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This commit is contained in:
eddyem
413
03-focusing/Frontend/FE.c
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413
03-focusing/Frontend/FE.c
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@@ -0,0 +1,413 @@
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include <termio.h>
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#include <termios.h>
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#include <sys/file.h>
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#include <sys/time.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <sys/times.h>
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#include <time.h>
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#include <strings.h>
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#include <string.h>
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#include <linux/serial.h>
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#include <signal.h>
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#include "signals.h" // ÏÐÒÅÄÅÌÅÎÉÑ ÓÉÇÎÁÌÏ× Ó×ÑÚÉ
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#define C_NO 224 // ÎÏÍÅÒ ËÏÎÔÒÏÌÌÅÒÁ (ÓÔÁÒÛÉÅ 3 ÂÉÔÁ)
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int BAUD_RATE = B9600;
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struct termio oldtty, tty; // ÆÌÁÇÉ ÄÌÑ UART
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struct termios oldt, newt; // ÆÌÁÇÉ ÄÌÑ ËÏÎÓÏÌÉ
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//struct serial_struct old_extra_term;
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int comfd; // æÁÊÌÏ×ÙÊ ÄÅÓËÒÉÐÔÏÒ ÐÏÒÔÁ
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char *comdev = "/dev/ttyS0"; // õÓÔÒÏÊÓÔ×Ï ÐÏÒÔÁ (ÐÏÔÏÍ ÐÅÒÅÄÅÌÁÔØ ÄÌÑ ÚÁÐÒÏÓÁ)
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void tty_sig(unsigned char rb);
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unsigned char crc(unsigned char data){
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unsigned char crc = data & 1;
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unsigned int i;
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for(i = 1; i<8; i++) crc ^= (data >> i) & 1;
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return crc;
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}
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void quit(int ex_stat){ // ×ÙÈÏÄ ÉÚ ÐÒÏÇÒÁÍÍÙ
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tcsetattr( STDIN_FILENO, TCSANOW, &oldt ); // ×ÏÚ×ÒÁÝÁÅÍ ËÏÎÓÏÌØ × ÎÁÞÁÌØÎÏÅ ÓÏÓÔÏÑÎÉÅ (ÎÁ ×ÓÑËÉÊ ÓÌÕÞÁÊ)
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ioctl(comfd, TCSANOW, &oldtty ); // ×ÏÓÓÔÁÎÁ×ÌÉ×ÁÅÍ ÒÅÖÉÍ ÒÁÂÏÔÙ com
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close(comfd); // ÚÁËÒÙ×ÁÅÍ ÓÏÅÄÉÎÅÎÉÅ
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printf("÷ÙÈÏÄ... (ÓÉÇÎÁÌ %d)\n", ex_stat);
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exit(ex_stat);
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}
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void tty_init(){
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printf("\nïÔËÒÙ×ÁÀ ÐÏÒÔ...\n");
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if ((comfd = open(comdev,O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0){
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fprintf(stderr,"Can't use port %s\n",comdev);
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quit(1);
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}
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printf(" OK\nðÏÌÕÞÁÀ ÔÅËÕÝÉÅ ÎÁÓÔÒÏÊËÉ ÐÏÒÔÁ...\n");
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ioctl(comfd,TCGETA,&oldtty); // õÚÎÁÅÍ ÔÅËÕÝÉÅ ÐÁÒÁÍÅÔÒÙ ÐÏÒÔÁ
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tty = oldtty;
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tty.c_lflag = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
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tty.c_iflag = BRKINT; // ÐÏÄÇÏÔÏ×ËÁ Ë 9ÂÉÔÎÏÊ ÐÅÒÅÄÁÞÅ
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tty.c_oflag = 0;
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tty.c_cflag = BAUD_RATE|CS8|CREAD|CLOCAL|PARENB; // 9.6Ë, 8N1, RW, ÉÇÎÏÒÉÒÏ×ÁÔØ ËÏÎÔÒ. ÌÉÎÉÉ
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tty.c_cc[VMIN] = 0; // ÎÅ ËÁÎÏÎÉÞÅÓËÉÊ ÒÅÖÉÍ
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tty.c_cc[VTIME] = 5; // (ÂÅÚ ÓÉÍ×ÏÌÏ× ÷ë É ÐÒ.)
