::Duration;
|
|
||||||
|
|
||||||
#[cfg(target_os = "linux")]
|
|
||||||
fn clock_nanosleep(clk_id: libc::clockid_t,
|
|
||||||
flags: libc::c_int,
|
|
||||||
rqtp: *const libc::timespec,
|
|
||||||
rmtp: *mut libc::timespec)
|
|
||||||
-> libc::c_int {
|
|
||||||
unsafe { libc::clock_nanosleep(clk_id, flags, rqtp as *const _, rmtp as *mut _) }
|
|
||||||
}
|
|
||||||
|
|
||||||
#[cfg(target_os = "macos")]
|
|
||||||
fn nanosleep(rqtp: *const libc::timespec, rmtp: *mut libc::timespec) -> libc::c_int {
|
|
||||||
unsafe { libc::nanosleep(rqtp as *const _, rmtp as *mut _) }
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Sleeps for the given duration.
|
|
||||||
///
|
|
||||||
/// Uses `clock_nanosleep` on linux and `nanosleep` on darwin.
|
|
||||||
pub fn sleep(duration: Duration) -> Result<Duration, libc::c_int> {
|
|
||||||
let ts = duration_to_timespec(duration);
|
|
||||||
let mut remain = libc::timespec {
|
|
||||||
tv_sec: 0,
|
|
||||||
tv_nsec: 0,
|
|
||||||
};
|
|
||||||
|
|
||||||
#[cfg(target_os = "linux")]
|
|
||||||
let ret = clock_nanosleep(libc::CLOCK_MONOTONIC, 0, &ts, &mut remain);
|
|
||||||
|
|
||||||
#[cfg(target_os = "macos")]
|
|
||||||
let ret = nanosleep(&ts, &mut remain);
|
|
||||||
|
|
||||||
if ret == 0 {
|
|
||||||
Ok(timespec_to_duration(remain))
|
|
||||||
} else {
|
|
||||||
Err(ret)
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn duration_to_timespec(duration: Duration) -> libc::timespec {
|
|
||||||
libc::timespec {
|
|
||||||
tv_sec: duration.as_secs() as libc::time_t,
|
|
||||||
tv_nsec: duration.subsec_nanos() as libc::c_long,
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn timespec_to_duration(timespec: libc::timespec) -> Duration {
|
|
||||||
Duration::new(timespec.tv_sec as u64, timespec.tv_nsec as u32)
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Set scheduler policy and priority for process with given pid.
|
|
||||||
///
|
|
||||||
/// If `pid` equals zero, the policy of the calling process will be set.
|
|
||||||
///
|
|
||||||
/// # Examples
|
|
||||||
///
|
|
||||||
/// ```rust
|
|
||||||
/// // set *round-robin* policy (default) and priority 99 (realtime) for own process
|
|
||||||
/// set_scheduler(0, libc::SCHED_RR, 99);
|
|
||||||
/// ```
|
|
||||||
#[cfg(target_os = "linux")]
|
|
||||||
pub fn set_scheduler(pid: libc::pid_t, policy: libc::c_int, priority: libc::c_int) -> libc::c_int {
|
|
||||||
let param = libc::sched_param { sched_priority: priority };
|
|
||||||
unsafe { libc::sched_setscheduler(pid, policy, ¶m) }
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Set scheduler *round-robin* policy (default) and priority for own process.
|
|
||||||
///
|
|
||||||
/// # Examples
|
|
||||||
///
|
|
||||||
/// ```rust
|
|
||||||
/// // set *round-robin* policy (default) and priority 99 (realtime)
|
|
||||||
/// set_priority(99);
|
|
||||||
/// ```
|
|
||||||
#[cfg(target_os = "linux")]
|
|
||||||
pub fn set_priority(priority: i32) -> libc::c_int {
|
|
||||||
set_scheduler(0, libc::SCHED_RR, priority)
|
|
||||||
}
|
|
||||||
@@ -1,152 +0,0 @@
|
|||||||
#![feature(step_by)]
|
|
||||||
extern crate argparse;
|
|
||||||
extern crate sleep;
|
|
||||||
extern crate time;
|
|
||||||
|
|
||||||
use std::io::prelude::*;
|
|
||||||
use std::fs::File;
|
|
||||||
use std::path::Path;
|
|
||||||
use std::time::Duration;
|
|
||||||
|
|
||||||
use argparse::{ArgumentParser, Print, Store};
|
|
||||||
use sleep::sleep;
|
|
||||||
use time::precise_time_ns;
|
|
||||||
|
|
||||||
#[cfg(target_os = "linux")]
|
|
||||||
use argparse::StoreTrue;
|
|
||||||
|
|
||||||
#[cfg(target_os = "linux")]
|
|
||||||
use sleep::set_priority;
|
|
||||||
|
|
||||||
fn duration_from_ns(duration_ns: u64) -> Duration {
|
|
||||||
Duration::new(duration_ns / 1_000_000_000,
|
|
||||||
(duration_ns % 1_000_000_000) as u32)
|
|
||||||
}
|
|
||||||
fn duration_to_ns(duration: Duration) -> u64 {
|
|
||||||
duration.as_secs() * 1_000_000_000u64 + duration.subsec_nanos() as u64
|
|
||||||
}
|
|
||||||
|
|
||||||
fn measure_duration(sleep_duration: Duration) -> Duration {
|
|
||||||
let start = precise_time_ns();
|
|
||||||
let _remain = sleep(sleep_duration);
|
|
||||||
let end = precise_time_ns();
|
|
||||||
|
|
||||||
#[cfg(debug_assertions)]
|
|
||||||
println!("remain = {:?}", _remain);
|
|
||||||
|
|
||||||
let duration = end - start;
|
|
||||||
let duration = duration_from_ns(duration);
|
|
||||||
|
|
||||||
#[cfg(debug_assertions)]
|
|
||||||
println!("duration = {:?}", duration);
|
|
||||||
|
|
||||||
duration
|
|
||||||
}
|
|
||||||
|
|
||||||
fn measure_delay(sleep_duration: Duration) -> (Duration, Duration) {
|
|
||||||
let duration = measure_duration(sleep_duration);
|
|
||||||
let delay = duration - sleep_duration;
|
|
||||||
|
|
||||||
#[cfg(debug_assertions)]
|
|
||||||
println!("delay = {:?}", delay);
|
|
||||||
|
|
||||||
(duration, delay)
|
|
||||||
}
|
|
||||||
|
|
||||||
fn measure_delay_loop(sleep_duration: Duration, count: u64) -> Vec<(Duration, Duration)> {
|
|
||||||
println!("Starting measurment with period {}s {}ns for {} loops",
|
|
||||||
sleep_duration.as_secs(),
|
|
||||||
sleep_duration.subsec_nanos(),
|
|
||||||
count);
|
|
||||||
let mut data: Vec<(Duration, Duration)> = Vec::with_capacity(count as usize);
|
|
||||||
|
|
||||||
for _ in 0..count {
|
|
||||||
let (duration, delay) = measure_delay(sleep_duration);
|
|
||||||
data.push((duration, delay));
|
|
||||||
|
|
||||||
#[cfg(debug_assertions)]
|
|
||||||
print_delay(duration, delay);
|
|
||||||
}
|
|
||||||
|
|
||||||
data
|
|
||||||
}
|
|
||||||
|
|
||||||
fn print_delay(duration: Duration, delay: Duration) {
|
|
||||||
println!("value: {} s {} ns\tdelay: {} s {} ns\trelativ delay = {:.2}%\traw_data: {:?}",
|
|
||||||
duration.as_secs(),
|
|
||||||
duration.subsec_nanos(),
|
|
||||||
delay.as_secs(),
|
|
||||||
delay.subsec_nanos(),
|
|
||||||
(duration_to_ns(delay) * 100) as f64 / duration_to_ns(duration) as f64,
|
|
||||||
delay);
|
|
||||||
}
|
|
||||||
|
|
||||||
fn main() {
|
|
||||||
let mut min: u64 = 1_000_000;
|
|
||||||
let mut max: u64 = 100_000_000;
|
|
||||||
let mut step: u64 = 1_000_000;
|
|
||||||
let mut count: u64 = 100;
|
|
||||||
let mut output: String = "".to_string();
|
|
||||||
let mut file: Option<File> = None;
|
|
||||||
|
|
||||||
#[cfg(target_os = "linux")]
|
|
||||||
let mut realtime: bool = false;
|
|
||||||
|
|
||||||
#[cfg(target_os = "macos")]
|
|
||||||
let realtime: bool = false;
|
|
||||||
|
|
||||||
{
|
|
||||||
let mut ap = ArgumentParser::new();
|
|
||||||
