ehthumbs.db
Thumbs.db
+__pycache__
+
server/win32
**/nbproject/private/
\ No newline at end of file
+++ /dev/null
-#include "pwm.h"
-
-char pin_dir = "/sys/class/gpio/gpio"; //move these
-
-/** Sets a GPIO pin to the desired value
-* @param value - the value (1 or 0) to write to the pin
-* @param pin_num - the number of the pin (refer to electronics team)
-*/
-
-//also need to export and set pin direction
-
-void SetPin(int value, int pin_num) {
- int pin;
- char buffer[10];
- char pin_path[40];
- snprintf(pin_path, sizeof(pin_path), "%s%d%s", pin_dir, pin_num, "/value"); //create pin path
- pin = open(pin_path, O_WRONLY);
- if (pin < 0) perror("Failed to open pin");
- if (value) {
- strncpy(buffer, "1", ARRAY_SIZE(buffer) - 1);
- }
- else {
- strncpy(buffer, "0", ARRAY_SIZE(buffer) - 1);
- }
- int write = write(pin, buffer, strlen(buffer));
- if (write < 0) perror ("Failed to write to pin");
- close(pin);
-}
-
-//TODO: Be able to write to multiple PWM modules - easy to change
-// but current unsure about how many PWM signals we need
-
-/**
- * Set an Actuator value
- * @param a - The Actuator
- * @param value - The value to set
- */
-void Actuator_SetValue(Actuator * a, double value)
-{
- // Set time stamp
- struct timeval t;
- gettimeofday(&t, NULL);
-
- DataPoint d = {TIMEVAL_DIFF(t, g_options.start_time), value};
- switch (a->id)
- {
- case ACTUATOR_TEST0: //Pressure regulator example - requires PWM, 0-1000kPa input
- {
- if (pwm_active == 0) { //if inactive, start the pwm module
- pwm_init();
- pwm_start();
- pwm_set_period(FREQ); //50Hz defined in pwm header file
- }
- if(value >= 0 && value <= 700) {
- double duty = value/1000 * 100; //convert pressure to duty percentage
- pwm_set_duty((int)duty); //set duty percentage for actuator
- }
- } break;
- case ACTUATOR_TEST1:
- {
- SetPin(value, 1); //Digital switch example - "1" is the pin number, to be specified by electronics team
- } break;
- }
-
- Log(LOGDEBUG, "Actuator %s set to %f", g_actuator_names[a->id], value);
-
- // Record the value
- Data_Save(&(a->data_file), &d, 1);
-}
\ No newline at end of file
+++ /dev/null
-#include "gpio.h"
-#include "pwm.h"
-
-void Actuator_SetValue(Actuator * a, double value)
-{
- // Set time stamp
- struct timeval t;
- gettimeofday(&t, NULL);
-
- DataPoint d = {TIMEVAL_DIFF(t, g_options.start_time), value};
- switch (a->id)
- {
- case ACTUATOR_TEST0: //LED actuator test code, should blink onboard LED next to Ethernet port
- FILE *LEDHandle = NULL; //code reference: http://learnbuildshare.wordpress.com/2013/05/19/beaglebone-black-controlling-user-leds-using-c/
- char *LEDBrightness = "/sys/class/leds/beaglebone\:green\:usr0/brightness";
- if(value == 1) {
- if((LEDHandle = fopen(LEDBrightness, "r+")) != NULL) {
- fwrite("1", sizeof(char), 1, LEDHandle);
- fclose(LEDHandle);
- }
- else if(value == 0) {
- if((LEDHandle = fopen(LEDBrightness, "r+")) != NULL) {
- fwrite("0", sizeof(char), 1, LEDHandle);
- fclose(LEDHandle);
- }
- else perror("Pin value should be 1 or 0");
- break;
- case ACTUATOR_TEST1:
- // Quick actuator function for testing pins
- // GPIOPin can be either passed as an argument, or defined here (as pins won't change)
- // First way is better and more generalised
- int GPIOPin = 13;
- // Modify this to only export on first run, unexport on shutdown
- pinExport(setValue, GPIOString);
- pinDirection(GPIODirection, setValue);
- pinSet(value, GPIOValue, setValue);
- pinUnexport(setValue, GPIOString);
- break;
- case ACTUATOR_TEST2:
- if (pwminit == 0) { //if inactive, start the pwm module
- pwm_init();
- }
- if (pwmstart == 0) {
- pwm_start();
- pwm_set_period(FREQ); //50Hz defined in pwm header file
- }
- if(value >= 0 && value <= 1000) {
- double duty = value/1000 * 100; //convert pressure to duty percentage
- pwm_set_duty((int)duty); //set duty percentage for actuator
- }
- }
- Log(LOGDEBUG, "Actuator %s set to %f", g_actuator_names[a->id], value);
- // Record the value
- Data_Save(&(a->data_file), &d, 1);
-}
\ No newline at end of file
+++ /dev/null
-#include "gpio.h"
-
-/**
- * Read a DataPoint from a Sensor; block until value is read
- * @param id - The ID of the sensor
- * @param d - DataPoint to set
- * @returns True if the DataPoint was different from the most recently recorded.