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if(ioctl(comfd,TCSETA,&tty)<0) exit(-1); // õÓÔÁÎÁ×ÌÉ×ÁÅÍ ÔÅËÕÝÉÅ ÐÁÒÁÍÅÔÒÙ ÐÏÒÔÁ
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printf(" OK\n");
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}
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unsigned char read_tty(unsigned char *byte){
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*byte = 0;
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fd_set rfds; // ÎÁÂÏÒ ÆÁÊÌÏ×ÙÈ ÄÅÓËÒÉÐÔÏÒÏ×
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struct timeval tv; // ×ÒÅÍÑ ÏÖÉÄÁÎÉÑ
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int retval; // ×ÏÚ×ÒÁÝÁÅÍÏÅ Æ-Ê select ÚÎÁÞÅÎÉÅ
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tty.c_iflag &= ~PARODD;
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ioctl(comfd,TCSETA,&tty);
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// öÄÅÍ, ÓÉÇÎÁÌÁ Ó ÐÏÒÔÁ
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FD_ZERO(&rfds); // ÏÞÉÝÁÅÍ ÎÁÂÏÒ
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FD_SET(comfd, &rfds); // ÔÅÐÅÒØ ÜÔÏ - Ó×ÏÊÓÔ×Á ÐÏÒÔÁ
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tv.tv_sec = 0; tv.tv_usec = 50000; // ÖÄÅÍ
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retval = select(comfd + 1, &rfds, NULL, NULL, &tv);
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if (!retval) return 0; // ÅÓÌÉ ÓÉÇÎÁÌÁ ÎÅÔ, ×ÏÚ×ÒÁÝÁÅÍ ÎÏÌØ
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if(FD_ISSET(comfd, &rfds)){
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// printf("ready ");
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if(read(comfd, byte, 1) < 1) return 0; // ÏÛÉÂËÁ ÓÞÉÔÙ×ÁÎÉÑ
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}
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else return 0; // ÏÛÉÂËÁ
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/* if(*byte == 8){
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return 0;
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}
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else*/
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// printf("ÓÞÉÔÁÎ: %d (ËÏÍÁÎÄÁ %d)\n", *byte, *byte & 0x1f);
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return 1;
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}
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unsigned char read_console(){ // ÓÞÉÔÙ×ÁÅÍ ÄÁÎÎÙÅ Ó ËÏÎÓÏÌÉ
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unsigned char rb;
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struct timeval tv;
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int retval;
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tcgetattr( STDIN_FILENO, &oldt ); // ÏÔËÒÙ×ÁÅÍ ÔÅÒÍÉÎÁÌ ÄÌÑ ÒÅÁËÃÉÉ ÎÁ ËÌÁ×ÉÛÉ ÂÅÚ ÜÈÁ
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newt = oldt;
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newt.c_lflag &= ~( ICANON | ECHO );
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tcsetattr( STDIN_FILENO, TCSANOW, &newt );
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fd_set rfds;
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FD_ZERO(&rfds);
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FD_SET(STDIN_FILENO, &rfds); // 0 - ÓÔÁÎÄÁÒÔÎÙÊ ×ÈÏÄ
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tv.tv_sec = 0; tv.tv_usec = 10000; // ÖÄÅÍ 0.01Ó
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retval = select(1, &rfds, NULL, NULL, &tv);
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if (!retval) rb = 0;
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else {
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if(FD_ISSET(STDIN_FILENO, &rfds)) rb = getchar();
