remove thread.joinable

V1 + V2: Abgabe

.gitignore

@@ -31,3 +31,6 @@
 # Debug files
 *.dSYM/
 *.su
+
+# Rust
+target/

.gitlab-ci.yml

@@ -0,0 +1,26 @@
+image: scorpil/rust:stable
+
+stages:
+  - test
+
+cargo:test:
+  stage: test
+  script:
+    - ci/run-cargo-test.sh
+
+rustfmt:
+  stage: test
+  script:
+    - ci/run-rustfmt.sh
+
+shellcheck:
+  stage: test
+  image: ubuntu:yakkety
+  before_script:
+    - apt-get update && apt-get install -y shellcheck
+    - locale-gen en_US.UTF-8
+    - export LANG=en_US.UTF-8
+    - export LANGUAGE=en_US:en
+    - export LC_ALL=en_US.UTF-8
+  script:
+    - ci/run-shellcheck.sh

.travis.yml

@@ -0,0 +1,5 @@
+language: rust
+rust:
+  - nightly
+script:
+  - true

V1/led.sh

@@ -0,0 +1,51 @@
+#!/usr/bin/env bash
+# usage: led.sh <port>
+set -o xtrace
+
+# config default
+GPIO_PORT="${1:-18}"
+
+function export_port() {
+  port="${1}"
+  echo "${port}" > /sys/class/gpio/export
+}
+function unexport_port() {
+  port="${1}"
+  echo "${port}" > /sys/class/gpio/unexport
+}
+
+function set_direction() {
+  port="${1}"
+  value="${2}"
+  echo "${value}" > "/sys/class/gpio/gpio${port}/direction"
+}
+
+function set_value() {
+  port="${1}"
+  value="${2}"
+  echo "${value}" > "/sys/class/gpio/gpio${port}/value"
+}
+
+function on() {
+  port="${1}"
+  set_value "${port}" "0"
+}
+function off() {
+  port="${1}"
+  set_value "${port}" "1"
+}
+
+# set exit trap
+trap 'unexport_port "${GPIO_PORT}"' EXIT
+
+# init GPIO port
+export_port "${GPIO_PORT}"
+set_direction "${GPIO_PORT}" "out"
+
+# loop led on/off
+while true; do
+  on "${GPIO_PORT}"
+  sleep 1
+  off "${GPIO_PORT}"
+  sleep 1
+done

V1/led5/Cargo.lock

@@ -0,0 +1,66 @@
+[root]
+name = "led5"
+version = "0.1.0"
+dependencies = [
+ "chan 0.1.19 (registry+https://github.com/rust-lang/crates.io-index)",
+ "chan-signal 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "bit-set"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "bit-vec 0.4.3 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "bit-vec"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "chan"
+version = "0.1.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "rand 0.3.15 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "chan-signal"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "bit-set 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "chan 0.1.19 (registry+https://github.com/rust-lang/crates.io-index)",
+ "lazy_static 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)",
+ "libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "lazy_static"
+version = "0.2.5"
+source = "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 = "rand"
+version = "0.3.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[metadata]
+"checksum bit-set 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "d9bf6104718e80d7b26a68fdbacff3481cfc05df670821affc7e9cbc1884400c"
+"checksum bit-vec 0.4.3 (registry+https://github.com/rust-lang/crates.io-index)" = "5b97c2c8e8bbb4251754f559df8af22fb264853c7d009084a576cdf12565089d"
+"checksum chan 0.1.19 (registry+https://github.com/rust-lang/crates.io-index)" = "f93bfe971116428a9066c1c3c69a09ae3ef69432f8418be28ab50f96783e6a50"
+"checksum chan-signal 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "0f3bb6c3bc387004ad914f0c5b7f33ace8bf7604bbec35f228b1a017f52cd3a0"
+"checksum lazy_static 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)" = "4732c563b9a21a406565c4747daa7b46742f082911ae4753f390dc9ec7ee1a97"
+"checksum libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)" = "88ee81885f9f04bff991e306fea7c1c60a5f0f9e409e99f6b40e3311a3363135"
+"checksum rand 0.3.15 (registry+https://github.com/rust-lang/crates.io-index)" = "022e0636ec2519ddae48154b028864bdce4eaf7d35226ab8e65c611be97b189d"

