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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2105 | - | 1 | #include "main.h" |
| 2 | #include "gpio.h" |
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| 3 | |||
| 4 | |||
| 5 | struct timeval startTime; //Times needed for calculating Distance |
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| 6 | struct timeval travelTime; |
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| 7 | |||
| 8 | // IO Acces |
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| 9 | struct bcm2835_peripheral { |
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| 10 | unsigned long addr_p; |
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| 11 | int mem_fd; |
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| 12 | void *map; |
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| 13 | volatile unsigned int *addr; |
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| 14 | }; |
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| 15 | struct bcm2835_peripheral gpio = {GPIO_BASE}; |
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| 16 | |||
| 17 | |||
| 18 | //>> Create MMAP for GPIO |
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| 19 | //------------------------------------------------------------------------------------------------------ |
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| 20 | int map_peripheral(struct bcm2835_peripheral *p) |
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| 21 | { |
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| 22 | // Open /dev/mem |
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| 23 | if ((p->mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) { |
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| 24 | printf("Failed to open /dev/mem, try checking permissions.\n"); |
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| 25 | return -1; |
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| 26 | } |
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| 27 | p->map = mmap( |
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| 28 | NULL, |
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| 29 | BLOCK_SIZE, |
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| 30 | PROT_READ|PROT_WRITE, |
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| 31 | MAP_SHARED, |
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| 32 | p->mem_fd, |
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| 33 | p->addr_p |
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| 34 | ); |
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| 35 | if (p->map == MAP_FAILED) { |
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| 36 | perror("mmap"); |
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| 37 | return -1; |
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| 38 | } |
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| 39 | p->addr = (volatile unsigned int *)p->map; |
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| 40 | return 0; |
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| 41 | } |
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| 42 | |||
| 43 | void unmap_peripheral(struct bcm2835_peripheral *p) { |
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| 44 | munmap(p->map, BLOCK_SIZE); |
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| 45 | close(p->mem_fd); |
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| 46 | } |
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| 47 | |||
| 48 | //>> Funktion for short buzzing Sound |
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| 49 | //------------------------------------------------------------------------------------------------------ |
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| 50 | void buzzer_short(int seq){ |
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| 51 | INP_GPIO(4); |
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| 52 | OUT_GPIO(4); |
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| 53 | for (int i = 0; i < seq; ++i) |
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| 54 | { |
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| 55 | if(seq > 1){usleep(50000);} |
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| 56 | GPIO_SET = 1 << 4; |
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| 57 | usleep(50000); |
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| 58 | GPIO_CLR = 1 << 4; |
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| 59 | } |
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| 60 | } |
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| 61 | |||
| 62 | //>> Calculate Distance with external sonar |
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| 63 | //------------------------------------------------------------------------------------------------------ |
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| 64 | int calculate_distance(){ |
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| 65 | int distanceTemp; |
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| 66 | int loopbreaker = 10000; //Breaks the first loop in case it gets stuck (which happens from time to time if the Objekt facing the sensor is too close) |
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| 67 | GPIO_SET = 1 << ULTRA_TRIGGER; |
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| 68 | usleep(10); |
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| 69 | GPIO_CLR = 1 << ULTRA_TRIGGER; |
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| 70 | |||
| 71 | while(!(GPIO_READ(ULTRA_ECHO))) |
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| 72 | { |
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| 73 | loopbreaker--; |
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| 74 | if(!loopbreaker){break;} |
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| 75 | } |
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| 76 | gettimeofday(&startTime, NULL); |
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| 77 | |||
| 78 | while((GPIO_READ(ULTRA_ECHO))) |
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| 79 | gettimeofday(&travelTime, NULL); |
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| 80 | |||
| 81 | loopbreaker = 0; |
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| 82 | distanceTemp = (travelTime.tv_usec - startTime.tv_usec) / 58; |
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| 83 | return distanceTemp; |
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| 84 | } |
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| 85 | |||
| 86 | //>> Initialize GPIO |
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| 87 | //------------------------------------------------------------------------------------------------------ |
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| 88 | void gpio_init(){ |
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| 89 | if(map_peripheral(&gpio) == -1) |
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| 90 | { |
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| 91 | printf("Failed to map the physical GPIO registers into the virtual memory space.\n"); |
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| 92 | } |
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| 93 | |||
| 94 | INP_GPIO(ULTRA_ECHO); |
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| 95 | OUT_GPIO(ULTRA_TRIGGER); |
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| 96 | GPIO_CLR = 1 << ULTRA_TRIGGER; |
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| 97 | sleep(1); |
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| 98 | } |