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else rb = 0;
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}
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tcsetattr( STDIN_FILENO, TCSANOW, &oldt );
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return rb;
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}
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unsigned char mygetchar(){ // ÁÎÁÌÏÇ getchar() ÂÅÚ ÎÅÏÂÈÏÄÉÍÏÓÔÉ ÖÁÔØ Enter
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unsigned char ret;
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do ret = read_console();
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while(ret == 0);
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return ret;
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}
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void write_tty_raw(unsigned char wb){
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if(crc(wb)) // ÎÅÞÅÔÎÁÑ ÓÕÍÍÁ
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tty.c_cflag |=PARODD; // 9-Ê ÂÉÔ = 0
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else
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tty.c_cflag &= ~PARODD; // = 1
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ioctl(comfd,TCSETA,&tty); // ÐÅÒÅÎÁÓÔÒÁÉ×ÁÅÍ ÐÏÒÔ
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if(write(comfd, &wb, 1) < 0) fprintf(stderr, "ïÛÉÂËÁ! úÁÐÉÓØ ÎÅ ÕÄÁÌÁÓØ :(\n"); // É ÐÉÛÅÍ × ÎÅÇÏ ÂÁÊÔ
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}
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void write_tty(unsigned char wb){
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unsigned char tmp = wb;
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tmp &= 0x1f; // ÎÁ ×ÓÑËÉÊ ÓÌÕÞÁÊ ÏÞÉÝÁÅÍ ÏÔ ÍÕÓÏÒÁ
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tmp |= C_NO; // ÄÏÂÁ×ÌÑÅÍ Ë ËÏÍÁÎÄÅ
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write_tty_raw(tmp);
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}
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int send_cmd(unsigned char cmd){ // ÐÏÓÙÌËÁ ËÏÎÔÒÏÌÌÅÒÕ ËÏÍÁÎÄÙ Ó ËÏÎÔÒÏÌÅÍ
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unsigned char rtn=ERR_CMD, byte=0, i=0;
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while(i<2 && rtn != 1){
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write_tty(cmd);
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usleep(100000);
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rtn = read_tty(&byte);
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byte &= 0x1f;
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i++;
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}
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if(byte != cmd){
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printf("\n\n!!!!!! ïÛÉÂËÁ! ëÏÎÔÒÏÌÌÅÒ ÎÅ ÏÔ×ÅÞÁÅÔ (ÏÔ×ÅÔ %d ÎÁ ËÏÍÁÎÄÕ %d) !!!!!\n\n", byte, cmd);
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return 0;
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}
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else return 1;
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}
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void sendword(unsigned int data){
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unsigned char tmp,i=0,rr=0, ret;
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tmp = (data >> 8) & 0xFF;
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if(crc(tmp)) // ÎÅÞÅÔÎÁÑ ÓÕÍÍÁ
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tty.c_cflag &= ~PARODD; // 9-Ê ÂÉÔ = 0
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else
