diff --git a/src/client.c b/src/client.c
index f75374f001165e4a53e86d72c4e1af203faa48a0..dd5e09de66cf2adb956709ae1519f4108cde53fc 100644
--- a/src/client.c
+++ b/src/client.c
@@ -16,7 +16,6 @@
#include <arpa/inet.h>
#include <sys/socket.h>
-
#define IN 0
#define OUT 1
#define LOW 0
@@ -30,10 +29,8 @@
#define BUTTON 19
#define BUTTON2 26
-
#define ARRAY_SIZE(array) sizeof(array) / sizeof(array[0])
-
static const char *DEVICE = "/dev/spidev0.0";
static u_int8_t MODE = SPI_MODE_0;
static u_int8_t BITS = 8;
@@ -42,27 +39,28 @@ static u_int16_t DELAY = 5;
int mode_flag = 0;
int alarm_flag = 0;
-
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){
+ 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){
+ if (-1 == fd)
+ {
fprintf(stderr, "Failed to open in export!\n");
return -1;
}
@@ -80,23 +78,25 @@ static int PWMEnable(int pwmnum)
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) {
+ 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) {
+ 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;
@@ -107,22 +107,24 @@ 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){
+ 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)) {
+
+ 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;
}
@@ -132,277 +134,300 @@ 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) {
+ if (-1 == fd)
+ {
fprintf(stderr, "Failed to open in duty_cycle!\n");
return -1;
}
-
+
byte = snprintf(s_values_str, VALUE_MAX, "%d", value);
- if(-1 == write(fd, s_values_str, byte)) {
-
+ 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 prepare(int fd){
- ioctl(fd, SPI_IOC_WR_MODE, &MODE);
- ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &BITS);
- ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &CLOCK);
- ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &CLOCK);
- return 0;
+static int prepare(int fd)
+{
+ ioctl(fd, SPI_IOC_WR_MODE, &MODE);
+ ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &BITS);
+ ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &CLOCK);
+ ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &CLOCK);
+ return 0;
}
-
-static int GPIOExport(int pin){
+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){
+ if (-1 == fd)
+ {
fprintf(stderr, "failed to open export for writing!\n");
- return(-1);
+ return (-1);
}
-
+
bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
write(fd, buffer, bytes_written);
close(fd);
- return(0);
+ return (0);
}
-static int GPIOUnexport(int pin) {
+static int GPIOUnexport(int pin)
+{
char buffer[BUFFER_MAX];
ssize_t bytes_written;
int fd;
-
+
fd = open("/sys/class/gpio/unexport", O_WRONLY);
- if(fd == -1) {
+ if (fd == -1)
+ {
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;
}
-static int GPIODirection(int pin, int dir){
+static int GPIODirection(int pin, int dir)
+{
static const char s_directions_str[] = "in\0out";
-
+
//char path[DIRECTION_MAX]="/sys/class/gpio/gpio24/direction";
- char path[DIRECTION_MAX]="/sys/class/gpio/gpio%d/direction";
+ 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(fd == -1){
+ if (fd == -1)
+ {
fprintf(stderr, "Failed to open gpio direction for writing!\n");