ap.set_description(env!("CARGO_PKG_DESCRIPTION"));
|
|
||||||
ap.refer(&mut min).add_option(&["--min"], Store, "Sleep period start");
|
|
||||||
ap.refer(&mut max).add_option(&["--max"], Store, "Sleep period end");
|
|
||||||
ap.refer(&mut step).add_option(&["--step"], Store, "Sleep period step size");
|
|
||||||
ap.refer(&mut count).add_option(&["--loop"], Store, "Count of measurements per period");
|
|
||||||
#[cfg(target_os = "linux")]
|
|
||||||
ap.refer(&mut realtime).add_option(&["--rt"], StoreTrue, "Set realtime priority");
|
|
||||||
ap.refer(&mut output).add_option(&["-o", "--out"], Store, "Output file");
|
|
||||||
ap.add_option(&["-V", "--version"],
|
|
||||||
Print(env!("CARGO_PKG_VERSION").to_string()),
|
|
||||||
"Show version");
|
|
||||||
ap.parse_args_or_exit();
|
|
||||||
}
|
|
||||||
|
|
||||||
if realtime {
|
|
||||||
#[cfg(target_os = "linux")]
|
|
||||||
let ret = set_priority(99);
|
|
||||||
|
|
||||||
#[cfg(target_os = "macos")]
|
|
||||||
let ret = 0;
|
|
||||||
|
|
||||||
if ret != 0 {
|
|
||||||
panic!("Set realtime priority failed.");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if output != "" {
|
|
||||||
file = Some(File::create(Path::new(output.as_str())).expect(format!("Open file '{}' failed",
|
|
||||||
output)
|
|
||||||
.as_str()));
|
|
||||||
}
|
|
||||||
|
|
||||||
for duration in (min..max + 1).step_by(step) {
|
|
||||||
let data = measure_delay_loop(duration_from_ns(duration), count);
|
|
||||||
let max_delay = data.iter().max().expect("Max delay not found");
|
|
||||||
|
|
||||||
#[cfg(debug_assertions)]
|
|
||||||
println!("max_delay = {:?}", max_delay);
|
|
||||||
|
|
||||||
print_delay(max_delay.0, max_delay.1);
|
|
||||||
|
|
||||||
match file.as_ref() {
|
|
||||||
Some(mut f) => {
|
|
||||||
let value = format!("{: >9} {}\n", duration, duration_to_ns(max_delay.1));
|
|
||||||
f.write_all(value.as_bytes()).expect(format!("Write value '{}' to '{}' file failed",
|
|
||||||
value,
|
|
||||||
output)
|
|
||||||
.as_str());
|
|
||||||
}
|
|
||||||
None => {}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -3,8 +3,10 @@
|
|||||||
ERROR=0
|
ERROR=0
|
||||||
|
|
||||||
while IFS= read -r -d '' f; do
|
while IFS= read -r -d '' f; do
|
||||||
echo "run 'cargo test' with ${f}"
|
dir="$(dirname "${f}")"
|
||||||
cargo test --manifest-path="${f}"
|
|
||||||
|
echo "run 'cargo test' in ${dir}"
|
||||||
|
cd "${dir}" && cargo test
|
||||||
|
|
||||||
if [[ $? -ne 0 ]]; then
|
if [[ $? -ne 0 ]]; then
|
||||||
ERROR=1
|
ERROR=1
|
||||||
|
|||||||
@@ -1,29 +0,0 @@
|
|||||||
# Makefile
|
|
||||||
CC=gcc
|
|
||||||
CFLAGS = -W -Wall -pedantic -g -std=gnu99 -c
|
|
||||||
LDFLAGS = -static
|
|
||||||
RM = rm -f
|
|
||||||
|
|
||||||
TARGET = motor
|
|
||||||
OBJECTS = gpio.o
|
|
||||||
HEADERS = $(OBJECTS:.o=.h)
|
|
||||||
SOURCES = $(TARGET).c $(OBJECTS:.o=.c)
|
|
||||||
|
|
||||||
%.o: %.c
|
|
||||||
$(CC) $(CFLAGS) $< -o $@
|
|
||||||
|
|
||||||
.PHONY: all clean
|
|
||||||
|
|
||||||
all: $(TARGET)
|
|
||||||
|
|
||||||
clean:
|
|
||||||
$(RM) $(TARGET) $(TARGET).o $(OBJECTS) depend
|
|
||||||
|
|
||||||
depend: $(SOURCES) $(HEADERS)
|
|
||||||
$(CC) $(CPPFLAGS) -MM $(SOURCES) > $@
|
|
||||||
|
|
||||||
$(TARGET): $(TARGET).o $(OBJECTS)
|
|
||||||
$(CC) $(LDFLAGS) $^ -o $@
|
|
||||||
$(RM) depend $(TARGET).o $(OBJECTS)
|
|
||||||
|
|
||||||
include depend
|
|
||||||
@@ -1,57 +0,0 @@
|
|||||||
#include<stdio.h>
|
|
||||||
#include<fcntl.h>
|
|
||||||
#include<string.h>
|
|
||||||
#include<unistd.h>
|
|
||||||
#include<string.h>
|
|
||||||
#include "gpio.h"
|
|
||||||
|
|
||||||
#define BASEPATH "/sys/class/gpio/"
|
|
||||||
#define GPIO_FOLDER "gpio%s/"
|
|
||||||
|
|
||||||
void writeFile(char *filename, char *buffer, size_t count)
|
|
||||||
{
|
|
||||||
int fd = open(filename, O_WRONLY);
|
|
||||||
if(fd == -1) {
|
|
||||||
perror("Fehler bei open ");
|
|
||||||
}
|
|
||||||
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 registerInput(char *pin)
|
|
||||||
{
|
|
||||||
registerPin(pin);
|
|
||||||
setDirection(pin, "in", 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);
|
|
||||||
}
|
|
||||||
@@ -1,12 +0,0 @@
|
|||||||
#ifndef GPIO_H_
|
|
||||||
#define GPIO_H_
|
|
||||||
|
|
||||||
void writeFile(char *filename, char *buffer, size_t count);
|
|
||||||
void registerPin(char *pin);
|
|
||||||
void freePin(char *pin);
|
|
||||||
void setDirection(char *pin, char *direction, int dirlen);
|
|
||||||
void registerOutput(char *pin);
|
|
||||||
void registerInput(char *pin);
|
|
||||||
void writeOutput(char *pin, int state);
|
|
||||||
|
|
||||||
#endif
|
|
||||||
3
project/modules/.gitignore
vendored
3
project/modules/.gitignore
vendored
@@ -1,3 +0,0 @@
|
|||||||
.tmp_versions
|
|
||||||
*.ko.mod
|
|
||||||
*.o.cmd
|
|
||||||
@@ -1,43 +0,0 @@
|
|||||||
PWD = $(realpath $(shell pwd))
|
|
||||||
MODULE_NAME ?= $(shell basename "$(PWD)")
|
|
||||||
|
|
||||||
ifneq ($(KERNELRELEASE),)
|
|
||||||
# call from kernel build system
|
|
||||||
obj-m := $(MODULE_NAME).o
|
|
||||||
else
|
|
||||||
ARCH ?= aarch64
|
|
||||||
KERNEL_ARCH ?= arm64
|
|
||||||
CROSS_COMPILE ?= $(ARCH)-linux-gnu-
|
|
||||||
KVER ?= $(shell ls "$(PWD)/../../kernel" | grep 'linux-' | sed 's/linux-//')
|
|
||||||
KERNELDIR ?= $(PWD)/../../kernel/linux-$(KVER)
|
|
||||||
MODDESTDIR ?= /lib/modules/$(KVER)/kernel/drivers/syso
|
|
||||||
|
|
||||||
default:
|
|
||||||
ARCH=$(KERNEL_ARCH) CROSS_COMPILE=$(CROSS_COMPILE) MODULE_NAME=$(MODULE_NAME) $(MAKE) -C $(KERNELDIR) M=$(PWD) modules
|
|
||||||
endif
|
|
||||||
|
|
||||||
test: $(MODULE_NAME).ko.test
|
|
||||||
|
|
||||||
$(MODULE_NAME).ko.test: $(MODULE_NAME).test.o
|
|
||||||
$(CROSS_COMPILE)$(CC) $(LDFLAGS) -pthread $^ -o $@
|
|
||||||
|
|
||||||
%.o: %.c
|
|
||||||
$(CROSS_COMPILE)$(CC) $(CPPFLAGS) $(CFLAGS) -c $< -o $@
|
|
||||||
|
|
||||||
clean:
|
|
||||||
rm -rf *.ko *.o *.mod.c *~ core .depend .*.cmd .tmp_versions *.symvers *.order
|
|
||||||
|
|
||||||
depend .depend dep:
|
|
||||||
$(CROSS_COMPILE)$(CC) $(CFLAGS) -M *.c > .depend
|
|
||||||
|
|
||||||
install:
|
|
||||||
install -p -m 644 $(MODULE_NAME).ko $(MODDESTDIR)
|
|
||||||
/sbin/depmod -a ${KVER}
|
|
||||||
|
|
||||||
uninstall:
|
|
||||||
rm -f $(MODDESTDIR)/$(MODULE_NAME).ko
|
|
||||||
/sbin/depmod -a ${KVER}
|
|
||||||
|
|
||||||
ifeq (.depend,$(wildcard .depend))
|
|
||||||
include .depend
|
|
||||||
endif
|
|
||||||
@@ -1,4 +0,0 @@
|
|||||||
static dev_t devno;
|
|
||||||
static struct cdev chardev;
|
|
||||||
static struct class *chardev_class;
|
|
||||||
static struct device *chardev_device[NUMBER_OF_MINOR_DEVICE];