V1/led5/Cargo.toml

@@ -0,0 +1,8 @@
+[package]
+name = "led5"
+version = "0.1.0"
+authors = ["Simon Wörner <git@simon-woerner.de>"]
+
+[dependencies]
+chan = ">=0.1.19"
+chan-signal = ">=0.2.0"

V1/led5/src/main.rs

@@ -0,0 +1,150 @@
+#[macro_use]
+extern crate chan;
+extern crate chan_signal;
+
+use std::io::prelude::*;
+use std::fs::File;
+use std::thread;
+use std::thread::JoinHandle;
+use std::path::Path;
+use std::time::Duration;
+
+use chan_signal::Signal;
+
+static GPIO_PORT_BTN: &'static str = "17";
+static GPIO_PORT_LED: &'static str = "18";
+
+static GPIO_DIRECTION_IN: &'static str = "in";
+static GPIO_DIRECTION_OUT: &'static str = "out";
+
+static GPIO_BTN_ON: &'static str = "0";
+//static GPIO_BTN_OFF: &'static str = "1";
+
+static GPIO_LED_ON: &'static str = "0";
+static GPIO_LED_OFF: &'static str = "1";
+
+fn write(path: &str, value: &str) {
+    let mut file = File::create(Path::new(path))
+        .expect(format!("Open file '{}' failed", path).as_str());
+
+    file.write_all(value.as_bytes())
+        .expect(format!("Write value '{}' to '{}' file failed", value, path).as_str());
+
+    #[cfg(debug_assertions)]
+    println!("Wrote value '{}' to '{}'.", value, path);
+}
+fn read(path: &str) -> String {
+    let mut file = File::open(Path::new(path))
+        .expect(format!("Open file '{}' failed", path).as_str());
+    let mut contents = String::new();
+
+    file.read_to_string(&mut contents)
+        .expect(format!("Read from '{}' file failed", path).as_str());
+
+    #[cfg(debug_assertions)]
+    println!("Read value '{}' from '{}'.", contents, path);
+
+    contents
+}
+
+fn export(port: &str) {
+    write("/sys/class/gpio/export", port)
+}
+fn unexport(port: &str) {
+    write("/sys/class/gpio/unexport", port)
+}
+
+fn set_direction(port: &str, direction: &str) {
+    write(format!("/sys/class/gpio/gpio{}/direction", port).as_str(), direction);
+}
+
+fn set_value(port: &str, value: &str) {
+    write(format!("/sys/class/gpio/gpio{}/value", port).as_str(), value);
+}
+fn get_value(port: &str) -> String {
+    String::from(read(format!("/sys/class/gpio/gpio{}/value", port).as_str()).trim())
+}
+
+fn main() {
+    let signal = chan_signal::notify(&[Signal::INT, Signal::TERM]);
+    let (sdone, rdone) = chan::sync(0);
+    let (spanic, rpanic) = chan::sync(0);
+    let worker = thread::Builder::new()
+        .name("worker".to_string())
+        .spawn(move || run(rdone))
+        .expect("Create worker thread failed");
+    let watchdog = thread::Builder::new()
+        .name("watchdog".to_string())
+        .spawn(move || watchdog(worker, spanic))
+        .expect("Create watchdog thread failed");
+
+    chan_select! {
+        rpanic.recv() => { },
+        signal.recv() -> signal => {
+            println!("received signal: {:?}", signal);
+            sdone.send(());
+        }
+    }
+
+    watchdog.join().expect("Watchdog thread paniced");
+}
+
+fn watchdog(thread: JoinHandle<()>, _spanic: chan::Sender<()>) {
+    thread.join().expect("Thread paniced");
+}
+
+fn run(rdone: chan::Receiver<()>) {
+    // init
+    export(GPIO_PORT_BTN);
+    export(GPIO_PORT_LED);
+    set_direction(GPIO_PORT_BTN, GPIO_DIRECTION_IN);
+    set_direction(GPIO_PORT_LED, GPIO_DIRECTION_OUT);
+
+    let btn_tick = chan::tick(Duration::from_millis(50));
+    let led_tick = chan::tick(Duration::from_millis(1000 / 5));
+    let mut btn_last = false;
+    let mut led_on = false;
+    let mut enabled = true;
+
+    loop {
+        chan_select! {
+            btn_tick.recv() => {
+                //#[cfg(debug_assertions)]
+                //println!("btn_tick");
+
+                // switch enabled if button state changed
+                let btn = get_value(GPIO_PORT_BTN) == GPIO_BTN_ON;
+                if btn && btn != btn_last {
+                    enabled = !enabled;
+                }
+
+                btn_last = btn;
+            },
+            led_tick.recv() => {
+                #[cfg(debug_assertions)]
+                println!("led_tick");
+
+                // blink led if enabled
+                if enabled {
+                    led_on = !led_on;
+                } else {
+                    led_on = false;
+                }
+
+                // set led state
+                if led_on {
+                    set_value(GPIO_PORT_LED, GPIO_LED_ON);
+                }
+                else {
+                    set_value(GPIO_PORT_LED, GPIO_LED_OFF);
+                }
+            },
+            rdone.recv() => {
+                // unexport
+                unexport(GPIO_PORT_BTN);
+                unexport(GPIO_PORT_LED);
+                return;
+            },
+        }
+    }
+}