- return(-1);
+ return (-1);
}
-
- if(-1 == write(fd, &s_directions_str[IN == dir ? 0 : 3], IN == dir ? 2: 3)) {
+
+ if (-1 == write(fd, &s_directions_str[IN == dir ? 0 : 3], IN == dir ? 2 : 3))
+ {
fprintf(stderr, "Failed to set direction!\n");
- return(-1);
+ return (-1);
}
-
+
close(fd);
- return(0);
+ return (0);
}
-
-static int GPIOWrite(int pin, int value){
+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(fd == -1){
+ if (fd == -1)
+ {
fprintf(stderr, "Failed to open gpio value for writing!\n");
return -1;
}
-
- if(write(fd, &s_values_str[LOW == value ? 0 : 1], 1) == -1){
+
+ if (write(fd, &s_values_str[LOW == value ? 0 : 1], 1) == -1)
+ {
fprintf(stderr, "Failed to write balue!\n");
return -1;
}
-
+
close(fd);
return 0;
}
-
-static int GPIORead(int pin){
+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(fd == -1){
+ if (fd == -1)
+ {
fprintf(stderr, "Failed to open gpio value for reading!\n");
return -1;
}
-
- if(read(fd, value_str, 3) == -1){
+
+ if (read(fd, value_str, 3) == -1)
+ {
fprintf(stderr, "Failed to read value!\n");
return -1;
}
-
- close(fd);
-
- return(atoi(value_str));
-}
+ close(fd);
-u_int8_t control_bits_differential(u_int8_t channel){
- return (channel & 7) << 4;
+ return (atoi(value_str));
}
-
-u_int8_t control_bits(u_int8_t channel){
- return 0x8 | control_bits_differential(channel);
+u_int8_t control_bits_differential(u_int8_t channel)
+{
+ return (channel & 7) << 4;
}
-
-int readadc(int fd, u_int8_t channel){
- u_int8_t tx[] = {1, control_bits(channel), 0};
- u_int8_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,
- };
- ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
- return ((rx[1] << 8) & 0x300) | (rx[2] & 0xFF);
+u_int8_t control_bits(u_int8_t channel)
+{
+ return 0x8 | control_bits_differential(channel);
}
+int readadc(int fd, u_int8_t channel)
+{
+ u_int8_t tx[] = {1, control_bits(channel), 0};
+ u_int8_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,
+ };
+ ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
+ return ((rx[1] << 8) & 0x300) | (rx[2] & 0xFF);
+}
-void error_handling(char *message){
- fputs(message,stderr);
- fputc('\n',stderr);
+void error_handling(char *message)
+{
+ fputs(message, stderr);
+ fputc('\n', stderr);
exit(1);
}
-
-void signalingHandler(int signo) {
+void signalingHandler(int signo)
+{
exit(1);
}
void (*breakCapture)(int);
-void * socket_thread(void * data){
- char ** argv = (char **)data;
+void *socket_thread(void *data)
+{
+ char **argv = (char **)data;
int sock;
struct sockaddr_in serv_addr;
char msg[10];
- int str_len;
-
+
sock = socket(PF_INET, SOCK_STREAM, 0);
- if(sock == -1)
+ 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]));
- if(connect(sock, (struct sockaddr*)&serv_addr, sizeof(serv_addr))==-1)
+ if (connect(sock, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) == -1)
error_handling("connect() error");
- while(1){
+ while (1)
+ {
snprintf(msg, 10, "%d", alarm_flag);
- write(sock, msg, sizeof(msg));
+ write(sock, msg, sizeof(msg));
usleep(500000);
}
close(sock);
}
-void led_init() {
+void led_init()
+{
//Enable GPIO pins
