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RPi/project_chair_last.c

+#include <sys/stat.h>
+#include <sys/types.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <arpa/inet.h>
+#include <sys/socket.h>
+
+#include <stdint.h>
+#include <unistd.h>
+#include <getopt.h>
+#include <sys/ioctl.h>
+#include <linux/types.h>
+#include <linux/spi/spidev.h>
+
+
+#define IN 0
+#define OUT 1
+#define LOW 0
+#define HIGH 1
+#define POUT 18
+#define POUT2 4
+#define S_POUT 20
+#define VALUE_MAX 30
+
+#define ARRAY_SIZE(array) sizeof(array) / sizeof(array[0])   
+
+static const char *DEVICE = "/dev/spidev0.0";
+static uint8_t MODE = SPI_MODE_0;
+static uint8_t BITS = 8;
+static uint32_t CLOCK = 1000000;
+static uint16_t DELAY = 5;
+
+
+void error_handling( char *message){
+ fputs(message,stderr);
+ fputc( '\n',stderr);
+ exit(1);
+}
+
+static int
+PWMExport(int pwmnum)
+{
+#define BUFFER_MAX 3
+   char buffer[BUFFER_MAX];
+   int bytes_written;
+   int fd;
+
+   fd = open("/sys/class/pwm/pwmchip0/unexport", O_WRONLY);
+   if (-1 == fd){
+      fprintf(stderr, "Failed to open in unexport!\n");
+      return(-1);
+   }
+
+   bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
+   write(fd, buffer, bytes_written);
+   close(fd);
+
+   sleep(1);
+   fd = open("/sys/class/pwm/pwmchip0/export", O_WRONLY);
+   if (-1 == fd){
+      fprintf(stderr, "Failed to open in export!\n");
+      return( -1);
+   }
+   bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
+   write(fd, buffer, bytes_written);
+   close(fd);
+   sleep(1);
+   return(0);
+}
+
+static int
+PWMUnexport(int pwmnum){
+    char buffer[BUFFER_MAX];
+    int bytes_written;
+    int fd;
+
+   fd = open(" /sys/class/pwm/pwmchip0/unexport", O_WRONLY);
+   if (-1 == fd){
+      fprintf(stderr, "Failed to open in unexport!\n");
+      return(-1);
+   }
+   bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pwmnum);
+   write(fd, buffer, bytes_written);
+   close(fd);
+   sleep(1);
+   return(0);
+}
+
+static int
+PWMEnable(int pwmnum)
+{
+   static const char s_unenable_str[] = "0";
+   static const char s_enable_str[] = "1";
+
+#define DIRECTION_MAX 45
+   char path[DIRECTION_MAX];
+   int fd;
+
+   snprintf(path, DIRECTION_MAX, "/sys/class/pwm/pwmchip0/pwm%d/enable", pwmnum);
+   fd = open(path, O_WRONLY);
+   if (-1 == fd) {
+      fprintf(stderr, "Failed to open in enable!\n");
+      return -1;
+   }
+
+   write(fd, s_unenable_str, strlen(s_unenable_str));
+   close(fd);
+
+   fd = open(path, O_WRONLY);
+   if (-1 == fd){
+      fprintf(stderr, "Failed to open in enable!\n");
+      return -1;
+   }
+
+   write(fd, s_enable_str, strlen(s_enable_str));
+   close(fd);
+   return(0);
+}
+
+static int 
+PWMWritePeriod(int pwmnum, int value)
+{
+   char s_values_str[VALUE_MAX]; 
+   char path[VALUE_MAX]; 
+   int fd, byte;
+
+   snprintf(path, VALUE_MAX, "/sys/class/pwm/pwmchip0/pwm%d/period", pwmnum); 
+   fd = open(path, O_WRONLY); 
+   if (-1 == fd) {
+      fprintf(stderr, "Failed to open in period!\n"); 
+      return(-1);
+   }
+
+   byte = snprintf(s_values_str, 10,"%d", value);
+
+   if (-1 == write(fd, s_values_str, byte)) {
+      fprintf(stderr, "Failed to write value in period!\n"); 
+      close(fd); 
+      return(-1);
+   }
+   close(fd); 
+   return(0);
+}
+
+static int 
+PWMWriteDutyCycle(int pwmnum, int value)
+{
+   char path[VALUE_MAX]; 
+   char s_values_str[VALUE_MAX];
+   int fd, byte;
+   
+   snprintf(path, VALUE_MAX, "/sys/class/pwm/pwmchip0/pwm%d/duty_cycle", pwmnum); 
+   fd = open(path, O_WRONLY); 
+   if (-1 == fd) {
