pi4 added

pi4/pi4.c

+#include <sys/stat.h>
+#include <sys/types.h>
+#include <sys/mman.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <time.h>
+#include <pthread.h>
+#include <linux/i2c-dev.h>
+#include <sys/ioctl.h>
+#include <pthread.h>
+#include <arpa/inet.h>
+#include <sys/socket.h>
+
+#define BUFFER_MAX 1024
+#define VALUE_MAX 256
+// #define LED_PIN  17
+
+#define DIRECTION_MAX 45
+#define MAX_OUTPUT_LENGTH 256
+
+#define MOTOR_ON 350000
+#define MOTOR_OFF 2500000
+
+#define IN 0
+#define OUT 1
+#define PWM 0
+
+#define LOW 0
+#define HIGH 1
+#define VALUE_MAX 256
+
+#define POUT 17
+
+char ControlMessage[VALUE_MAX];
+int clnt_sock = -1;
+
+static int PWMExport(int pwmnum){
+    char buffer[BUFFER_MAX];
+    int bytes_written;
+    int fd;
+
+    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];
+    ssize_t 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";
+    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 PWMUnable(int pwmnum){
+    static const char s_unable_str[] = "0";
+    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_unable_str,strlen(s_unable_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 oepn 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)
+{
+    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 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 gpio value 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 raeding!\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);
+}
+
+void error_handling(char *message) {
+    fputs(message, stderr);
+    fputc('\n', stderr);
+    exit(1);
+}
+
+int main(int argc, char *argv[]) {
+    int serv_sock = -1;
+    struct sockaddr_in serv_addr, clnt_addr;
+    socklen_t clnt_addr_size;
+    char buffer[BUFFER_MAX];
+    memset(buffer, 0, sizeof(buffer));
+    fflush(stdout);
+    fflush(stdin);
+    int str_len;
+    int received_total;
+
+    int pwmnum = 0;  // 사용할 PWM 번호
+    int period = 20000000;  // PWM 주기 (나노초 단위)
+
+    if(-1 == GPIOExport(POUT)) return (1);
+    if(-1 == GPIODirection(POUT,OUT)) return (2);
+     // PWM 설정
+    if (PWMExport(pwmnum) == -1) {
+        printf("Failed to export PWM!\n");
+        return -1;
+    }
+
+    if (PWMEnable(pwmnum) == -1) {
+        printf("Failed to enable PWM!\n");
+        return -1;
+    }
+
+    if (PWMWritePeriod(pwmnum, period) == -1) {
+        printf("Failed to write PWM period!\n");
+        return -1;
+    }
+
+    if (argc != 2) {
+        printf("Usage : %s <port>\n", argv[0]);
+        exit(1);
+    }
+
+    serv_sock = socket(PF_INET, SOCK_STREAM, 0);
+    if (serv_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 = htonl(INADDR_ANY);
+    serv_addr.sin_port = htons(atoi(argv[1]));
+
+    if (bind(serv_sock, (struct sockaddr*) &serv_addr, sizeof(serv_addr)) == -1)
+        error_handling("bind() error");
+
+    if (listen(serv_sock, 5) == -1)
+        error_handling("listen() error");
+    
+    printf("Binding....\n");
+    while (1) {
+        if (clnt_sock < 0) {
+            clnt_addr_size = sizeof(clnt_addr);
+            clnt_sock = accept(serv_sock, (struct sockaddr*)&clnt_addr, &clnt_addr_size);
+            if (clnt_sock == -1)
+                error_handling("accept() error");
+        } 
+
+        str_len = read(clnt_sock, ControlMessage, sizeof(ControlMessage));
+        if (str_len == -1)
+                error_handling("read() error");
+        ControlMessage[str_len] = '\0';
+        printf("ControlMessage: %s\n",ControlMessage);
+
+        str_len = write(clnt_sock,"0",1);
+        if (str_len == -1)
+            error_handling("write() error"); // 잘 받았다고 보냄
+
+        while ((str_len = read(clnt_sock, buffer, sizeof(buffer))) > 0) {
+            if(str_len == 0) {
+                error_handling("read() error");
+            } 
+            if(buffer[0] == '0') break;
+        } // 잘 전달된 거 확인
+
+        /*
+            받은 message 분석 및 해당 값으로 PWM, LED 키기
+            
+        */
+            int IsOn = atoi(ControlMessage);
+
+            if(IsOn){
+                    if(-1 == GPIOWrite(POUT, IsOn)) return(3);
+                    if (PWMWriteDutyCycle(pwmnum, MOTOR_ON) == -1) {
+                    printf("Failed to write PWM duty cycle!\n");
+                    }
+                    usleep(50000);
+            } else {
+                    printf("LED OFF\n");
+                     if(-1 == GPIOWrite(POUT, IsOn)) return(3);
+                    if (PWMWriteDutyCycle(pwmnum, MOTOR_OFF) == -1) {
+                    printf("Failed to write PWM duty cycle!\n");
+                    }
+                    usleep(50000);
+            }       
+    }
+    close(serv_sock);
+    clnt_sock = -1;
+    if(-1 == GPIOUnexport(POUT)) return (4);
+    
+    return 0;
+}
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