- if(-1 == GPIOExport(LED_ONLY) || -1 == GPIOExport(LED_RGB_R) || -1 == GPIOExport(LED_RGB_B) || -1 == GPIOExport(LED_RGB_G))
+ if (-1 == GPIOExport(LED_ONLY) || -1 == GPIOExport(LED_RGB_R) || -1 == GPIOExport(LED_RGB_B) || -1 == GPIOExport(LED_RGB_G))
exit(0);
-
+
//wait for writing to export file
usleep(10000);
-
+
//Set GPIO directions
- if(-1 == GPIODirection(LED_ONLY, OUT) || -1 == GPIODirection(LED_RGB_R, OUT) || -1 == GPIODirection(LED_RGB_B, OUT) || -1 == GPIODirection(LED_RGB_G, OUT))
+ if (-1 == GPIODirection(LED_ONLY, OUT) || -1 == GPIODirection(LED_RGB_R, OUT) || -1 == GPIODirection(LED_RGB_B, OUT) || -1 == GPIODirection(LED_RGB_G, OUT))
exit(0);
}
-void button_init() {
+void button_init()
+{
//Enable GPIO pins
- if(-1 == GPIOExport(BUTTON) || -1 == GPIOExport(BUTTON2))
+ if (-1 == GPIOExport(BUTTON) || -1 == GPIOExport(BUTTON2))
exit(1);
-
+
//Set GPIO directions
- if(-1 == GPIODirection(BUTTON, OUT) || -1 == GPIODirection(BUTTON2, IN))
+ if (-1 == GPIODirection(BUTTON, OUT) || -1 == GPIODirection(BUTTON2, IN))
exit(1);
}
-void PWM_init() {
+void PWM_init()
+{
PWMExport(0); //pwm0 is gpio18
PWMWritePeriod(0, 20000000);
PWMWriteDutyCycle(0, 0);
PWMEnable(0);
}
-int spi_init() {
+int spi_init()
+{
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 (fd <= 0)
+ {
+ printf("Device %s not found\n", DEVICE);
+ return -1;
+ }
+ if (prepare(fd) == -1)
+ {
+ return -1;
+ }
return fd;
}
-void return_resource() {
+void return_resource()
+{
//Disable GPIO pins
- if(-1 == GPIOUnexport(BUTTON) || -1 == GPIOUnexport(BUTTON2))
+ if (-1 == GPIOUnexport(BUTTON) || -1 == GPIOUnexport(BUTTON2))
exit(1);
-
- if(-1 == GPIOUnexport(LED_RGB_B) || -1 == GPIOUnexport(LED_RGB_R) || -1 == GPIOUnexport(LED_RGB_G) || -1 == GPIOUnexport(LED_ONLY))
+
+ if (-1 == GPIOUnexport(LED_RGB_B) || -1 == GPIOUnexport(LED_RGB_R) || -1 == GPIOUnexport(LED_RGB_G) || -1 == GPIOUnexport(LED_ONLY))
exit(1);
}
-void control_led(int led) {
+void control_led(int led)
+{
//init ultrawave trigger
GPIOWrite(LED_RGB_B, led);
GPIOWrite(LED_RGB_R, led);
GPIOWrite(LED_RGB_G, led);
- GPIOWrite(LED_ONLY, led);
+ GPIOWrite(LED_ONLY, led);
usleep(10000);
}
-void * safety_thread(void*data) {
+void *safety_thread(void *data)
+{
int fd = spi_init();
int moist;
led_init();
- while(1) {
+ while (1)
+ {
moist = readadc(fd, 0);
printf("moist : %d\n", moist);
alarm_flag = moist > 350 ? 1 : 0;
@@ -413,71 +438,82 @@ void * safety_thread(void*data) {
exit(0);
}
-void *button_thread(void * data){
+void *button_thread(void *data)
+{
int state = 0;
int button_state = 1;
- int light = 0;
-
+
button_init();
- while(1) {
+ while (1)
+ {
if (-1 == GPIOWrite(BUTTON, 1))
exit(1);
- while (GPIORead(BUTTON2) == button_state) continue;
+ while (GPIORead(BUTTON2) == button_state)
+ continue;
button_state ^= 1;
-
- if (button_state) {
+
+ if (button_state)
+ {
printf("fliped!\n");
mode_flag ^= 1;
}
-
+
usleep(10000);
}
exit(0);
}
-void *control_pwm_thread(){
+void *control_pwm_thread()
+{
PWM_init();
- while(1) {
- if(mode_flag){
- for (int i=1; i<=10; i++){
- PWMWriteDutyCycle(0, i*100000 + 1000000);
- usleep(100000 * (2.0/i));