- */
-bool Sensor_Read(Sensor * s, DataPoint * d)
-{
-
- // Set time stamp
- struct timeval t;
- gettimeofday(&t, NULL);
- d->time_stamp = TIMEVAL_DIFF(t, g_options.start_time);
-
- // Read value based on Sensor Id
- switch (s->id)
- {
- case ANALOG_TEST0:
- d->value = ADCRead(0); //ADC #0 on the Beaglebone
- break;
- case ANALOG_TEST1:
- {
- d->value = ADCRead(1);
- break;
- }
- case ANALOG_FAIL0:
- d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1);
- //Gives a value between -5 and 5
- break;
- case DIGITAL_TEST0:
- d->value = pinRead(0); //replace 0 with correct pin number
- break;
- case DIGITAL_TEST1:
- d->value = pinRead(1); //replace 1 with correct pin number
- break;
- case DIGITAL_FAIL0:
- if( rand() % 100 > 98)
- d->value = 2;
- d->value = rand() % 2;
- //Gives 0 or 1 or a 2 every 1/100 times
- break;
- default:
- Fatal("Unknown sensor id: %d", s->id);
- break;
- }
- usleep(100000); // simulate delay in sensor polling
-
- // Perform sanity check based on Sensor's ID and the DataPoint
- Sensor_CheckData(s->id, d->value);
-
- // Update latest DataPoint if necessary
- bool result = (d->value != s->newest_data.value);
- if (result)
- {
- s->newest_data.time_stamp = d->time_stamp;
- s->newest_data.value = d->value;
- }
- return result;
-}
\ No newline at end of file
+++ /dev/null
-#include "gpio.h"
-
-void pinExport(int GPIOPin) {
- FILE *myOutputHandle = NULL;
- char GPIOString[4];
- char setValue[4];
- sprintf(GPIOString, "%d", GPIOPin);
- if ((myOutputHandle = fopen(exportPath, "ab")) == NULL){
- Log(LOGERR, "Unable to export GPIO pin %f\n", GPIOPin);
- }
- strcpy(setValue, GPIOString);
- fwrite(&setValue, sizeof(char), 2, myOutputHandle);
- fclose(myOutputHandle);
-}
-
-void pinDirection(int GPIOPin, int io) {
- char setValue[4];
- char GPIODirection[64];
- FILE *myOutputHandle = NULL;
- snprintf(GPIODirection, sizeof(GPIODirection), "%s%d%s", directionPath, GPIOPin, "/direction");
- if ((myOutputHandle = fopen(GPIODirection, "rb+")) == NULL){
- Log(LOGERR, "Unable to open direction handle for pin %f\n", GPIOPin);
- }
- if (io == 1) {
- strcpy(setValue,"out");
- fwrite(&setValue, sizeof(char), 3, myOutputHandle);
- else if (io == 0) {
- strcpy(setValue,"in");
- fwrite(&setValue, sizeof(char), 2, myOutputHandle);
- else Log(LOGERR, "GPIO direction must be 1 or 0\n");
- fclose(myOutputHandle);
-}
-
-void pinSet(double value, int GPIOPin) {
- int val = (int)value;
- char GPIOValue[64];
- char setValue[4];
- FILE *myOutputHandle = NULL;
- snprintf(GPIOValue, sizeof(GPIOValue), "%s%d%s", valuePath, GPIOPin, "/value");
- if (val == 1) {
- if ((myOutputHandle = fopen(GPIOValue, "rb+")) == NULL){
- Log(LOGERR, "Unable to open value handle for pin %f\n", GPIOPin);
- }
- strcpy(setValue, "1"); // Set value high
- fwrite(&setValue, sizeof(char), 1, myOutputHandle);
- }
- else if (val == 0){
- if ((myOutputHandle = fopen(GPIOValue, "rb+")) == NULL){