|
|
||||||
@@ -1,82 +0,0 @@
|
|||||||
MODULE_AUTHOR("Manuel Vögele, Siegfried Kienzle, Simon Wörner");
|
|
||||||
MODULE_DESCRIPTION(DEVICE_NAME "driver");
|
|
||||||
MODULE_LICENSE("GPL");
|
|
||||||
|
|
||||||
static int __init ModInit(void)
|
|
||||||
{
|
|
||||||
|
|
||||||
unsigned int i = 0;
|
|
||||||
|
|
||||||
printk(KERN_DEBUG DEVICE_NAME ": init");
|
|
||||||
|
|
||||||
if (alloc_chrdev_region(&devno, 0, NUMBER_OF_MINOR_DEVICE, DEVICE_NAME) < 0)
|
|
||||||
return -EIO;
|
|
||||||
|
|
||||||
cdev_init(&chardev, &fops);
|
|
||||||
chardev.owner = THIS_MODULE;
|
|
||||||
chardev.ops = &fops;
|
|
||||||
|
|
||||||
if (cdev_add(&chardev, devno, NUMBER_OF_MINOR_DEVICE)) {
|
|
||||||
pr_err(DEVICE_NAME ": cdev_add failed.");
|
|
||||||
goto free_device_number;
|
|
||||||
}
|
|
||||||
|
|
||||||
chardev_class = class_create(THIS_MODULE, DEVICE_NAME);
|
|
||||||
|
|
||||||
if (IS_ERR(chardev_class)) {
|
|
||||||
pr_err(DEVICE_NAME ": no udev support\n");
|
|
||||||
goto free_cdev;
|
|
||||||
}
|
|
||||||
|
|
||||||
for (i = 0; i < NUMBER_OF_MINOR_DEVICE; ++i)
|
|
||||||
{
|
|
||||||
#if NUMBER_OF_MINOR_DEVICE == 1
|
|
||||||
chardev_device[i] = device_create(chardev_class, NULL, devno + i, NULL, DEVICE_NAME);
|
|
||||||
#else
|
|
||||||
chardev_device[i] = device_create(chardev_class, NULL, devno + i, NULL, DEVICE_NAME "%d", i);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
if (IS_ERR(chardev_device[i])) {
|
|
||||||
pr_err(DEVICE_NAME ": device create failed\n");
|
|
||||||
goto free_device;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
#ifdef CUSTOM_INIT
|
|
||||||
CUSTOM_INIT
|
|
||||||
#endif
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
free_device:
|
|
||||||
for (; i > 0; --i) {
|
|
||||||
device_destroy(chardev_class, devno + i - 1);
|
|
||||||
}
|
|
||||||
class_destroy(chardev_class);
|
|
||||||
free_cdev:
|
|
||||||
cdev_del(&chardev);
|
|
||||||
free_device_number:
|
|
||||||
unregister_chrdev_region(devno, NUMBER_OF_MINOR_DEVICE);
|
|
||||||
return -EIO;
|
|
||||||
}
|
|
||||||
|
|
||||||
static void __exit ModExit(void)
|
|
||||||
{
|
|
||||||
unsigned int i = 0;
|
|
||||||
|
|
||||||
printk(KERN_DEBUG DEVICE_NAME ": exit");
|
|
||||||
|
|
||||||
#ifdef CUSTOM_EXIT
|
|
||||||
CUSTOM_EXIT
|
|
||||||
#endif
|
|
||||||
|
|
||||||
for (i = NUMBER_OF_MINOR_DEVICE; i > 0; --i) {
|
|
||||||
device_destroy(chardev_class, devno + i - 1);
|
|
||||||
}
|
|
||||||
class_destroy(chardev_class);
|
|
||||||
cdev_del(&chardev);
|
|
||||||
unregister_chrdev_region(devno, NUMBER_OF_MINOR_DEVICE);
|
|
||||||
}
|
|
||||||
|
|
||||||
module_init( ModInit );
|
|
||||||
module_exit( ModExit );
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
cmd_/home/sikienzl/git/resy-ss17-grp1/project/modules/infrared_sensor_in_1/infrared_sensor_in_1.ko := aarch64-linux-gnu-ld -EL -r -T ./scripts/module-common.lds --build-id -o /home/sikienzl/git/resy-ss17-grp1/project/modules/infrared_sensor_in_1/infrared_sensor_in_1.ko /home/sikienzl/git/resy-ss17-grp1/project/modules/infrared_sensor_in_1/infrared_sensor_in_1.o /home/sikienzl/git/resy-ss17-grp1/project/modules/infrared_sensor_in_1/infrared_sensor_in_1.mod.o ; true
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
../Makefile
|
|
||||||
@@ -1,77 +0,0 @@
|
|||||||
#include <linux/init.h>
|
|
||||||
#include <linux/module.h>
|
|
||||||
#include <linux/kernel.h>
|
|
||||||
#include <linux/fs.h>
|
|
||||||
#include <linux/cdev.h>
|
|
||||||
#include <linux/gpio.h>
|
|
||||||
#include <linux/kobject.h>
|
|
||||||
#include <linux/device.h>
|
|
||||||
#include <linux/uaccess.h>
|
|
||||||
|
|
||||||
#define DEVICE_NAME "infrared_sensor_in_1"
|
|
||||||
#define NUMBER_OF_MINOR_DEVICE (1)
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.def.h"
|
|
||||||
|
|
||||||
static unsigned int infrared_sensor_in_1 = 2;
|
|
||||||
static unsigned int count = 0;
|
|
||||||
|
|
||||||
static int infrared_sensor_open(struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
int err;
|
|
||||||
|
|
||||||
err = gpio_request(infrared_sensor_in_1, "rpi-gpio-2");
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_request for in_1 failed %d\n", err);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
err = gpio_direction_input(infrared_sensor_in_1);
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_direction_input for in_1 failed %d\n", err);
|
|
||||||
gpio_free(infrared_sensor_in_1);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
printk("gpio 2 successfull configured\n");
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static ssize_t infrared_sensor_read( struct file *file, char __user *buffer, size_t length, loff_t *offset)
|
|
||||||
{
|
|
||||||
unsigned long not_copied;
|
|
||||||
u32 value=0;
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
printk(KERN_DEBUG DEVICE_NAME ": read");
|
|
||||||
|
|
||||||
if (*offset > 0) {
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
value = gpio_get_value(infrared_sensor_in_1);
|
|
||||||
|
|
||||||
not_copied = copy_to_user(buffer, &value, count);
|
|
||||||
*offset += count - not_copied;
|
|
||||||
|
|
||||||
return count - not_copied;
|
|
||||||
}
|
|
||||||
|
|
||||||
static int infrared_sensor_close( struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
printk( "driver_close called\n" );
|
|
||||||
gpio_free( infrared_sensor_in_1 );
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static struct file_operations fops = {
|
|
||||||
.owner = THIS_MODULE,
|
|
||||||
.open = infrared_sensor_open,
|
|
||||||
.release = infrared_sensor_close,
|
|
||||||
.read = infrared_sensor_read,
|
|
||||||
};
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.h";
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
../Makefile
|
|
||||||
@@ -1,77 +0,0 @@
|
|||||||
#include <linux/init.h>
|
|
||||||
#include <linux/module.h>
|
|
||||||
#include <linux/kernel.h>
|
|
||||||
#include <linux/fs.h>
|
|
||||||
#include <linux/cdev.h>
|
|
||||||
#include <linux/gpio.h>
|
|
||||||
#include <linux/kobject.h>
|
|
||||||
#include <linux/device.h>
|
|
||||||
#include <linux/uaccess.h>
|
|
||||||
|
|
||||||
#define DEVICE_NAME "infrared_sensor_in_2"
|
|
||||||
#define NUMBER_OF_MINOR_DEVICE (1)
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.def.h"
|
|
||||||
|
|
||||||
static unsigned int infrared_sensor_in_2 = 3;
|
|
||||||
static unsigned int count = 0;
|
|
||||||
|
|
||||||
static int infrared_sensor_open(struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
int err;
|
|
||||||
|
|
||||||