+      fprintf(stderr, "Failed to open in duty cycle!\n"); 
+      return(-1);
+   }
+
+   byte = snprintf(s_values_str, 10, "%d",value);
+
+   if (-1 == write(fd, s_values_str, byte)) {
+      fprintf(stderr, "Failed to write value! in duty_cycle\n"); 
+      close(fd); 
+      return(-1);
+   }
+
+   close(fd); 
+   return(0);
+}
+
+
+static int GPIOExport(int pin){
+#define BUFFER_MAX 3
+    char buffer[BUFFER_MAX];
+    ssize_t bytes_written;
+    int fd;
+
+    fd=open("/sys/class/gpio/export",O_WRONLY);
+    if(-1==fd){
+        fprintf(stderr,"Failed to open export for writing!\n");
+        return(-1);
+    }
+
+    bytes_written=snprintf(buffer,BUFFER_MAX,"%d",pin);
+    write(fd,buffer,bytes_written);
+    close(fd);
+    return(0);
+}
+
+static int GPIODirection(int pin,int dir){
+    static const char s_directions_str[] = "in\0out";
+
+
+    char path[DIRECTION_MAX]="/sys/class/gpio/gpio%d/direction";
+    int fd;
+
+    snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction",pin);
+
+    fd=open(path,O_WRONLY);
+    if(-1==fd){
+        fprintf(stderr,"Failed to open gpio direction for writing\n");
+        return(-1);
+    }
+    if(-1==write(fd,&s_directions_str[IN==dir?0:3],IN==dir?2:3)){
+        fprintf(stderr,"Failed to set direction\n");
+        close(fd);
+        return(-1);
+    }
+    close(fd);
+    return(0);
+}
+
+static int GPIORead(int pin){
+    char path[VALUE_MAX];
+    char value_str[3];
+    int fd;
+
+    snprintf(path,VALUE_MAX, "/sys/class/gpio/gpio%d/value",pin);
+    fd = open(path,O_RDONLY);
+    if(-1 == fd){
+        fprintf(stderr,"Failed to open gpio value for reading!\n");
+        return(-1);
+    }
+
+    if(-1 == read(fd,value_str,3)){
+        fprintf(stderr,"Failed to read value!\n");
+        close(fd);
+        return(-1);
+    }
+
+    close(fd);
+
+    return(atoi(value_str));
+}
+
+static int GPIOWrite(int pin, int value){
+    static const char s_values_str[]="01";
+
+    char path[VALUE_MAX];
+    int fd;
+
+    snprintf(path,VALUE_MAX,"/sys/class/gpio/gpio%d/value",pin);
+    fd=open(path,O_WRONLY);
+    if(-1==fd){
+       /// fprintf(stderr,"Failed to open gpio value for writing!\n");
+        return(-1);
+    }
+
+    if(1!=write(fd, &s_values_str[LOW==value?0:1],1)){
+       // fprintf(stderr,"Failed to write value!\n");
+        close(fd);
+        return(-1);
+    }
+    close(fd);
+    return(0);
+}
+
+static int GPIOUnexport(int pin){
+    char buffer[BUFFER_MAX];
+    ssize_t bytes_written;
+    int fd;
+
+    fd=open("/sys/class/gpio/unexport",O_WRONLY);
+    if(-1==fd){
+        fprintf(stderr,"Failed to open unexport for writing!\n");
+        return(-1);
+    }
+
+    bytes_written=snprintf(buffer,BUFFER_MAX,"%d",pin);
+    write(fd,buffer,bytes_written);
+    close(fd);
+    return(0);
+}
+
+// SGL/DIF = 0 , D2=D1=D0=0
+uint8_t control_bits_differential(uint8_t channel){
+    return (channel & 7) << 4;
+}
+
+// SGL/DIF = 1 , D2=D1=D0=0
+uint8_t control_bits(uint8_t channel){
+    return 0x8 | control_bits_differential(channel);
+}
+
+
+int readadc(int fd, uint8_t channel) {
+    uint8_t tx[] = {1, control_bits(channel), 1};
+    uint8_t rx[3];
+
+    struct spi_ioc_transfer tr = {
+        .tx_buf = (unsigned long)tx,
+        .rx_buf = (unsigned long)rx,
+        .len = ARRAY_SIZE(tx),
+        .delay_usecs = DELAY,
+        .speed_hz = CLOCK,
+        .bits_per_word = BITS,
+    };
+
+    if (ioctl(fd, SPI_IOC_MESSAGE(1), &tr) == 1){
+        perror("IO Error");
+        abort();
+    }
+
+    return((rx[1] << 8) & 0x300) | (rx[2] & 0xFF);
+}
+
+