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tty.c_cflag |= PARODD; // = 1
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ioctl(comfd,TCSETA,&tty); // ÐÅÒÅÎÁÓÔÒÁÉ×ÁÅÍ ÐÏÒÔ
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write(comfd, &tmp, 1);
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do{ i++;
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usleep(10000);
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ret = read_tty(&rr); rr &= 0x1F;
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}while((ret == 0 || rr != OK) && i < 10 );
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if(rr != OK){ fprintf(stderr, "ïÛÉÂËÁ ÚÁÐÉÓÉ"); return;}
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i = 0;
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tmp = data & 0xFF;
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if(crc(tmp)) // ÎÅÞÅÔÎÁÑ ÓÕÍÍÁ
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tty.c_cflag &= ~PARODD; // 9-Ê ÂÉÔ = 0
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else
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tty.c_cflag |= PARODD; // = 1
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ioctl(comfd,TCSETA,&tty); // ÐÅÒÅÎÁÓÔÒÁÉ×ÁÅÍ ÐÏÒÔ
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write(comfd, &tmp, 1);
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do{ i++;
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usleep(10000);
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ret = read_tty(&rr); rr &= 0x1F;
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}while((ret == 0 || rr != OK) && i < 10 );
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if(rr != OK){fprintf(stderr, "îÅÕÄÁÞÁ"); return;}
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}
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void send_rand(){
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int i, j = 0; unsigned char byte, rb;
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srand(time(NULL));
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for(i=0; i<128; i++)
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if(send_cmd(SPI_send_one)){
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write_tty_raw(25);
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printf("%d: ÐÅÒÅÄÁÎ ÂÁÊÔ \e[1;32;40m18\e[0m\n",i);
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if(read_tty(&byte))
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tty_sig(byte);
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rb = read_console();
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if(rb == 'q') break;
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//byte = (rand()|rand()) & 0xff;
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byte = j++;
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if(send_cmd(SPI_send_one)){
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write_tty_raw(byte);
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printf("%d: ÐÅÒÅÄÁÎ ÂÁÊÔ \e[1;32;40m%d\e[0m\n", i, byte);
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if(read_tty(&byte))
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tty_sig(byte);
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rb = read_console();
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if(rb == 'q') break;
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}
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if(send_cmd(SPI_send_one)){
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write_tty_raw(0);
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printf("%d: ÐÅÒÅÄÁÎ ÂÁÊÔ \e[1;32;40m0\e[0m\n", i);
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if(read_tty(&byte))