- if(!mode_flag) {
+ while (1)
+ {
+ if (mode_flag)
+ {
+ for (int i = 1; i <= 10; i++)
+ {
+ PWMWriteDutyCycle(0, i * 100000 + 1000000);
+ usleep(100000 * (2.0 / i));
+ if (!mode_flag)
+ {
PWMWriteDutyCycle(0, 1500000);
break;
}
}
- for (int i=10; i>0; i--){
- PWMWriteDutyCycle(0, i*100000 + 1000000);
- usleep(100000 * (2.0/i));
- if(!mode_flag) {
+ for (int i = 10; i > 0; i--)
+ {
+ PWMWriteDutyCycle(0, i * 100000 + 1000000);
+ usleep(100000 * (2.0 / i));
+ if (!mode_flag)
+ {
PWMWriteDutyCycle(0, 1500000);
break;
}
}
}
PWMWriteDutyCycle(0, 0);
- }
-
+ }
}
-int main(int argc, char *argv[]) {
+int main(int argc, char *argv[])
+{
// thread init
pthread_t p_thread[5];
int thr_id, status;
char p1[] = "spi";
char p3[] = "button";
char p4[] = "pwm";
-
- if(argc!=3){
- printf("Usage : %s <IP> <port>\n",argv[0]);
+
+ if (argc != 3)
+ {
+ printf("Usage : %s <IP> <port>\n", argv[0]);
exit(1);
}
thr_id = pthread_create(&p_thread[0], NULL, safety_thread, NULL);
- thr_id = pthread_create(&p_thread[1], NULL, socket_thread, (void*)argv);
+ thr_id = pthread_create(&p_thread[1], NULL, socket_thread, (void *)argv);
thr_id = pthread_create(&p_thread[2], NULL, button_thread, NULL);
thr_id = pthread_create(&p_thread[3], NULL, control_pwm_thread, NULL);
diff --git a/src/traffic_system.c b/src/traffic_system.c
index 4aafaabdfc653252647c676169cababb3a847a4c..eecbd003acdcc093ab88b239024a35c56e65208a 100644
--- a/src/traffic_system.c
+++ b/src/traffic_system.c
@@ -16,7 +16,6 @@
#include <arpa/inet.h>
#include <sys/socket.h>
-
#define IN 0
#define OUT 1
#define LOW 0
@@ -27,281 +26,298 @@
#define VALUE_MAX 256
#define DIRECTION_MAX 45
-
#define ARRAY_SIZE(array) sizeof(array) / sizeof(array[0])
-
static const char *DEVICE = "/dev/spidev0.0";
static u_int8_t MODE = SPI_MODE_0;
static u_int8_t BITS = 8;
static u_int32_t CLOCK = 1000000;
static u_int16_t DELAY = 5;
-int mode_flag = 0;
int op;
-
-static int prepare(int fd){
- ioctl(fd, SPI_IOC_WR_MODE, &MODE);
- ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &BITS);
- ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &CLOCK);
- ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &CLOCK);
- return 0;
+static int prepare(int fd)
+{
+ ioctl(fd, SPI_IOC_WR_MODE, &MODE);
+ ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &BITS);
+ ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &CLOCK);
+ ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &CLOCK);
+ return 0;
}
-
-static int GPIOExport(int pin){
+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){
+ if (-1 == fd)
+ {
fprintf(stderr, "failed to open export for writing!\n");
- return(-1);
+ return (-1);
}
-
+
bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
write(fd, buffer, bytes_written);
close(fd);
- return(0);
+ return (0);
}
-static int GPIOUnexport(int pin) {
+static int GPIOUnexport(int pin)
+{
char buffer[BUFFER_MAX];
ssize_t bytes_written;
int fd;
-
+
fd = open("/sys/class/gpio/unexport", O_WRONLY);
- if(fd == -1) {
+ if (fd == -1)
+ {
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;
}
-static int GPIODirection(int pin, int dir){