err = gpio_request(infrared_sensor_in_2, "rpi-gpio-2");
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_request for in_1 failed %d\n", err);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
err = gpio_direction_input(infrared_sensor_in_2);
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_direction_input for in_1 failed %d\n", err);
|
|
||||||
gpio_free(infrared_sensor_in_2);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
printk("gpio 2 successfull configured\n");
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static ssize_t infrared_sensor_read( struct file *file, char __user *buffer, size_t length, loff_t *offset)
|
|
||||||
{
|
|
||||||
unsigned long not_copied;
|
|
||||||
u32 value=0;
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
printk(KERN_DEBUG DEVICE_NAME ": read");
|
|
||||||
|
|
||||||
if (*offset > 0) {
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
value = gpio_get_value(infrared_sensor_in_2);
|
|
||||||
|
|
||||||
not_copied = copy_to_user(buffer, &value, count);
|
|
||||||
*offset += count - not_copied;
|
|
||||||
|
|
||||||
return count - not_copied;
|
|
||||||
}
|
|
||||||
|
|
||||||
static int infrared_sensor_close( struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
printk( "driver_close called\n" );
|
|
||||||
gpio_free( infrared_sensor_in_2 );
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static struct file_operations fops = {
|
|
||||||
.owner = THIS_MODULE,
|
|
||||||
.open = infrared_sensor_open,
|
|
||||||
.release = infrared_sensor_close,
|
|
||||||
.read = infrared_sensor_read,
|
|
||||||
};
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.h";
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
../Makefile
|
|
||||||
@@ -1,77 +0,0 @@
|
|||||||
#include <linux/init.h>
|
|
||||||
#include <linux/module.h>
|
|
||||||
#include <linux/kernel.h>
|
|
||||||
#include <linux/fs.h>
|
|
||||||
#include <linux/cdev.h>
|
|
||||||
#include <linux/gpio.h>
|
|
||||||
#include <linux/kobject.h>
|
|
||||||
#include <linux/device.h>
|
|
||||||
#include <linux/uaccess.h>
|
|
||||||
|
|
||||||
#define DEVICE_NAME "infrared_sensor_in_3"
|
|
||||||
#define NUMBER_OF_MINOR_DEVICE (1)
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.def.h"
|
|
||||||
|
|
||||||
static unsigned int infrared_sensor_in_3 = 4;
|
|
||||||
static unsigned int count = 0;
|
|
||||||
|
|
||||||
static int infrared_sensor_open(struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
int err;
|
|
||||||
|
|
||||||
err = gpio_request(infrared_sensor_in_3, "rpi-gpio-2");
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_request for in_1 failed %d\n", err);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
err = gpio_direction_input(infrared_sensor_in_3);
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_direction_input for in_1 failed %d\n", err);
|
|
||||||
gpio_free(infrared_sensor_in_3);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
printk("gpio 2 successfull configured\n");
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static ssize_t infrared_sensor_read( struct file *file, char __user *buffer, size_t length, loff_t *offset)
|
|
||||||
{
|
|
||||||
unsigned long not_copied;
|
|
||||||
u32 value=0;
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
printk(KERN_DEBUG DEVICE_NAME ": read");
|
|
||||||
|
|
||||||
if (*offset > 0) {
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
value = gpio_get_value(infrared_sensor_in_3);
|
|
||||||
|
|
||||||
not_copied = copy_to_user(buffer, &value, count);
|
|
||||||
*offset += count - not_copied;
|
|
||||||
|
|
||||||
return count - not_copied;
|
|
||||||
}
|
|
||||||
|
|
||||||
static int infrared_sensor_close( struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
printk( "driver_close called\n" );
|
|
||||||
gpio_free( infrared_sensor_in_3 );
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static struct file_operations fops = {
|
|
||||||
.owner = THIS_MODULE,
|
|
||||||
.open = infrared_sensor_open,
|
|
||||||
.release = infrared_sensor_close,
|
|
||||||
.read = infrared_sensor_read,
|
|
||||||
};
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.h";
|
|
||||||
@@ -1 +0,0 @@
|
|||||||
../Makefile
|
|
||||||
@@ -1,76 +0,0 @@
|
|||||||
#include <linux/init.h>
|
|
||||||
#include <linux/module.h>
|
|
||||||
#include <linux/kernel.h>
|
|
||||||
#include <linux/fs.h>
|
|
||||||
#include <linux/cdev.h>
|
|
||||||
#include <linux/gpio.h>
|
|
||||||
#include <linux/kobject.h>
|
|
||||||
#include <linux/device.h>
|
|
||||||
#include <linux/uaccess.h>
|
|
||||||
|
|
||||||
#define DEVICE_NAME "infrared_sensor_in_4"
|
|
||||||
#define NUMBER_OF_MINOR_DEVICE (1)
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.def.h"
|
|
||||||
|
|
||||||
static unsigned int infrared_sensor_in_4 = 18;
|
|
||||||
static unsigned int count = 0;
|
|
||||||
|
|
||||||
static int infrared_sensor_open(struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
int err;
|
|
||||||
|
|
||||||
err = gpio_request(infrared_sensor_in_4, "rpi-gpio-2");
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_request for in_1 failed %d\n", err);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
err = gpio_direction_input(infrared_sensor_in_4);
|
|
||||||
if (err) {
|
|
||||||
printk("gpio_direction_input for in_1 failed %d\n", err);
|
|
||||||
gpio_free(infrared_sensor_in_4);
|
|
||||||
return -1;
|
|
||||||
}
|
|
||||||
printk("gpio 2 successfull configured\n");
|
|
||||||
return 0;
|
|
||||||
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
static ssize_t infrared_sensor_read( struct file *file, char __user *buffer, size_t length, loff_t *offset)
|
|
||||||
{
|
|
||||||
unsigned long not_copied;
|
|
||||||
u32 value=0;
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
printk(KERN_DEBUG DEVICE_NAME ": read");
|
|
||||||
|
|
||||||
if (*offset > 0) {
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
value = gpio_get_value(infrared_sensor_in_4);
|
|
||||||
|
|
||||||
not_copied = copy_to_user(buffer, &value, count);
|
|
||||||
*offset += count - not_copied;
|
|
||||||
|
|
||||||
return count - not_copied;
|
|
||||||
}
|
|
||||||
|
|
||||||
static int infrared_sensor_close( struct inode *devfile, struct file *instance)
|
|
||||||
{
|
|
||||||
printk( "driver_close called\n" );
|
|
||||||
gpio_free( infrared_sensor_in_4 );
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static struct file_operations fops = {
|
|
||||||
.owner = THIS_MODULE,
|
|
||||||
.open = infrared_sensor_open,
|
|
||||||
.release = infrared_sensor_close,
|
|
||||||
.read = infrared_sensor_read,