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tty_sig(byte);
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rb = read_console();
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if(rb == 'q') break;
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}
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}
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}
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void send_nseq(){
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int i, j; unsigned char byte, rb;
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for(i=0; i<256; i++)
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if(send_cmd(SPI_send_one)){
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byte = (unsigned char)i;
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write_tty_raw(byte);
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printf("%d: ÐÅÒÅÄÁÎ ÂÁÊÔ \e[1;32;40m%d\e[0m\n", i, byte);
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if(read_tty(&byte))
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tty_sig(byte);
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rb = read_console();
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if(rb == 'q') return;
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for(j=0; j<5; j++)
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if(send_cmd(SPI_send_one)){
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write_tty_raw(0);
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printf("%d: ÐÅÒÅÄÁÎ ÂÁÊÔ \e[1;32;40m0\e[0m\n", i);
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if(read_tty(&byte))
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tty_sig(byte);
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rb = read_console();
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if(rb == 'q') return;
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}
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}
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}
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void send_seq(){
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unsigned char seq[1024], byte;
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char *line;
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int cntr = 0, n, sz = 9;
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line = (char*) malloc(10);
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printf("\n÷×ÏÄÉÔÅ ÞÉÓÌÁ ÐÏ ÏÄÎÏÍÕ × ÓÔÒÏËÅ, ÏËÏÎÞÁÎÉÅ - ÓÌÏ×Ï end\n");
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do{
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n = getline(&line, &sz, stdin);
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if(n == 0 || strstr(line, "end") != NULL) break;
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seq[cntr++] = (unsigned char)atoi(line);
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}while(cntr < 1024);
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printf("\nîÁÞÉÎÁÀ ÐÅÒÅÄÁÞÕ\n");
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for(n=0; n<cntr; n++){
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if(send_cmd(SPI_send_one)){
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write_tty_raw(seq[n]);
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printf("ðÅÒÅÄÁÎ ÂÁÊÔ \e[1;32;40m%d\e[0m\n", seq[n]);
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if(read_tty(&byte))
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tty_sig(byte);
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}
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}
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free(line);