- Log(LOGERR, "Unable to open value handle for pin %f\n", GPIOPin);
- }
- strcpy(setValue, "0"); // Set value low
- fwrite(&setValue, sizeof(char), 1, myOutputHandle);
- }
- else Log(LOGERR, "GPIO value must be 1 or 0\n");
- fclose(myOutputHandle);
-}
-
-/** Open an ADC and return the voltage value from it
-* @param adc_num - ADC number, ranges from 0 to 7 on the Beaglebone
- @return the converted voltage value if successful
-*/
-
-//TODO: create a function to lookup the ADC or pin number instead of manually
-// specifying it here (so we can keep all the numbers in one place)
-
-int ADCRead(int adc_num)
-{
- char adc_path[64];
- snprintf(adc_path, sizeof(adc_path), "%s%d", ADCPath, adc_num); // Construct ADC path
- int sensor = open(adc_path, O_RDONLY);
- char buffer[64]; // I think ADCs are only 12 bits (0-4096), buffer can probably be smaller
- int read = read(sensor, buffer, sizeof(buffer);
- if (read != -1) {
- buffer[read] = NULL;
- int value = atoi(buffer);
- double convert = (value/4096) * 1000; // Random conversion factor, will be different for each sensor (get from datasheets)
- // lseek(sensor, 0, 0); (I think this is uneeded as we are reopening the file on each sensor read; if sensor is read continously we'll need this
- close(sensor);
- return convert;
- }
- else {
- Log(LOGERR, "Failed to get value from ADC %f\n", adc_num);
- close(sensor);
- return -1;
- }
-}
-
-/** Open a digital pin and return the value from it
-* @param pin_num - pin number, specified by electronics team
- @return 1 or 0 if reading was successful
-*/
-
-int pinRead(int GPIOPin)
-{
- char GPIOValue[64];
- snprintf(GPIOValue, sizeof(GPIOValue), "%s%d%s", valuePath, GPIOPin, "/value"); //construct pin path
- int pin = open(GPIOValue, O_RDONLY);
- char ch;
- lseek(fd, 0, SEEK_SET);
- int read = read(pin, &ch, sizeof(ch);
- if (read != -1) {
- if (ch != '0') {
- close(pin);
- return 1;
- }
- else {
- close(pin);
- return 0;
- }
- else {
- Log(LOGERR, "Failed to get value from pin %f\n", GPIOPin);
- close(pin);
- return -1;
- }
-}
-
-void pinUnexport(int GPIOPin) {
- char setValue[4];
- char GPIOString[4];
- sprintf(GPIOString, "%d", GPIOPin);
- FILE *myOutputHandle = NULL;
- if ((myOutputHandle = fopen(unexportPath, "ab")) == NULL) {
- Log(LOGERR, "Couldn't unexport GPIO pin %f\n", GPIOPin);
- }
- strcpy(setValue, GPIOString);
- fwrite(&setValue, sizeof(char), 2, myOutputHandle);
- fclose(myOutputHandle);
-}
\ No newline at end of file
+++ /dev/null
-#include <stdio.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <unistd.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <sys/mman.h>
-#include <fcntl.h>
-#include <sys/wait.h>
-#include <sched.h>
-#include <stdint.h>
-
-#define exportPath "/sys/class/gpio/export";
-#define unexportPath "/sys/class/gpio/unexport";
-#define valuePath "/sys/class/gpio/gpio";
-#define directionPath "/sys/class/gpio/gpio";