+static int prepare(int fd){
+    if (ioctl(fd, SPI_IOC_WR_MODE, &MODE) == -1) {
+        perror("Can't set MODE");
+        return -1;
+    }
+
+    if (ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &BITS) == -1){
+        perror("Can't set number of BITS");
+        return -1;
+    }
+
+    if (ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &CLOCK) == -1){
+        perror("Can't set write CLOCK");
+        return -1;
+    }
+
+    if (ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &CLOCK) == -1) {
+        perror("Can't set read CLOCK");
+        return -1;
+    }
+
+    return 0;
+}
+
+
+int main(int argc, char *argv[]) {
+ int sock;
+ struct sockaddr_in serv_addr;
+ char msg[2];
+ char on[2]="1";
+ int str_len;
+ int light;
+ 
+ if(argc!=3){
+ printf("Usage : %s <IP> <port>\n",argv[0]);
+ exit(1);
+ }
+ //Enable GPIO pins
+ if (-1 == GPIOExport(POUT))
+ return(1);
+ //Set GPIO directions
+ if (-1 == GPIODirection(POUT, OUT))
+ return(2);
+
+    sock = socket(PF_INET, SOCK_STREAM, 0);
+ if(sock == -1)
+ error_handling("socket() error");
+ 
+ memset(&serv_addr, 0, sizeof(serv_addr));
+ serv_addr.sin_family = AF_INET;
+ serv_addr.sin_addr.s_addr = inet_addr(argv[1]);
+ serv_addr.sin_port = htons(atoi(argv[2])); 
+ 
+
+
+     int fd = open(DEVICE, O_RDWR);
+    if (fd <= 0){
+        printf("Device %s not found\n", DEVICE);
+        return -1;
+    }
+
+    if (prepare(fd) == -1) {
+        return -1;
+    }
+ if(connect(sock, (struct sockaddr*)&serv_addr, sizeof(serv_addr))==-1)
+ error_handling("connect() error");
+
+    int count = 0; //의자용 count
+    int cnt=0; // 스피커용 count
+    int number = 0; // 횟수 측정용
+
+
+while(1){ 
+ str_len = read(sock, msg, sizeof(msg));
+    
+ if(str_len == -1)
+ error_handling("read() error");
+
+ printf("%d Receive message from Server : %s\n",number,msg);
+ number++;
+    ///////////
+    int p_one = 0;
+    int p_two = 0;
+
+    
+    if(strcmp("0",msg)==0){
+        count=0;
+        GPIOWrite(POUT,0);
+
+        cnt=0;
+        GPIOWrite(S_POUT,0);
+    }
+    else{
+        
+        p_one = readadc(fd, 0); // 압력용
+        p_two = readadc(fd, 1);
+        int s_one = readadc(fd, 0); //스피커용
+        int s_two = readadc(fd, 1);
+        int k = 0;
+
+        printf("1 : %d\n",p_one);
+        printf("2 : %d\n\n",p_two);
+
+        // 의자 XOR
+        if(p_one>0) p_one=0; else p_one=1;
+        if(p_two>0) p_two=0;  else p_two=1;
+
+        if(p_one ^ p_two ==1){
+            count++;
+        }else{
+            count = 0;
+        }
+        
+        if(count >= 5){
+            GPIOExport(POUT2);
+            GPIODirection(POUT2,1);
+            GPIOWrite(POUT,1);
+            GPIOWrite(POUT2,1);
+        }else if(count < 5){  
+            GPIOExport(POUT);
+            GPIODirection(POUT,1);
+            GPIOWrite(POUT,0);
+        }
+        
+        //부저
+        if(s_one>0 && s_two>0){
+            cnt++;
+        }else cnt=0;
+
+        if(cnt=7){ 
+            PWMExport(0); // pwm0 is gpio18 
+            PWMWritePeriod(0, 20000000); 
+            PWMWriteDutyCycle(0, 0); 
+            PWMEnable(0); 
+
+   
+            for (int i = 0; i < 1000; i++){
+               PWMWriteDutyCycle(0,i * 10000);
+               usleep(1000);
+            }
+            for (int i = 1000; i > 0; i--){
+               PWMWriteDutyCycle(0,i*10000); 
+               usleep(1000);
+            } 
+              }
+    }
+        usleep(1000000);
+    
+    
+}
+close(fd);
+ close(sock);
+ //Disable GPIO pins
+ if (-1 == GPIOUnexport(POUT))
+    return(4);
+ return(0);
+}