V1/switch.c

@@ -1,120 +1,102 @@
-/*
- * switch.c
- * How to register an button and count this
- * author: Simon Wörner, Manuel Vögele,
- * 	   Siegfried Kienzle
- * 24-March-2017
- *  
- *  */
-
-#define BUTTON "17"
-#define IN "in\n"
-#define OUT "out\n"
-#define HIGH "1\n"
-#define LOW "0\n"
-#define MAXBYTES 1
-
 #include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
 #include <fcntl.h>
+#include <string.h>
+#include <time.h>
+#include <unistd.h>
 
-int writeIntoFile(char* value, char* path)
+#define BASEPATH "/sys/class/gpio/"
+#define GPIO_FOLDER "gpio%s/"
+
+#define PIN_BUTTON "17"
+#define PIN_LED "18"
+
+#define LED_ON 0
+#define LED_OFF 1
+
+#define BUTTON_PRESSED 0
+#define BUTTON_RELEASED 1
+
+void writeFile(char *filename, char *buffer, size_t count)
 {
-	int fd;
+    int fd = open(filename, O_WRONLY);
-	char buffer[3];
+    write(fd, buffer, count);
-	strcpy(buffer, value);
+    close(fd);
-	if((fd=open(path, O_RDWR | O_CREAT | O_TRUNC)) == -1) {
-		perror(NULL);
-		return EXIT_FAILURE;
-	}
-
-	if((write(fd, &buffer, sizeof(buffer))) == -1) {
-		perror("Cannot write into file");
-		return EXIT_FAILURE;			
-	} 	
-	printf("Success");
-	close(fd);
-	return EXIT_SUCCESS;	
 }
 
-int reserve(char* gpioPort)
+void registerPin(char *pin)
 {
-	char str[3];
+    writeFile(BASEPATH "export", pin, strlen(pin));
-	strcpy(str, gpioPort);
-	strcat(str, "\n");
-	return writeIntoFile(str,"/sys/class/gpio/export");
 }
 
-int setDirection(char* gpioPort, char* inOut)
+void freePin(char *pin)
 {
-	char *direc = "/direction";
+    writeFile(BASEPATH "unexport", pin, strlen(pin));
-	char *gpioPath = "/sys/class/gpio/gpio";	
-	char path[32];
-	strcpy(path, gpioPath);
-    strcat(path, gpioPort);
-	strcat(path, direc);
-	return writeIntoFile(inOut, path);
 }
 
-int setOutput(char* gpioPort, char* volt)
+void setDirection(char *pin, char *direction, int dirlen)
 {
-	char *val = "/value";
+    char path[50];
-	char *gpioPath = "/sys/class/gpio/gpio";
+    sprintf(path, BASEPATH GPIO_FOLDER "direction", pin);
-	char path[28];
+    writeFile(path, direction, dirlen);
-	strcpy(path, gpioPath);
-	strcat(path, gpioPort);
-	strcat(path, val);
-	return writeIntoFile(volt, path);
 }
 
-int mainLoop(char* gpioPort)
+void registerInput(char *pin)
 {
-	int fid, portValue, count, countButton;
+    registerPin(pin);
-	char *val = "/value";
+    setDirection(pin, "in", 2);
-	char *gpioPath = "/sys/class/gpio/gpio";
-	char path[28];
-	strcpy(path, gpioPath);
-	strcat(path, gpioPort);
-	strcat(path, val);
-	
-	while(true)
-	{
-		if( (fid=open(path, O_RDONLY)) == -1)
-			perror("Fehler ");
-		if(readInput(fid) == 1)
-		{
-			countButton++;
-			printf("%d", countButton);
-		}
-		
-	
-		close(fid);
-	}
 }
 
