| 0,0 → 1,98 |
|---|
| #include "main.h" |
| #include "gpio.h" |
| |
| |
| struct timeval startTime; //Times needed for calculating Distance |
| struct timeval travelTime; |
| |
| // IO Acces |
| struct bcm2835_peripheral { |
| unsigned long addr_p; |
| int mem_fd; |
| void *map; |
| volatile unsigned int *addr; |
| }; |
| struct bcm2835_peripheral gpio = {GPIO_BASE}; |
| |
| |
| //>> Create MMAP for GPIO |
| //------------------------------------------------------------------------------------------------------ |
| int map_peripheral(struct bcm2835_peripheral *p) |
| { |
| // Open /dev/mem |
| if ((p->mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) { |
| printf("Failed to open /dev/mem, try checking permissions.\n"); |
| return -1; |
| } |
| p->map = mmap( |
| NULL, |
| BLOCK_SIZE, |
| PROT_READ|PROT_WRITE, |
| MAP_SHARED, |
| p->mem_fd, |
| p->addr_p |
| ); |
| if (p->map == MAP_FAILED) { |
| perror("mmap"); |
| return -1; |
| } |
| p->addr = (volatile unsigned int *)p->map; |
| return 0; |
| } |
| |
| void unmap_peripheral(struct bcm2835_peripheral *p) { |
| munmap(p->map, BLOCK_SIZE); |
| close(p->mem_fd); |
| } |
| |
| //>> Funktion for short buzzing Sound |
| //------------------------------------------------------------------------------------------------------ |
| void buzzer_short(int seq){ |
| INP_GPIO(4); |
| OUT_GPIO(4); |
| for (int i = 0; i < seq; ++i) |
| { |
| if(seq > 1){usleep(50000);} |
| GPIO_SET = 1 << 4; |
| usleep(50000); |
| GPIO_CLR = 1 << 4; |
| } |
| } |
| |
| //>> Calculate Distance with external sonar |
| //------------------------------------------------------------------------------------------------------ |
| int calculate_distance(){ |
| int distanceTemp; |
| 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) |
| GPIO_SET = 1 << ULTRA_TRIGGER; |
| usleep(10); |
| GPIO_CLR = 1 << ULTRA_TRIGGER; |
| |
| while(!(GPIO_READ(ULTRA_ECHO))) |
| { |
| loopbreaker--; |
| if(!loopbreaker){break;} |
| } |
| gettimeofday(&startTime, NULL); |
| |
| while((GPIO_READ(ULTRA_ECHO))) |
| gettimeofday(&travelTime, NULL); |
| |
| loopbreaker = 0; |
| distanceTemp = (travelTime.tv_usec - startTime.tv_usec) / 58; |
| return distanceTemp; |
| } |
| |
| //>> Initialize GPIO |
| //------------------------------------------------------------------------------------------------------ |
| void gpio_init(){ |
| if(map_peripheral(&gpio) == -1) |
| { |
| printf("Failed to map the physical GPIO registers into the virtual memory space.\n"); |
| } |
| |
| INP_GPIO(ULTRA_ECHO); |
| OUT_GPIO(ULTRA_TRIGGER); |
| GPIO_CLR = 1 << ULTRA_TRIGGER; |
| sleep(1); |
| } |