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printf("\nðÅÒÅÄÁÞÁ ÏËÏÎÞÅÎÁ\n");
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}
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void send_same(){
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int i; unsigned char cmd, byte, rb;
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printf("\n÷×ÅÄÉÔÅ ËÏÍÁÎÄÕ: ");
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scanf("%d", &i);
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cmd = i;
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for(i=0; i<1024; i++)
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if(send_cmd(SPI_send_one)){
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byte = (i%16) ? 0:cmd;
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write_tty_raw(byte);
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printf("%d: ÐÅÒÅÄÁÎ ÂÁÊÔ \e[1;32;40m%d\e[0m\n", i, byte);
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if(read_tty(&rb))
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tty_sig(rb);
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rb = read_console();
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if(rb == 'q') break;
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}
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}
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void tmrset(){
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unsigned char t_h,t_l;
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float period;
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if(send_cmd(TMR_SETTINGS) == 0) return;
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usleep(10000);
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read(comfd, &t_h, 1);
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usleep(10000);
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read(comfd, &t_l, 1);
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period = (65536.0 - 256.0*(float)t_h - (float)t_l)/125000.0;
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printf("ðÅÒÉÏÄ ÔÁÊÍÅÒÁ: T=%f", period);
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}
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||||
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||||
void help(){
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printf("\nh\tðÏÍÏÝØ\n"
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||||
"t\tõÚÎÁÔØ ÔÅËÕÝÉÊ ÐÅÒÉÏÄ ÔÁÊÍÅÒÁ\n"
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||||
"T\tóÍÅÎÉÔØ ÐÅÒÉÏÄ ÔÁÊÍÅÒÁ\n"
|
||||
"s\tïÔÏÓÌÁÔØ ××ÅÄÅÎÎÕÀ Ó ËÌÁ×ÉÁÔÕÒÙ ËÏÍÁÎÄÕ ÐÏ SPI\n"
|
||||
"i\t(òÅ)ÉÎÉÃÉÁÌÉÚÉÒÏ×ÁÔØ ËÏÎÔÒÏÌÌÅÒ\n"
|
||||
"m\täÁÎÎÙÅ ÓÞÉÔÙ×ÁÀÔÓÑ × ÓÅÒÅÄÉÎÅ ÔÁËÔÁ\n"
|
||||
"e\täÁÎÎÙÅ ÓÞÉÔÙ×ÁÀÔÓÑ × ËÏÎÃÅ ÔÁËÔÁ\n"
|
||||
"R\tïÔÓÙÌÁÔØ ÓÌÕÞÁÊÎÙÅ ÞÉÓÌÁ (1024 ÛÔÕËÉ)\n"
|
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"L\tóËÏÒÏÓÔØ 9600\n"
|
||||
"M\tóËÏÒÏÓÔØ 19200\n"
|
||||
"1..3\tõÓÔÁÎÏ×ÉÔØ ÓËÏÒÏÓÔØ ÉÚÍÅÎÅÎÉÑ F\n"
|
||||
"f\tðÅÒÅÍÅÓÔÉÔØÓÑ × ÓÔÏÒÏÎÕ ÂÅÓËÏÎÅÞÎÏÓÔÉ\n"
|
||||
"b\tðÅÒÅÍÅÓÔÉÔØÓÑ × ÓÔÏÒÏÎÕ ÎÕÌÑ\n"
|
||||
"0\tðÅÒÅÍÅÓÔÉÔØÓÑ × ÎÁÞÁÌÏ\n"
|
||||
"9\tðÅÒÅÍÅÓÔÉÔØÓÑ × ÂÅÓËÏÎÅÞÎÏÓÔØ\n"
|
||||
"H\t÷ËÌÀÞÉÔØ ÒÕÞÎÏÅ ÕÐÒÁ×ÌÅÎÉÅ\n"
|
||||
"p\tïÓÔÁÎÏ×ÉÔØ ÔÁÊÍÅÒ\n"
|
||||
"P\túÁÐÕÓÔÉÔØ ÔÁÊÍÅÒ\n"
|
||||
"y\tïÔËÌÀÞÉÔØ SPI\n"
|
||||
"Y\t÷ËÌÀÞÉÔØ SPI\n"
|
||||
"R\tðÏÓÙÌÁÔØ ÓÌÕÞÁÊÎÙÅ ÞÉÓÌÁ\n"
|
||||
"F\tæÏËÕÓÎÏÅ ÒÁÓÓÔÏÑÎÉÅ\n"
|
||||
"S\tïÔÏÓÌÁÔØ ÐÏÓÌÅÄÏ×ÁÔÅÌØÎÏÓÔØ ÂÁÊÔ (ÎÅ ÂÏÌÅÅ 1024, ÚÁ×ÅÒÛÅÎÉÅ ÐÏÓÌÅÄÏ×ÁÔÅÌØÎÏÓÔÉ - end)\n"
|
||||
"w\tïÔÓÙÌÁÔØ ÐÏÓÌÅÄÏ×ÁÔÅÌØÎÏÓÔØ ÏÄÉÎÁËÏ×ÙÈ ××ÅÄÅÎÎÙÈ ËÏÍÁÎÄ\n"
|
||||
"W\tïÔÓÙÌÁÔØ ÐÏÓÌÅÄÏ×ÁÔÅÌØÎÏÓÔØ 0..255 Ó ÐÒÏÍÅÖÕÔÏÞÎÙÍÉ 5 ÎÕÌÑÍÉ\n"
|
||||
"\n");
|
||||
}
|
||||
|
||||
void set_speed(int spd){
|
||||
//B115200 ÉÌÉ B9600
|
||||