|
|
||||||
};
|
|
||||||
|
|
||||||
#include "../_common/infrared_sensor.h";
|
|
||||||
134
project/motor.c
134
project/motor.c
@@ -1,134 +0,0 @@
|
|||||||
#include<stdio.h>
|
|
||||||
#include<fcntl.h>
|
|
||||||
#include<string.h>
|
|
||||||
#include<unistd.h>
|
|
||||||
#include<string.h>
|
|
||||||
#include<stdbool.h>
|
|
||||||
#include "gpio.h"
|
|
||||||
|
|
||||||
#define PIN_MOTOR_RECHTS_FORWARD "20"
|
|
||||||
#define PIN_MOTOR_RECHTS_REVERSE "13"
|
|
||||||
#define PIN_MOTOR_LINKS_REVERSE "19"
|
|
||||||
#define PIN_MOTOR_LINKS_FORWARD "26"
|
|
||||||
|
|
||||||
#define MOTOR_ON 1
|
|
||||||
#define MOTOR_OFF 0
|
|
||||||
|
|
||||||
bool motor_rechts_on = false;
|
|
||||||
bool motor_links_on = false;
|
|
||||||
|
|
||||||
void forward(int motorNumber)
|
|
||||||
{
|
|
||||||
if(motorNumber == 1)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_RECHTS_FORWARD, MOTOR_ON);
|
|
||||||
motor_rechts_on = true;
|
|
||||||
}
|
|
||||||
else if(motorNumber == 2)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_LINKS_FORWARD, MOTOR_ON);
|
|
||||||
motor_links_on = true;
|
|
||||||
}
|
|
||||||
else if(motorNumber == 3)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_RECHTS_FORWARD, MOTOR_ON);
|
|
||||||
writeOutput(PIN_MOTOR_LINKS_FORWARD, MOTOR_ON);
|
|
||||||
motor_rechts_on = true;
|
|
||||||
motor_links_on = true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void reverse(int motorNumber)
|
|
||||||
{
|
|
||||||
if(motorNumber == 1)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_RECHTS_REVERSE, MOTOR_ON);
|
|
||||||
motor_rechts_on = true;
|
|
||||||
}
|
|
||||||
else if(motorNumber == 2)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_LINKS_REVERSE, MOTOR_ON);
|
|
||||||
motor_links_on = true;
|
|
||||||
}
|
|
||||||
else if(motorNumber == 3)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_RECHTS_REVERSE, MOTOR_ON);
|
|
||||||
writeOutput(PIN_MOTOR_LINKS_REVERSE, MOTOR_ON);
|
|
||||||
motor_rechts_on = true;
|
|
||||||
motor_links_on = true;
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void stopMotor(int motorNumber)
|
|
||||||
{
|
|
||||||
if(motorNumber == 1 && motor_rechts_on)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_RECHTS_FORWARD, MOTOR_OFF);
|
|
||||||
writeOutput(PIN_MOTOR_RECHTS_REVERSE, MOTOR_OFF);
|
|
||||||
motor_rechts_on = false;
|
|
||||||
}
|
|
||||||
else if(motorNumber == 2 && motor_links_on)
|
|
||||||
{
|
|
||||||
writeOutput(PIN_MOTOR_LINKS_FORWARD, MOTOR_OFF);
|
|
||||||
writeOutput(PIN_MOTOR_LINKS_REVERSE, MOTOR_OFF);
|
|
||||||
motor_links_on = false;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
int main(int argc, char* argv[])
|
|
||||||
{
|
|
||||||
registerOutput(PIN_MOTOR_RECHTS_FORWARD);
|
|
||||||
registerOutput(PIN_MOTOR_RECHTS_REVERSE);
|
|
||||||
registerOutput(PIN_MOTOR_LINKS_FORWARD);
|
|
||||||
registerOutput(PIN_MOTOR_LINKS_REVERSE);
|
|
||||||
|
|
||||||
|
|
||||||
if(argc > 0)
|
|
||||||
{
|
|
||||||
if(strcmp(argv[1],"1")==0)
|
|
||||||
{
|
|
||||||
//motor_rechts_forward
|
|
||||||
forward(1);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"2")==0)
|
|
||||||
{
|
|
||||||
//motor_links_forward
|
|
||||||
forward(2);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"3")==0)
|
|
||||||
{
|
|
||||||
//motor_rechts_reverse
|
|
||||||
reverse(1);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"4")==0)
|
|
||||||
{
|
|
||||||
//motor_links_reverse
|
|
||||||
reverse(2);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"5")==0)
|
|
||||||
{
|
|
||||||
|
|
||||||
forward(3);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"6")==0)
|
|
||||||
{
|
|
||||||
//motor_rechts_forward stop
|
|
||||||
stopMotor(1);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"7")==0)
|
|
||||||
{
|
|
||||||
//motor_links_forward stop
|
|
||||||
stopMotor(2);
|
|
||||||
}
|
|
||||||
else if(strcmp(argv[1],"0")==0)
|
|
||||||
{
|
|
||||||
freePin(PIN_MOTOR_RECHTS_FORWARD);
|
|
||||||
freePin(PIN_MOTOR_RECHTS_REVERSE);
|
|
||||||
freePin(PIN_MOTOR_LINKS_FORWARD);
|
|
||||||
freePin(PIN_MOTOR_LINKS_REVERSE);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -1,323 +0,0 @@
|
|||||||
/**
|
|
||||||
* MFRC522.h - Library to use ARDUINO RFID MODULE KIT 13.56 MHZ WITH TAGS SPI W AND R BY COOQROBOT.
|
|
||||||
* Based on code Dr.Leong ( WWW.B2CQSHOP.COM )
|
|
||||||
* Created by Miguel Balboa (circuitito.com), Jan, 2012.
|
|
||||||
* Rewritten by Søren Thing Andersen (access.thing.dk), fall of 2013 (Translation to English, refactored, comments, anti collision, cascade levels.)
|
|
||||||
* Extended by Tom Clement with functionality to write to sector 0 of UID changeable Mifare cards.
|
|
||||||
* Released into the public domain.
|
|
||||||
*
|
|
||||||
|
|
||||||
|
|
||||||
-- Repurposed to fit Raspberry Pi ---
|
|
||||||
|
|
||||||
*/
|
|
||||||
#ifndef MFRC522_h
|
|
||||||
#define MFRC522_h
|
|
||||||
|
|
||||||
#include <stdint.h>
|
|
||||||
#include <stdio.h>
|
|
||||||
#include <string>
|
|
||||||
using namespace std;
|
|
||||||
|
|
||||||
typedef uint8_t byte;
|
|
||||||
typedef uint16_t word;
|
|
||||||
|
|
||||||
// Firmware data for self-test
|
|
||||||
// Reference values based on firmware version; taken from 16.1.1 in spec.
|
|
||||||
// Version 1.0
|
|
||||||
|
|
||||||
const byte MFRC522_firmware_referenceV1_0[] = {
|
|
||||||
0x00, 0xC6, 0x37, 0xD5, 0x32, 0xB7, 0x57, 0x5C,
|
|
||||||
0xC2, 0xD8, 0x7C, 0x4D, 0xD9, 0x70, 0xC7, 0x73,
|
|
||||||
0x10, 0xE6, 0xD2, 0xAA, 0x5E, 0xA1, 0x3E, 0x5A,
|
|
||||||
0x14, 0xAF, 0x30, 0x61, 0xC9, 0x70, 0xDB, 0x2E,
|
|
||||||
0x64, 0x22, 0x72, 0xB5, 0xBD, 0x65, 0xF4, 0xEC,
|
|
||||||
0x22, 0xBC, 0xD3, 0x72, 0x35, 0xCD, 0xAA, 0x41,
|
|
||||||
0x1F, 0xA7, 0xF3, 0x53, 0x14, 0xDE, 0x7E, 0x02,
|
|
||||||
0xD9, 0x0F, 0xB5, 0x5E, 0x25, 0x1D, 0x29, 0x79
|
|
||||||
};
|
|
||||||
|
|
||||||
// Version 2.0
|
|
||||||
const byte MFRC522_firmware_referenceV2_0[] = {
|
|
||||||
0x00, 0xEB, 0x66, 0xBA, 0x57, 0xBF, 0x23, 0x95,
|
|
||||||
0xD0, 0xE3, 0x0D, 0x3D, 0x27, 0x89, 0x5C, 0xDE,
|
|
||||||
0x9D, 0x3B, 0xA7, 0x00, 0x21, 0x5B, 0x89, 0x82,
|
|
||||||
0x51, 0x3A, 0xEB, 0x02, 0x0C, 0xA5, 0x00, 0x49,
|
|
||||||
0x7C, 0x84, 0x4D, 0xB3, 0xCC, 0xD2, 0x1B, 0x81,
|
|
||||||
0x5D, 0x48, 0x76, 0xD5, 0x71, 0x61, 0x21, 0xA9,
|
|
||||||
0x86, 0x96, 0x83, 0x38, 0xCF, 0x9D, 0x5B, 0x6D,
|
|
||||||
0xDC, 0x15, 0xBA, 0x3E, 0x7D, 0x95, 0x3B, 0x2F
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
class MFRC522 {
|
|
||||||
public:
|
|
||||||
// MFRC522 registers. Described in chapter 9 of the datasheet.