+static int GPIODirection(int pin, int dir)
+{
static const char s_directions_str[] = "in\0out";
-
+
//char path[DIRECTION_MAX]="/sys/class/gpio/gpio24/direction";
- char path[DIRECTION_MAX]="/sys/class/gpio/gpio%d/direction";
+ 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(fd == -1){
+ if (fd == -1)
+ {
fprintf(stderr, "Failed to open gpio direction for writing!\n");
- return(-1);
+ return (-1);
}
-
- if(-1 == write(fd, &s_directions_str[IN == dir ? 0 : 3], IN == dir ? 2: 3)) {
+
+ if (-1 == write(fd, &s_directions_str[IN == dir ? 0 : 3], IN == dir ? 2 : 3))
+ {
fprintf(stderr, "Failed to set direction!\n");
- return(-1);
+ return (-1);
}
-
+
close(fd);
- return(0);
+ return (0);
}
-
-static int GPIOWrite(int pin, int value){
+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(fd == -1){
+ if (fd == -1)
+ {
fprintf(stderr, "Failed to open gpio value for writing!\n");
return -1;
}
-
- if(write(fd, &s_values_str[LOW == value ? 0 : 1], 1) == -1){
+
+ if (write(fd, &s_values_str[LOW == value ? 0 : 1], 1) == -1)
+ {
fprintf(stderr, "Failed to write balue!\n");
return -1;
}
-
+
close(fd);
return 0;
}
-
-static int GPIORead(int pin){
+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(fd == -1){
+ if (fd == -1)
+ {
fprintf(stderr, "Failed to open gpio value for reading!\n");
return -1;
}
-
- if(read(fd, value_str, 3) == -1){
+
+ if (read(fd, value_str, 3) == -1)
+ {
fprintf(stderr, "Failed to read value!\n");
return -1;
}
-
- close(fd);
-
- return(atoi(value_str));
-}
+ close(fd);
-u_int8_t control_bits_differential(u_int8_t channel){
- return (channel & 7) << 4;
+ return (atoi(value_str));
}
-
-u_int8_t control_bits(u_int8_t channel){
- return 0x8 | control_bits_differential(channel);
+u_int8_t control_bits_differential(u_int8_t channel)
+{
+ return (channel & 7) << 4;
}
-
-int readadc(int fd, u_int8_t channel){
- u_int8_t tx[] = {1, control_bits(channel), 0};
- u_int8_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,
- };
- ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
- return ((rx[1] << 8) & 0x300) | (rx[2] & 0xFF);
+u_int8_t control_bits(u_int8_t channel)
+{
+ return 0x8 | control_bits_differential(channel);
}
+int readadc(int fd, u_int8_t channel)
+{
+ u_int8_t tx[] = {1, control_bits(channel), 0};
+ u_int8_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,
+ };
+ ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
+ return ((rx[1] << 8) & 0x300) | (rx[2] & 0xFF);
+}
-void error_handling(char *message){
- fputs(message,stderr);
- fputc('\n',stderr);
+void error_handling(char *message)
+{
+ fputs(message, stderr);
+ fputc('\n', stderr);
exit(1);
}
-
-void signalingHandler(int signo) {
+void signalingHandler(int signo)
+{
exit(1);
}
-
void (*breakCapture)(int);
-
-void traffic_init() {
- //Enable GPIO pins
- if(-1 == GPIOExport(POUTR) || -1 == GPIOExport(POUTY) || -1 == GPIOExport(POUTG))
+void traffic_init()
+{
+ //Enable GPIO pins
+ if (-1 == GPIOExport(POUTR) || -1 == GPIOExport(POUTY) || -1 == GPIOExport(POUTG))
exit(0);
-
+
//wait for writing to export file
usleep(100000);
-
+
//Set GPIO directions