BAUD_RATE = spd;
|
||||
ioctl(comfd, TCSANOW, &oldtty ); // ×ÏÓÓÔÁÎÁ×ÌÉ×ÁÅÍ ÒÅÖÉÍ ÒÁÂÏÔÙ com
|
||||
close(comfd); // ÚÁËÒÙ×ÁÅÍ ÓÏÅÄÉÎÅÎÉÅ
|
||||
tty_init();
|
||||
}
|
||||
|
||||
void con_sig(unsigned char rb){ // ÏÂÒÁÂÏÔËÁ ÓÉÇÎÁÌÏ× Ó ËÏÎÓÏÌÉ
|
||||
unsigned int tmp; unsigned char cmd;
|
||||
if(rb == 'q') quit(0); // ×ÙÈÏÄÉÍ ÐÏ ÎÁÖÁÔÉÀ q
|
||||
switch(rb){
|
||||
case 'h': help(); break;
|
||||
case 't': tmrset(); break;
|
||||
case 'T': printf("\nðÅÒÉÏÄ × ÍËÓ:\n"); scanf("%u", &tmp);
|
||||
if(send_cmd(SET_TIMER)) sendword(65536 - tmp/8); break;
|
||||
case 'i': send_cmd(INIT); break;
|
||||
case 's': printf("\näÁÎÎÙÅ:\n"); scanf("%d", &cmd);
|
||||
if(send_cmd(SPI_send_one)) write_tty_raw(cmd);; break;
|
||||
case 'm': send_cmd(MID_DATA); break;
|
||||
case 'e': send_cmd(END_DATA); break;
|
||||
case 'L': send_cmd(LOW_SPD); set_speed(B9600); break;
|
||||
case 'M': send_cmd(MID_SPD); set_speed(B19200); break;
|
||||
case '1': send_cmd(SPEED1); break;
|
||||
case '2': send_cmd(SPEED2); break;
|
||||
case '3': send_cmd(SPEED3); break;
|
||||
case 'f': send_cmd(FORW); break;
|
||||
case 'b': send_cmd(BACK); break;
|
||||
case '0': send_cmd(ZERO); break;
|
||||
case '9': send_cmd(INFTY); break;
|
||||
case 'H': send_cmd(HANDS); break;
|
||||
case 'p': send_cmd(TMR_OFF); break;
|
||||
case 'P': send_cmd(TMR_ON); break;
|
||||
case 'y': send_cmd(SPI_OFF); break;
|
||||
case 'Y': send_cmd(SPI_ON); break;
|
||||
case 'R': send_rand(); break;
|
||||
case 'F': send_cmd(FOCUS); break;
|
||||
case 'S': send_seq(); break;
|
||||
case 'w': send_same(); break;
|
||||
case 'W': send_nseq(); break;
|
||||
}
|
||||
}
|
||||
|
||||
void dec2bin(unsigned char ii, char* bin){
|
||||
int i;
|
||||
for(i=0; i<8; i++){
|
||||
bin[7-i] = (ii & 1) ? '1' : '0';
|
||||
ii>>=1;
|
||||
}
|
||||
bin[8]=0;
|
||||
}
|
||||
|
||||
void tty_sig(unsigned char rb){ // ÏÂÒÁÂÏÔËÁ ÓÉÇÎÁÌÏ× Ó ËÏÎÔÒÏÌÌÅÒÁ
|
||||
char bin[9];
|
||||
dec2bin(rb, bin);
|
||||
switch(rb){
|
||||
case ERR_CMD: printf("ïÛÉÂËÁ (\e[1;31;40m%d\e[0m?)\n", ERR_CMD); break;
|
||||
case OK: printf("OK (\e[1;31;40m%d\e[0m?)\n", OK); break;
|
||||
default: printf("\e[1;31;40m%d\e[0m\t(%s)\n", rb, bin);
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[]){
|
||||
unsigned char rb, byte, i = 0; // ÓÞÉÔÁÎÎÙÅ ÄÁÎÎÙÅ, ÓÞÅÔÞÉË
|
||||
tty_init();
|
||||
rb = ERR_CMD;
|
||||
signal(SIGTERM, quit); // kill (-15)
|
||||
signal(SIGINT, quit); // ctrl+C
|
||||
signal(SIGQUIT, SIG_IGN); // ctrl+\ .
|
||||
signal(SIGTSTP, SIG_IGN); // ctrl+Z
|
||||
setbuf(stdout, NULL);
|
||||
printf("\néÎÉÃÉÁÌÉÚÁÃÉÑ...\n");
|
||||
do{
|
||||
write_tty(INIT); // éÎÉÃÉÁÌÉÚÁÃÉÑ ËÏÎÔÒÏÌÌÅÒÁ
|
||||
rb = read_tty(&byte);
|
||||
usleep(100000);
|
||||
i ++;
|
||||
}
|
||||
while(i<3 && rb != 1); // ÐÒÏ×ÅÒËÁ Ó×ÑÚÉ
|
||||
if(i > 2 || (byte&0x1f) != INIT){
|
||||
fprintf(stderr,"\n!!!!!! ïÛÉÂËÁ: ËÏÎÔÒÏÌÌÅÒ ÎÅ ÏÔ×ÅÞÁÅÔ (%d) !!!!!!\n", byte);
|
||||
}
|
||||
else printf(" OK\n");
|
||||
while(1){ // ÂÅÓËÏÎÅÞÎÏ ÚÁÃÉËÌÉ×ÁÅÍÓÑ
|
||||
rb = read_console();
|
||||
if(rb != 0) con_sig(rb); // ÅÓÌÉ ÞÔÏ-ÔÏ ÐÏÑ×ÉÌÏÓØ - ÏÂÒÁÂÁÔÙ×ÁÅÍ
|
||||
rb = read_tty(&byte);
|
||||
if(rb != 0) tty_sig(byte); // ÅÓÌÉ ÅÓÔØ ÓÉÇÎÁÌ Ó ËÏÎÔÒÏÌÌÅÒÁ - ÏÂÒÁÂÁÔÙ×ÁÅÍ
|
||||
|
||||
}
|
||||
}
|
||||
18
03-focusing/Frontend/Makefile
Normal file
18
03-focusing/Frontend/Makefile
Normal file
@@ -0,0 +1,18 @@
|
||||
PROGRAM = FE
|
||||
LOADLIBES =
|
||||
CXX.SRCS = FE.c
|
||||
CC = gcc
|
||||
DEFINES =
|
||||
CXX = gcc
|
||||
CPPFLAGS = -Wall $(DEFINES)
|
||||
OBJS = $(CXX.SRCS:.c=.o)
|
||||
all : $(PROGRAM) clean
|
||||
$(PROGRAM) : $(OBJS)
|
||||
$(CC) $(CPPFLAGS) $(OBJS) $(LOADLIBES) -o $(PROGRAM)
|
||||
clean:
|
||||
/bin/rm -f *.o *~
|
||||
depend:
|
||||
$(CXX) -MM $(CXX.SRCS)