|
|
||||||
// When using SPI all addresses are shifted one bit left in the "SPI address byte" (section 8.1.2.3)
|
|
||||||
enum PCD_Register {
|
|
||||||
// Page 0: Command and status
|
|
||||||
// 0x00 // reserved for future use
|
|
||||||
CommandReg = 0x01 << 1, // starts and stops command execution
|
|
||||||
ComIEnReg = 0x02 << 1, // enable and disable interrupt request control bits
|
|
||||||
DivIEnReg = 0x03 << 1, // enable and disable interrupt request control bits
|
|
||||||
ComIrqReg = 0x04 << 1, // interrupt request bits
|
|
||||||
DivIrqReg = 0x05 << 1, // interrupt request bits
|
|
||||||
ErrorReg = 0x06 << 1, // error bits showing the error status of the last command executed
|
|
||||||
Status1Reg = 0x07 << 1, // communication status bits
|
|
||||||
Status2Reg = 0x08 << 1, // receiver and transmitter status bits
|
|
||||||
FIFODataReg = 0x09 << 1, // input and output of 64 byte FIFO buffer
|
|
||||||
FIFOLevelReg = 0x0A << 1, // number of bytes stored in the FIFO buffer
|
|
||||||
WaterLevelReg = 0x0B << 1, // level for FIFO underflow and overflow warning
|
|
||||||
ControlReg = 0x0C << 1, // miscellaneous control registers
|
|
||||||
BitFramingReg = 0x0D << 1, // adjustments for bit-oriented frames
|
|
||||||
CollReg = 0x0E << 1, // bit position of the first bit-collision detected on the RF interface
|
|
||||||
// 0x0F // reserved for future use
|
|
||||||
|
|
||||||
// Page 1: Command
|
|
||||||
// 0x10 // reserved for future use
|
|
||||||
ModeReg = 0x11 << 1, // defines general modes for transmitting and receiving
|
|
||||||
TxModeReg = 0x12 << 1, // defines transmission data rate and framing
|
|
||||||
RxModeReg = 0x13 << 1, // defines reception data rate and framing
|
|
||||||
TxControlReg = 0x14 << 1, // controls the logical behavior of the antenna driver pins TX1 and TX2
|
|
||||||
TxASKReg = 0x15 << 1, // controls the setting of the transmission modulation
|
|
||||||
TxSelReg = 0x16 << 1, // selects the internal sources for the antenna driver
|
|
||||||
RxSelReg = 0x17 << 1, // selects internal receiver settings
|
|
||||||
RxThresholdReg = 0x18 << 1, // selects thresholds for the bit decoder
|
|
||||||
DemodReg = 0x19 << 1, // defines demodulator settings
|
|
||||||
// 0x1A // reserved for future use
|
|
||||||
// 0x1B // reserved for future use
|
|
||||||
MfTxReg = 0x1C << 1, // controls some MIFARE communication transmit parameters
|
|
||||||
MfRxReg = 0x1D << 1, // controls some MIFARE communication receive parameters
|
|
||||||
// 0x1E // reserved for future use
|
|
||||||
SerialSpeedReg = 0x1F << 1, // selects the speed of the serial UART interface
|
|
||||||
|
|
||||||
// Page 2: Configuration
|
|
||||||
// 0x20 // reserved for future use
|
|
||||||
CRCResultRegH = 0x21 << 1, // shows the MSB and LSB values of the CRC calculation
|
|
||||||
CRCResultRegL = 0x22 << 1,
|
|
||||||
// 0x23 // reserved for future use
|
|
||||||
ModWidthReg = 0x24 << 1, // controls the ModWidth setting?
|
|
||||||
// 0x25 // reserved for future use
|
|
||||||
RFCfgReg = 0x26 << 1, // configures the receiver gain
|
|
||||||
GsNReg = 0x27 << 1, // selects the conductance of the antenna driver pins TX1 and TX2 for modulation
|
|
||||||
CWGsPReg = 0x28 << 1, // defines the conductance of the p-driver output during periods of no modulation
|
|
||||||
ModGsPReg = 0x29 << 1, // defines the conductance of the p-driver output during periods of modulation
|
|
||||||
TModeReg = 0x2A << 1, // defines settings for the internal timer
|
|
||||||
TPrescalerReg = 0x2B << 1, // the lower 8 bits of the TPrescaler value. The 4 high bits are in TModeReg.
|
|
||||||
TReloadRegH = 0x2C << 1, // defines the 16-bit timer reload value
|
|
||||||
TReloadRegL = 0x2D << 1,
|
|
||||||
TCounterValueRegH = 0x2E << 1, // shows the 16-bit timer value
|
|
||||||
TCounterValueRegL = 0x2F << 1,
|
|
||||||
|
|
||||||
// Page 3: Test Registers
|
|
||||||
// 0x30 // reserved for future use
|
|
||||||
TestSel1Reg = 0x31 << 1, // general test signal configuration
|
|
||||||
TestSel2Reg = 0x32 << 1, // general test signal configuration
|
|
||||||
TestPinEnReg = 0x33 << 1, // enables pin output driver on pins D1 to D7
|
|
||||||
TestPinValueReg = 0x34 << 1, // defines the values for D1 to D7 when it is used as an I/O bus
|
|
||||||
TestBusReg = 0x35 << 1, // shows the status of the internal test bus
|
|
||||||
AutoTestReg = 0x36 << 1, // controls the digital self test
|
|
||||||
VersionReg = 0x37 << 1, // shows the software version
|
|
||||||
AnalogTestReg = 0x38 << 1, // controls the pins AUX1 and AUX2
|
|
||||||
TestDAC1Reg = 0x39 << 1, // defines the test value for TestDAC1
|
|
||||||
TestDAC2Reg = 0x3A << 1, // defines the test value for TestDAC2
|
|
||||||
TestADCReg = 0x3B << 1 // shows the value of ADC I and Q channels
|
|
||||||
// 0x3C // reserved for production tests
|
|
||||||
// 0x3D // reserved for production tests
|
|
||||||
// 0x3E // reserved for production tests
|
|
||||||
// 0x3F // reserved for production tests
|
|
||||||
};
|
|
||||||
|
|
||||||
// MFRC522 commands. Described in chapter 10 of the datasheet.
|
|
||||||
enum PCD_Command {
|
|
||||||
PCD_Idle = 0x00, // no action, cancels current command execution
|
|
||||||
PCD_Mem = 0x01, // stores 25 bytes into the internal buffer
|
|
||||||
PCD_GenerateRandomID = 0x02, // generates a 10-byte random ID number
|
|
||||||
PCD_CalcCRC = 0x03, // activates the CRC coprocessor or performs a self test
|
|
||||||
PCD_Transmit = 0x04, // transmits data from the FIFO buffer
|
|
||||||
PCD_NoCmdChange = 0x07, // no command change, can be used to modify the CommandReg register bits without affecting the command, for example, the PowerDown bit
|
|
||||||
PCD_Receive = 0x08, // activates the receiver circuits
|
|
||||||
PCD_Transceive = 0x0C, // transmits data from FIFO buffer to antenna and automatically activates the receiver after transmission
|
|
||||||
PCD_MFAuthent = 0x0E, // performs the MIFARE standard authentication as a reader
|
|
||||||
PCD_SoftReset = 0x0F // resets the MFRC522
|
|
||||||
};
|
|
||||||
|
|
||||||
// MFRC522 RxGain[2:0] masks, defines the receiver's signal voltage gain factor (on the PCD).
