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annotate projects/d-box/DboxSensors.cpp @ 15:901d205d1a3c

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Updated to latest PRU library; external PRU file no longer needed. Also catch SIGTERM as well as SIGINT to clean up gracefully.
author andrewm
date Sat, 07 Feb 2015 16:41:56 +0000
parents 8a575ba3ab52
children
rev   line source
andrewm@0 1 /*
andrewm@0 2 * DboxSensors.cpp
andrewm@0 3 *
andrewm@0 4 * Created on: May 19, 2014
andrewm@0 5 * Author: Victor Zappi
andrewm@0 6 */
andrewm@0 7
andrewm@0 8
andrewm@0 9 #include "DboxSensors.h"
andrewm@0 10 #include "config.h"
andrewm@0 11
andrewm@0 12 using namespace std;
andrewm@0 13
andrewm@0 14
andrewm@0 15
andrewm@15 16 int DboxSensors::initSensors(int tk0_bus, int tk0_address, int tk1_bus, int tk1_address, int tk_file, int fsr_pin, int fsrmax, int sensorTypeToUse, int gpio_0, int gpio_1)
andrewm@0 17 {
andrewm@15 18 sensorType = sensorTypeToUse;
andrewm@0 19 // init first touch key on i2c bus
andrewm@0 20 if(tk0_address >= 0) {
andrewm@0 21 if(TK0.initI2C_RW(tk0_bus, tk0_address, tk_file)>0)
andrewm@0 22 return 1;
andrewm@15 23 if(TK0.initTouchKey(sensorType)>0)
andrewm@0 24 return 2;
andrewm@0 25 }
andrewm@0 26
andrewm@0 27 // init second touch key on i2c bus
andrewm@0 28 if(tk1_address >= 0) {
andrewm@0 29 if(TK1.initI2C_RW(tk1_bus, tk1_address, tk_file)>0)
andrewm@0 30 return 1;
andrewm@15 31 if(TK1.initTouchKey(sensorType)>0)
andrewm@0 32 return 2;
andrewm@0 33 }
andrewm@0 34
andrewm@0 35 // init fsr on analog input pin
andrewm@0 36 fsr_pinNum = fsr_pin;
andrewm@0 37 fsr_max = fsrmax;
andrewm@0 38
andrewm@0 39 if(FSR.initAnalogInputs()>0)
andrewm@0 40 return 3;
andrewm@0 41
andrewm@0 42 gpio[0] = gpio_0;
andrewm@0 43 if(gpio[0]!=-1)
andrewm@0 44 {
andrewm@0 45 fdDi[0] = gpio_export(gpio[0]);
andrewm@0 46 if(fdDi[0] == -1)
andrewm@0 47 return 4;
andrewm@0 48 }
andrewm@0 49 digitalIn[0] = 1;
andrewm@0 50
andrewm@0 51 return 0;
andrewm@0 52 }
andrewm@0 53
andrewm@0 54
andrewm@0 55 int DboxSensors::readSensors()
andrewm@0 56 {
andrewm@0 57 // write data into first touch key
andrewm@0 58 if(TK0.ready()) {
andrewm@0 59 if(TK0.readI2C()>0)
andrewm@0 60 return 1;
andrewm@0 61
andrewm@0 62 // retrieve data from first touch key
andrewm@0 63 tk0_touchCnt = TK0.getTouchCount();
andrewm@0 64 }
andrewm@0 65 else
andrewm@0 66 tk0_touchCnt = 0;
andrewm@0 67
andrewm@0 68 // write data into second touch key
andrewm@0 69 if(TK1.ready()) {
andrewm@0 70 if(TK1.readI2C()>0)
andrewm@0 71 return 1;
andrewm@0 72 // retrieve data from second touch key
andrewm@0 73 tk1_touchCnt = TK1.getTouchCount();
andrewm@0 74 }
andrewm@0 75 else
andrewm@0 76 tk1_touchCnt = 0;
andrewm@0 77
andrewm@0 78
andrewm@0 79 int max = 3;
andrewm@15 80 if(sensorType != kSensorTypeTouchKey)
andrewm@0 81 max = 5;
andrewm@0 82 // if touches detected on main touch key
andrewm@0 83 if(tk0_touchCnt == 0 && tk1_touchCnt == 0)
andrewm@0 84 resetSensorsData();
andrewm@0 85 else
andrewm@0 86 {
andrewm@0 87 for(int i=0; i<max; i++)
andrewm@0 88 {
andrewm@0 89 tk0_touchPosX[i] = TK0.getSliderPosition()[i];
andrewm@0 90 tk0_touchSize[i] = TK0.getSlidersize()[i];
andrewm@0 91
andrewm@0 92 tk1_touchPosX[i] = TK1.getSliderPosition()[i];
andrewm@0 93 tk1_touchSize[i] = TK1.getSlidersize()[i];
andrewm@0 94 }
andrewm@0 95 tk0_touchPosY = TK0.getSliderPositionH();
andrewm@0 96 tk1_touchPosY = TK1.getSliderPositionH();
andrewm@0 97 fsr_read = (double)FSR.read(fsr_pinNum);
andrewm@0 98 }
andrewm@0 99
andrewm@0 100 if(gpio[0]!=-1)
andrewm@0 101 {
andrewm@0 102 if(gpio_read(fdDi[0], &digitalIn[0])==-1)
andrewm@0 103 return 1;
andrewm@0 104 }
andrewm@0 105
andrewm@0 106 return 0;
andrewm@0 107 }
andrewm@0 108
andrewm@0 109
andrewm@0 110
andrewm@0 111 DboxSensors::DboxSensors()
andrewm@0 112 {
andrewm@0 113 resetSensorsData();
andrewm@0 114 }
andrewm@0 115
andrewm@0 116
andrewm@0 117
andrewm@0 118 DboxSensors::~DboxSensors()
andrewm@0 119 {
andrewm@0 120 if(gpio[0]!=-1)
andrewm@0 121 gpio_dismiss(fdDi[0], gpio[0]);
andrewm@0 122 }
andrewm@0 123
andrewm@0 124
andrewm@0 125
andrewm@0 126 //--------------------------------------------------------------------------------------------------------
andrewm@0 127 // private methods
andrewm@0 128 //--------------------------------------------------------------------------------------------------------
andrewm@0 129
andrewm@0 130 // idle values
andrewm@0 131 void DboxSensors::resetSensorsData()
andrewm@0 132 {
andrewm@0 133 int max = 3;
andrewm@15 134 if(sensorType != kSensorTypeTouchKey)
andrewm@0 135 max = 5;
andrewm@0 136
andrewm@0 137 for(int i=0; i<max; i++)
andrewm@0 138 {
andrewm@0 139 tk0_touchPosX[i] = -1;
andrewm@0 140 tk0_touchPosY = -1;
andrewm@0 141 tk0_touchSize[i] = 0;
andrewm@0 142
andrewm@0 143 tk1_touchPosX[i] = -1;
andrewm@0 144 tk1_touchPosY = -1;
andrewm@0 145 tk1_touchSize[i] = 0;
andrewm@0 146
andrewm@0 147 fsr_read = 0;
andrewm@0 148 }
andrewm@0 149
andrewm@0 150 return;
andrewm@0 151 }
andrewm@0 152
andrewm@0 153
andrewm@0 154
andrewm@0 155
andrewm@0 156
andrewm@0 157