-char[] readInput(int fid)
+void registerOutput(char *pin)
 {
-	char buffer[MAXBYTES];
+    registerPin(pin);
-	read(fid, &buffer, MAXBYTES);
+    setDirection(pin, "out", 3);
-	return buffer;
 }
 
-int unexport(char* gpioport)
+int readInput(char *pin)
 {
-	char str[3];
+    char path[50];
-	strcpy(str, gpioPort);
+    int state;
-	strcat(str, "\n");
+    sprintf(path, BASEPATH GPIO_FOLDER "value", pin);
-	return writeIntoFile(str,"/sys/class/gpio/unexport");
+    FILE *fd = fopen(path, "r");
+    fscanf(fd, "%i", &state);
+    fclose(fd);
+    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);
+}
 
 int main()
 {
-	reserve(BUTTON);
+    struct timespec sleeptime, sleepremain;
-	setDirection(BUTTON, IN);
+    int oldstate = BUTTON_PRESSED;
-	mainLoop(BUTTON);
+    int state;
-	unexport(BUTTON);
+    int count = 0;
-	return 0;
+    registerInput(PIN_BUTTON);
+    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++;
+            printf("Number of button pushes: %i\n", count);
+        }
+
+        if (state == BUTTON_PRESSED)
+            writeOutput(PIN_LED, LED_ON);
+        else
+            writeOutput(PIN_LED, LED_OFF);
+
+        oldstate = state;
+    }
 }

V2/delay/.gitignore

@@ -0,0 +1 @@
+*.eps

V2/delay/Auswerung.md

@@ -0,0 +1,41 @@
+# 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.
+
+![delay_idle](delay_idle.png)
+
+### 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.
+
+![delay_idle_rt](delay_idle_rt.png)
+
+
+
+## Load
+
+### No Realtime
+
+Bei Load ohne Realtime gibt es zu Begin einen großen Ausreiser mit über **10.000 µs**.
+
+![delay_load](delay_load.png)
+
+### 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.
+
+![delay_load_rt](delay_load_rt.png)
+

V2/delay/delay_idle.txt

@@ -0,0 +1,100 @@
+  1000000 74885
+  2000000 70188
+  3000000 100960
+  4000000 96993
+  5000000 97920
+  6000000 95671
+  7000000 95193
+  8000000 96590
+  9000000 93091
+ 10000000 99800
+ 11000000 97447
+ 12000000 604203
+ 13000000 104094
+ 14000000 95803
+ 15000000 95638
+ 16000000 102138
+ 17000000 102025
+ 18000000 91546
+ 19000000 96641
+ 20000000 99028
+ 21000000 120893
+ 22000000 100362
+ 23000000 96186
+ 24000000 97427
+ 25000000 136011
+ 26000000 97303
+ 27000000 106304
+ 28000000 101138
+ 29000000 107326
+ 30000000 98307
+ 31000000 102672
+ 32000000 126308
+ 33000000 96300
+ 34000000 98373
+ 35000000 95499
+ 36000000 96948
+ 37000000 100012
+ 38000000 145522
+ 39000000 103847
+ 40000000 99775
+ 41000000 97942
+ 42000000 100953
+ 43000000 145006
+ 44000000 100518
+ 45000000 97123
+ 46000000 97738
+ 47000000 163093
+ 48000000 96574
+ 49000000 99272
+ 50000000 102283
+ 51000000 141284
+ 52000000 110285
+ 53000000 98504
+ 54000000 99068
+ 55000000 105413
+ 56000000 116444
+ 57000000 94664
+ 58000000 106010
+ 59000000 96990
+ 60000000 116771
+ 61000000 105616
+ 62000000 101075
+ 63000000 108201
+ 64000000 100692
+ 65000000 97401
+ 66000000 96037
+ 67000000 156027
+ 68000000 101695
+ 69000000 100123
+ 70000000 96780
+ 71000000 97292
+ 72000000 98376
+ 73000000 101387
+ 74000000 95961
+ 75000000 98504
+ 76000000 100942
+ 77000000 97391
+ 78000000 100610
+ 79000000 95913
+ 80000000 96685
+ 81000000 96468
+ 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