|
|
||||||
// Described in 9.3.3.6 / table 98 of the datasheet at http://www.nxp.com/documents/data_sheet/MFRC522.pdf
|
|
||||||
enum PCD_RxGain {
|
|
||||||
RxGain_18dB = 0x00 << 4, // 000b - 18 dB, minimum
|
|
||||||
RxGain_23dB = 0x01 << 4, // 001b - 23 dB
|
|
||||||
RxGain_18dB_2 = 0x02 << 4, // 010b - 18 dB, it seems 010b is a duplicate for 000b
|
|
||||||
RxGain_23dB_2 = 0x03 << 4, // 011b - 23 dB, it seems 011b is a duplicate for 001b
|
|
||||||
RxGain_33dB = 0x04 << 4, // 100b - 33 dB, average, and typical default
|
|
||||||
RxGain_38dB = 0x05 << 4, // 101b - 38 dB
|
|
||||||
RxGain_43dB = 0x06 << 4, // 110b - 43 dB
|
|
||||||
RxGain_48dB = 0x07 << 4, // 111b - 48 dB, maximum
|
|
||||||
RxGain_min = 0x00 << 4, // 000b - 18 dB, minimum, convenience for RxGain_18dB
|
|
||||||
RxGain_avg = 0x04 << 4, // 100b - 33 dB, average, convenience for RxGain_33dB
|
|
||||||
RxGain_max = 0x07 << 4 // 111b - 48 dB, maximum, convenience for RxGain_48dB
|
|
||||||
};
|
|
||||||
|
|
||||||
// Commands sent to the PICC.
|
|
||||||
enum PICC_Command {
|
|
||||||
// The commands used by the PCD to manage communication with several PICCs (ISO 14443-3, Type A, section 6.4)
|
|
||||||
PICC_CMD_REQA = 0x26, // REQuest command, Type A. Invites PICCs in state IDLE to go to READY and prepare for anticollision or selection. 7 bit frame.
|
|
||||||
PICC_CMD_WUPA = 0x52, // Wake-UP command, Type A. Invites PICCs in state IDLE and HALT to go to READY(*) and prepare for anticollision or selection. 7 bit frame.
|
|
||||||
PICC_CMD_CT = 0x88, // Cascade Tag. Not really a command, but used during anti collision.
|
|
||||||
PICC_CMD_SEL_CL1 = 0x93, // Anti collision/Select, Cascade Level 1
|
|
||||||
PICC_CMD_SEL_CL2 = 0x95, // Anti collision/Select, Cascade Level 2
|
|
||||||
PICC_CMD_SEL_CL3 = 0x97, // Anti collision/Select, Cascade Level 3
|
|
||||||
PICC_CMD_HLTA = 0x50, // HaLT command, Type A. Instructs an ACTIVE PICC to go to state HALT.
|
|
||||||
// The commands used for MIFARE Classic (from http://www.nxp.com/documents/data_sheet/MF1S503x.pdf, Section 9)
|
|
||||||
// Use PCD_MFAuthent to authenticate access to a sector, then use these commands to read/write/modify the blocks on the sector.
|
|
||||||
// The read/write commands can also be used for MIFARE Ultralight.
|
|
||||||
PICC_CMD_MF_AUTH_KEY_A = 0x60, // Perform authentication with Key A
|
|
||||||
PICC_CMD_MF_AUTH_KEY_B = 0x61, // Perform authentication with Key B
|
|
||||||
PICC_CMD_MF_READ = 0x30, // Reads one 16 byte block from the authenticated sector of the PICC. Also used for MIFARE Ultralight.
|
|
||||||
PICC_CMD_MF_WRITE = 0xA0, // Writes one 16 byte block to the authenticated sector of the PICC. Called "COMPATIBILITY WRITE" for MIFARE Ultralight.
|
|
||||||
PICC_CMD_MF_DECREMENT = 0xC0, // Decrements the contents of a block and stores the result in the internal data register.
|
|
||||||
PICC_CMD_MF_INCREMENT = 0xC1, // Increments the contents of a block and stores the result in the internal data register.
|
|
||||||
PICC_CMD_MF_RESTORE = 0xC2, // Reads the contents of a block into the internal data register.
|
|
||||||
PICC_CMD_MF_TRANSFER = 0xB0, // Writes the contents of the internal data register to a block.
|
|
||||||
// The commands used for MIFARE Ultralight (from http://www.nxp.com/documents/data_sheet/MF0ICU1.pdf, Section 8.6)
|
|
||||||
// The PICC_CMD_MF_READ and PICC_CMD_MF_WRITE can also be used for MIFARE Ultralight.
|
|
||||||
PICC_CMD_UL_WRITE = 0xA2 // Writes one 4 byte page to the PICC.
|
|
||||||
};
|
|
||||||
|
|
||||||
// MIFARE constants that does not fit anywhere else
|
|
||||||
enum MIFARE_Misc {
|
|
||||||
MF_ACK = 0xA, // The MIFARE Classic uses a 4 bit ACK/NAK. Any other value than 0xA is NAK.
|
|
||||||
MF_KEY_SIZE = 6 // A Mifare Crypto1 key is 6 bytes.
|
|
||||||
};
|
|
||||||
|
|
||||||
// PICC types we can detect. Remember to update PICC_GetTypeName() if you add more.
|
|
||||||
enum PICC_Type {
|
|
||||||
PICC_TYPE_UNKNOWN = 0,
|
|
||||||
PICC_TYPE_ISO_14443_4 = 1, // PICC compliant with ISO/IEC 14443-4
|
|
||||||
PICC_TYPE_ISO_18092 = 2, // PICC compliant with ISO/IEC 18092 (NFC)
|
|
||||||
PICC_TYPE_MIFARE_MINI = 3, // MIFARE Classic protocol, 320 bytes
|
|
||||||
PICC_TYPE_MIFARE_1K = 4, // MIFARE Classic protocol, 1KB
|
|
||||||
PICC_TYPE_MIFARE_4K = 5, // MIFARE Classic protocol, 4KB
|
|
||||||
PICC_TYPE_MIFARE_UL = 6, // MIFARE Ultralight or Ultralight C
|
|
||||||
PICC_TYPE_MIFARE_PLUS = 7, // MIFARE Plus
|
|
||||||
PICC_TYPE_TNP3XXX = 8, // Only mentioned in NXP AN 10833 MIFARE Type Identification Procedure
|
|
||||||
PICC_TYPE_NOT_COMPLETE = 255 // SAK indicates UID is not complete.
|
|
||||||
};
|
|
||||||
|
|
||||||
// Return codes from the functions in this class. Remember to update GetStatusCodeName() if you add more.
|
|
||||||
enum StatusCode {
|
|
||||||
STATUS_OK = 1, // Success
|
|
||||||
STATUS_ERROR = 2, // Error in communication
|
|
||||||
STATUS_COLLISION = 3, // Collission detected
|
|
||||||
STATUS_TIMEOUT = 4, // Timeout in communication.
|
|
||||||
STATUS_NO_ROOM = 5, // A buffer is not big enough.
|
|
||||||
STATUS_INTERNAL_ERROR = 6, // Internal error in the code. Should not happen ;-)
|
|
||||||
STATUS_INVALID = 7, // Invalid argument.
|
|
||||||
STATUS_CRC_WRONG = 8, // The CRC_A does not match
|
|
||||||
STATUS_MIFARE_NACK = 9 // A MIFARE PICC responded with NAK.
|
|
||||||
};
|
|
||||||
|
|
||||||
// A struct used for passing the UID of a PICC.
|
|
||||||
typedef struct {
|
|
||||||
byte size; // Number of bytes in the UID. 4, 7 or 10.
|
|
||||||
byte uidByte[10];
|
|
||||||
byte sak; // The SAK (Select acknowledge) byte returned from the PICC after successful selection.
|
|
||||||
} Uid;
|
|
||||||
|
|
||||||
// A struct used for passing a MIFARE Crypto1 key
|
|
||||||
typedef struct {
|
|
||||||
byte keyByte[MF_KEY_SIZE];
|
|
||||||
} MIFARE_Key;
|
|
||||||
|
|
||||||
// Member variables
|
|
||||||
Uid uid; // Used by PICC_ReadCardSerial().
|
|
||||||
|
|
||||||
// Size of the MFRC522 FIFO
|
|
||||||
static const byte FIFO_SIZE = 64; // The FIFO is 64 bytes.