|
||||
|
||||
### <DEPENDENCIES ON .h FILES GO HERE>
|
||||
# name1.o : header1.h header2.h ...
|
||||
44
03-focusing/Frontend/signals.h
Normal file
44
03-focusing/Frontend/signals.h
Normal file
@@ -0,0 +1,44 @@
|
||||
/*********** ðÅÒÅÞÅÎØ ËÏÍÁÎÄ ************/
|
||||
// ÐÏÌÕÞÉÔØ Ó ËÏÍÐØÀÔÅÒÁ ÂÁÊÔ ÄÁÎÎÙÈ É ÚÁÐÉÓÁÔØ × SPI
|
||||
#define SPI_send_one 1
|
||||
// ÒÅÖÉÍÙ ÒÁÂÏÔÙ SPI
|
||||
#define MID_DATA 2
|
||||
#define END_DATA 3
|
||||
// ÓËÏÒÏÓÔÉ ÐÏÒÔÁ (ÐÏ ÕÍÏÌÞÁÎÉÀ 9600)
|
||||
#define MID_SPD 4 // 19200
|
||||
#define LOW_SPD 5 // 9600
|
||||
// ÓËÏÒÏÓÔÉ ÏÂßÅËÔÉ×Á (×ÒÅÍÑ, ÞÅÒÅÚ ËÏÔÏÒÏÅ ÂÕÄÅÔ ÐÏÓÌÁÎ ÓÉÇÎÁÌ "ÓÔÏÐ")
|
||||
#define SPEED1 6 // .3c
|
||||
#define SPEED2 7 // .05c
|
||||
#define SPEED3 8 // .01c
|
||||
// ÎÁÐÒÁ×ÌÅÎÉÑ Ä×ÉÖÅÎÉÑ
|
||||
#define FORW 9
|
||||
#define BACK 10
|
||||
#define INFTY 11
|
||||
#define ZERO 12
|
||||
// ÕÚÎÁÔØ ÆÏËÕÓ
|
||||
#define FOCUS 19
|
||||
// ÒÕÞÎÏÊ ÒÅÖÉÍ ÕÐÒÁ×ÌÅÎÉÑ
|
||||
#define HANDS 13
|
||||
#define TMR_ON 14
|
||||
#define TMR_OFF 15
|
||||
#define SPI_ON 16
|
||||
#define SPI_OFF 17
|
||||
// ÔÅËÕÝÉÊ ÐÅÒÉÏÄ ÔÁÊÍÅÒÁ
|
||||
#define TMR_SETTINGS 18
|
||||
// ÕÓÔÁÎÏ×ÉÔØ ÚÎÁÞÅÎÉÅ ÔÁÊÍÅÒÁ
|
||||
#define SET_TIMER 26
|
||||
// ÓÂÒÏÓ
|
||||
#define INIT 28
|
||||
#define TEST 29
|
||||
/************** ïÛÉÂËÉ É ÓÉÇÎÁÌÙ ËÏÎÔÒÏÌÌÅÒÁ ******************/
|
||||
// ×ÓÅ × ÐÏÒÑÄËÅ
|
||||
#define OK 22
|
||||
// ÎÅÔ ÓÔÏÐÏ×ÏÇÏ ÂÉÔÁ
|
||||
#define NO_STOP_BIT 24
|
||||
// ÐÅÒÅÐÏÌÎÅÎÉÅ ÒÅÇÉÓÔÒÏ×
|
||||
#define STACK_OVERFLOW 25
|
||||
// ÏÛÉÂÏÞËÁÑ ËÏÍÁÎÄÁ
|
||||
#define ERR_CMD 31
|
||||
|
||||
#define TWOBYTE 33 // Ä×ÕÈÂÁÊÔÎÁÑ ÐÏÓÙÌËÁ
|
||||
Reference in New Issue
Block a user