- if(-1 == GPIODirection(POUTR, OUT) || -1 == GPIODirection(POUTY, OUT) || -1 == GPIODirection(POUTG, OUT))
+ if (-1 == GPIODirection(POUTR, OUT) || -1 == GPIODirection(POUTY, OUT) || -1 == GPIODirection(POUTG, OUT))
exit(0);
}
-
-void return_resource() {
+void return_resource()
+{
//Disable GPIO pins
- if(-1 == GPIOUnexport(POUTR) || -1 == GPIOUnexport(POUTY) || -1 == GPIOUnexport(POUTG))
+ if (-1 == GPIOUnexport(POUTR) || -1 == GPIOUnexport(POUTY) || -1 == GPIOUnexport(POUTG))
exit(1);
-
}
-
-void* control_traffic_thread(void* args) {
+void *control_traffic_thread(void *args)
+{
//init ultrawave trigger
GPIOWrite(POUTR, 0);
GPIOWrite(POUTY, 0);
GPIOWrite(POUTG, 0);
usleep(10000);
//start
- int green = 3000000;
- int yellow = 800000;
- int red = 3000000;
- if (op == 1){
- green = 10000000;
- }
- if (op == 2){
- red = 10000000;
- }
+ int green = 3000000;
+ int yellow = 800000;
+ int red = 3000000;
+ if (op == 1)
+ {
+ green = 10000000;
+ }
+ if (op == 2)
+ {
+ red = 10000000;
+ }
printf("data: %d\n", op);
- GPIOWrite(POUTG, 1);
- GPIOWrite(POUTR, 0);
- printf("CarGreen\n");
- usleep(green);
- GPIOWrite(POUTG, 0);
- GPIOWrite(POUTY, 1);
- printf("CarYellow\n");
- usleep(yellow);
- GPIOWrite(POUTY, 0);
- GPIOWrite(POUTR, 1);
- printf("CarRed\n");
- usleep(red);
- pthread_exit(NULL);
+ GPIOWrite(POUTG, 1);
+ GPIOWrite(POUTR, 0);
+ printf("CarGreen\n");
+ usleep(green);
+ GPIOWrite(POUTG, 0);
+ GPIOWrite(POUTY, 1);
+ printf("CarYellow\n");
+ usleep(yellow);
+ GPIOWrite(POUTY, 0);
+ GPIOWrite(POUTR, 1);
+ printf("CarRed\n");
+ usleep(red);
+ pthread_exit(NULL);
}
-int spi_init() {
+int spi_init()
+{
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 (fd <= 0)
+ {
+ printf("Device %s not found\n", DEVICE);
+ return -1;
+ }
+ if (prepare(fd) == -1)
+ {
+ return -1;
+ }
return fd;
}
-int main(void) {
- int car_pressure = 0;
- int pedestrian_pressure = 0;
+int main(void)
+{
- // adc read code in
- traffic_init();
- int fd = spi_init();
+ // adc read code in
+ traffic_init();
+ int fd = spi_init();
- pthread_t p_thread[2];
+ pthread_t p_thread[2];
int thr_id;
int status;
- int count = 6;
- int diff, car, prede;
+ int count = 6;
+ int diff, car, pede;
+
+ while (1)
+ {
- while(1){
-
thr_id = pthread_create(&p_thread[0], NULL, control_traffic_thread, NULL);
- car = prede = 0;
-
- for(int i=0; i<count; i++){
- diff = readadc(fd, 1) - readadc(fd, 0);
- printf("diff : %d\n", diff);
- if(diff > 300) car++; else if (diff < -300) prede++;
- usleep(1000000);
- }
-
- if ((car >= 2 || prede >= 2) && !(car >= 2 && prede >= 2)){
- printf("in\n");
- op = car > prede ? 1 : 2;
- count = 13;
- } else {
+ car = pede = 0;
+
+ for (int i = 0; i < count; i++)
+ {
+ diff = readadc(fd, 1) - readadc(fd, 0);
+ printf("diff : %d\n", diff);
+ if (diff > 300)
+ car++;
+ else if (diff < -300)
+ pede++;
+ usleep(1000000);
+ }
+
+ if ((car >= 2 || pede >= 2) && !(car >= 2 && pede >= 2))
+ {
+ printf("in\n");
+ op = car > pede ? 1 : 2;
+ count = 13;
+ }
+ else
+ {
op = 0;
- count = 6;
+ count = 6;
}
pthread_join(p_thread[0], (void **)&status);
}
- close(fd);
- return_resource();
+ close(fd);
+ return_resource();
return 0;
}