V2/delay/delay_idle_rt.txt

@@ -0,0 +1,100 @@
+  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

V2/delay/delay_load.txt

@@ -0,0 +1,100 @@
+  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
+ 14000000 76106
+ 15000000 79221
+ 16000000 72074
+ 17000000 77377
+ 18000000 113772
+ 19000000 86679
+ 20000000 81460
+ 21000000 78170
+ 22000000 85867
+ 23000000 78670
+ 24000000 78711
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V2/delay/delay_load_rt.txt

@@ -0,0 +1,100 @@
+  1000000 22281
+  2000000 15345
+  3000000 14709
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+ 98000000 53501
+ 99000000 36409
+100000000 37909

V2/delay/render.sh

@@ -0,0 +1,11 @@
+#!/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)

V2/delay/sleep_delay.gp

@@ -0,0 +1,20 @@
+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

V2/sleep/Cargo.lock

@@ -0,0 +1,62 @@
+[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"

V2/sleep/Cargo.toml

@@ -0,0 +1,9 @@
+[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"

V2/sleep/src/lib.rs

@@ -0,0 +1,80 @@
+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, &param) }
+}
+
+/// 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)
+}

V2/sleep/src/main.rs

@@ -0,0 +1,152 @@
+#![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 => {}
+        }
+    }
+}

ci/run-cargo-test.sh

@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+ERROR=0
+
+while IFS= read -r -d '' f; do
+  echo "run 'cargo test' with ${f}"
+  cargo test --manifest-path="${f}"
+
+  if [[ $? -ne 0 ]]; then
+    ERROR=1
+  fi
+done < <(find . -type f -name 'Cargo.toml' -print0)
+
+exit ${ERROR}

ci/run-rustfmt.sh

@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+
+ERROR=0
+
+while IFS= read -r -d '' f; do
+  echo "${f}"
+
+  if  [ "$(rustfmt --write-mode=diff "$f")" != $'' ]  ; then
+      ERROR=1
+  fi
+done < <(find . -type f -name '*.rs' -print0)
+
+exit ${ERROR}

ci/run-shellcheck.sh

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+
+find . -type f -name '*.sh' -print0 | xargs -n 1 -0 shellcheck --color

project/Makefile

@@ -0,0 +1,29 @@
+# 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

project/gpio.c

@@ -0,0 +1,57 @@
+#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);
+}

project/gpio.h

@@ -0,0 +1,12 @@
+#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 

project/modules/.gitignore

@@ -0,0 +1,3 @@
+.tmp_versions
+*.ko.mod
+*.o.cmd

project/modules/Makefile

@@ -0,0 +1,43 @@
+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

project/modules/_common/infrared_sensor.def.h

@@ -0,0 +1,4 @@
+static dev_t devno;
+static struct cdev chardev;
+static struct class *chardev_class;
+static struct device *chardev_device[NUMBER_OF_MINOR_DEVICE];

project/modules/_common/infrared_sensor.h

@@ -0,0 +1,82 @@
+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 );

project/modules/infrared_sensor_in_1/.infrared_sensor_in_1.ko.cmd

@@ -0,0 +1 @@
+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

project/modules/infrared_sensor_in_1/Makefile

@@ -0,0 +1 @@
+../Makefile

project/modules/infrared_sensor_in_1/infrared_sensor_in_1.c

@@ -0,0 +1,77 @@
+#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";

project/modules/infrared_sensor_in_2/Makefile

@@ -0,0 +1 @@
+../Makefile

project/modules/infrared_sensor_in_2/infrared_sensor_in_2.c

@@ -0,0 +1,77 @@
+#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";

project/modules/infrared_sensor_in_3/Makefile

@@ -0,0 +1 @@
+../Makefile

project/modules/infrared_sensor_in_3/infrared_sensor_in_3.c

@@ -0,0 +1,77 @@
+#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";

project/modules/infrared_sensor_in_4/Makefile

@@ -0,0 +1 @@
+../Makefile

project/modules/infrared_sensor_in_4/infrared_sensor_in_4.c

@@ -0,0 +1,76 @@
+#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";

project/motor.c

@@ -0,0 +1,134 @@
+#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;
+}

project/rfid/MFRC522.h

@@ -0,0 +1,323 @@
+/**
+ * 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

project/rfid/rfid_reader.cpp

@@ -0,0 +1,54 @@
+#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);
+
+	}
+}

project/rfid/rfid_reader.hpp

@@ -0,0 +1,27 @@
+#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

project/spi/information.txt

@@ -0,0 +1,5 @@
+How to enable the SPI Interface:
+
+edit /boot/config.txt 
+
+add line dtparam=spi=on