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Functions for setting up the Raspberry Pi
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
MFRC522();
|
|
||||||
void setSPIConfig();
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Basic interface functions for communicating with the MFRC522
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
void PCD_WriteRegister(byte reg, byte value);
|
|
||||||
void PCD_WriteRegister(byte reg, byte count, byte *values);
|
|
||||||
byte PCD_ReadRegister(byte reg);
|
|
||||||
void PCD_ReadRegister(byte reg, byte count, byte *values, byte rxAlign = 0);
|
|
||||||
void setBitMask(unsigned char reg, unsigned char mask);
|
|
||||||
void PCD_SetRegisterBitMask(byte reg, byte mask);
|
|
||||||
void PCD_ClearRegisterBitMask(byte reg, byte mask);
|
|
||||||
byte PCD_CalculateCRC(byte *data, byte length, byte *result);
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Functions for manipulating the MFRC522
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
void PCD_Init();
|
|
||||||
void PCD_Reset();
|
|
||||||
void PCD_AntennaOn();
|
|
||||||
void PCD_AntennaOff();
|
|
||||||
byte PCD_GetAntennaGain();
|
|
||||||
void PCD_SetAntennaGain(byte mask);
|
|
||||||
bool PCD_PerformSelfTest();
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Functions for communicating with PICCs
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
byte PCD_TransceiveData(byte *sendData, byte sendLen, byte *backData, byte *backLen, byte *validBits = NULL, byte rxAlign = 0, bool checkCRC = false);
|
|
||||||
byte PCD_CommunicateWithPICC(byte command, byte waitIRq, byte *sendData, byte sendLen, byte *backData = NULL, byte *backLen = NULL, byte *validBits = NULL, byte rxAlign = 0, bool checkCRC = false);
|
|
||||||
byte PICC_RequestA(byte *bufferATQA, byte *bufferSize);
|
|
||||||
byte PICC_WakeupA(byte *bufferATQA, byte *bufferSize);
|
|
||||||
byte PICC_REQA_or_WUPA(byte command, byte *bufferATQA, byte *bufferSize);
|
|
||||||
byte PICC_Select(Uid *uid, byte validBits = 0);
|
|
||||||
byte PICC_HaltA();
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Functions for communicating with MIFARE PICCs
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
byte PCD_Authenticate(byte command, byte blockAddr, MIFARE_Key *key, Uid *uid);
|
|
||||||
void PCD_StopCrypto1();
|
|
||||||
byte MIFARE_Read(byte blockAddr, byte *buffer, byte *bufferSize);
|
|
||||||
byte MIFARE_Write(byte blockAddr, byte *buffer, byte bufferSize);
|
|
||||||
byte MIFARE_Decrement(byte blockAddr, long delta);
|
|
||||||
byte MIFARE_Increment(byte blockAddr, long delta);
|
|
||||||
byte MIFARE_Restore(byte blockAddr);
|
|
||||||
byte MIFARE_Transfer(byte blockAddr);
|
|
||||||
byte MIFARE_Ultralight_Write(byte page, byte *buffer, byte bufferSize);
|
|
||||||
byte MIFARE_GetValue(byte blockAddr, long *value);
|
|
||||||
byte MIFARE_SetValue(byte blockAddr, long value);
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Support functions
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
byte PCD_MIFARE_Transceive(byte *sendData, byte sendLen, bool acceptTimeout = false);
|
|
||||||
// old function used too much memory, now name moved to flash; if you need char, copy from flash to memory
|
|
||||||
//const char *GetStatusCodeName(byte code);
|
|
||||||
const string GetStatusCodeName(byte code);
|
|
||||||
byte PICC_GetType(byte sak);
|
|
||||||
// old function used too much memory, now name moved to flash; if you need char, copy from flash to memory
|
|
||||||
//const char *PICC_GetTypeName(byte type);
|
|
||||||
const string PICC_GetTypeName(byte type);
|
|
||||||
void PICC_DumpToSerial(Uid *uid);
|
|
||||||
void PICC_DumpMifareClassicToSerial(Uid *uid, byte piccType, MIFARE_Key *key);
|
|
||||||
void PICC_DumpMifareClassicSectorToSerial(Uid *uid, MIFARE_Key *key, byte sector);
|
|
||||||
void PICC_DumpMifareUltralightToSerial();
|
|
||||||
void MIFARE_SetAccessBits(byte *accessBitBuffer, byte g0, byte g1, byte g2, byte g3);
|
|
||||||
bool MIFARE_OpenUidBackdoor(bool logErrors);
|
|
||||||
bool MIFARE_SetUid(byte *newUid, byte uidSize, bool logErrors);
|
|
||||||
bool MIFARE_UnbrickUidSector(bool logErrors);
|
|
||||||
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
// Convenience functions - does not add extra functionality
|
|
||||||
/////////////////////////////////////////////////////////////////////////////////////
|
|
||||||
bool PICC_IsNewCardPresent();
|
|
||||||
bool PICC_ReadCardSerial();
|
|
||||||
|
|
||||||
private:
|
|
||||||
byte MIFARE_TwoStepHelper(byte command, byte blockAddr, long data);
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif
|
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -1,54 +0,0 @@
|
|||||||
#include "rfid_reader.hpp"
|
|
||||||
#include <unistd.h>
|
|
||||||
#include <iostream>
|
|
||||||
#include <chrono>
|
|
||||||
#include <ctime>
|
|
||||||
|
|
||||||
rfid_reader::rfid_reader()
|
|
||||||
{
|
|
||||||
mfrc.PCD_Init();
|
|
||||||
thread = std::thread(&rfid_reader::loop, this);
|
|
||||||
}
|
|
||||||
|
|
||||||
rfid_reader::~rfid_reader()
|
|
||||||
{
|
|
||||||
stop_thread = true;
|
|
||||||
thread.join();
|
|
||||||
}
|
|
||||||
|
|
||||||
uint32_t rfid_reader::last_id() const
|
|
||||||
{
|
|
||||||
return uid;
|
|
||||||
}
|
|
||||||
|
|
||||||
void rfid_reader::loop()
|
|
||||||
{
|
|
||||||
stop_thread = false;
|
|
||||||
while(!stop_thread)
|
|
||||||
{
|
|
||||||
if(!mfrc.PICC_IsNewCardPresent())
|
|
||||||
{
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
if(!mfrc.PICC_ReadCardSerial())
|
|
||||||
{
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
uid = int((unsigned char)(mfrc.uid.uidByte[0]) << 24 |
|
|
||||||
(unsigned char)(mfrc.uid.uidByte[1]) << 16 |
|
|
||||||
(unsigned char)(mfrc.uid.uidByte[2]) << 8 |
|
|
||||||
(unsigned char)(mfrc.uid.uidByte[3]));
|
|
||||||
|
|
||||||
#ifndef NDEBUG
|
|
||||||
printf("\n");
|
|
||||||
std::time_t result = std::time(nullptr);
|
|
||||||
std::cout << std::asctime(std::localtime(&result));
|
|
||||||
printf("%X\n", last_id());
|
|
||||||
#endif
|
|
||||||
|
|
||||||
std::this_thread::sleep_for(1s);
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@@ -1,27 +0,0 @@
|
|||||||
#ifndef RFIDREADER_HPP_
|
|
||||||
#define RFIDREADER_HPP_
|
|
||||||
|
|
||||||
#include <cstdint>
|
|
||||||
#include <thread>
|
|
||||||
|
|
||||||
#include "MFRC522.h"
|
|
||||||
|
|
||||||
class rfid_reader
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
uint32_t last_id() const;
|
|
||||||
rfid_reader();
|
|
||||||
rfid_reader(const rfid_reader &) = delete;
|
|
||||||
rfid_reader(const rfid_reader &&) = delete;
|
|
||||||
~rfid_reader();
|
|
||||||
void loop();
|
|
||||||
private:
|
|
||||||
MFRC522 mfrc;
|
|
||||||
uint32_t uid;
|
|
||||||
std::thread thread;
|
|
||||||
bool stop_thread;
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#endif
|
|
||||||
@@ -1,5 +0,0 @@
|
|||||||
How to enable the SPI Interface:
|
|
||||||
|
|
||||||
edit /boot/config.txt
|
|
||||||
|
|
||||||
add line dtparam=spi=on
|
|
||||||
Reference in New Issue
Block a user