-#define ADCPath "/sys/devices/platform/tsc/ain";
-
-void pinExport(int GPIOPin);
-void pinDirection(int GPIOPin, int io);
-void pinSet(double value, int GPIOPin);
-void pinUnexport(int GPIOPin);
-int pinRead(int GPIOPin);
-int ADCRead(int adc_num);
\ No newline at end of file
+++ /dev/null
-#include "pwm.h"
-
-char pin_dir = "/sys/class/gpio/gpio";
-int pwm_active = 0;
-
-/** Sets a GPIO pin to the desired value
-* @param value - the value (1 or 0) to write to the pin
-* @param pin_num - the number of the pin (refer to electronics team)
-*/
-
-void SetPin(int value, int pin_num) {
- int pin;
- char buffer[10];
- char pin_path[40];
- snprintf(pin_path, sizeof(pin_path), "%s%d%s", pin_dir, pin_num, "/value"); //create pin path
- pin = open(pin_path, O_WRONLY);
- if (pin < 0) perror("Failed to open pin");
- if (value) {
- strncpy(buffer, "1", ARRAY_SIZE(buffer) - 1);
- }
- else {
- strncpy(buffer, "0", ARRAY_SIZE(buffer) - 1);
- }
- int write = write(pin, buffer, strlen(buffer));
- if (write < 0) perror ("Failed to write to pin");
- close(pin);
-}
-
-//TODO: Be able to write to multiple PWM modules - easy to change
-// but current unsure about how many PWM signals we need
-
-void ActuatorHandler(FCGIContext *context, ActuatorId id, const char *set_value) {
- char *ptr;
-
- switch(id) { //Add new actuators here
- case ACT_PRESSURE: //Suppose is pressure regulator. 0-700 input (kPa)
- {
- if (pwm_active == 0) { //if inactive, start the pwm module
- pwm_init();
- pwm_start();
- pwm_set_period(FREQ); //50Hz defined in pwm header file
- }
- int value = strtol(set_value, &ptr, 10);
- //Beaglebone code
- if(value >= 0 && value <= 700) {
- double duty = value/700 * 100; //convert pressure to duty percentage
- pwm_set_duty((int)duty); //set duty percentage for actuator
- }
- //server code
- if (*ptr == '\0' && value >= 0 && value <= 700) {
- FCGI_BeginJSON(context, STATUS_OK);
- FCGI_JSONKey("description");
- FCGI_JSONValue("\"Set pressure to %d kPa!\"", value);
- FCGI_EndJSON();
- } else {
- FCGI_RejectJSONEx(context,
- STATUS_ERROR, "Invalid pressure specified.");
- }
- } break;
- case ACT_SOLENOID1:
- {
- int value = strtol(set_value, &ptr, 10);
- if (*ptr == '\0') {
- //code to set pin to value
- SetPin(value, 1); //"1" will need to be changed to pin numbers decided by electronics team
- //code for server
- const char *state = "off";
- if (value)
- state = "on";
- FCGI_BeginJSON(context, STATUS_OK);
- FCGI_JSONKey("description");
- FCGI_JSONValue("\"Solenoid 1 turned %s!\"", state);
- FCGI_EndJSON();
- } else {
- FCGI_RejectJSON(context, "Invalid actuator value specified");
- }
- } break;
- default:
- FCGI_RejectJSONEx(context,
- STATUS_ERROR, "Invalid actuator id specified.");
- }
-}
\ No newline at end of file
+++ /dev/null
-//Code to blink an LED - just to illustrate that it's pretty easy
-//Only important thing is which name to address the LED by
-
-#include <stdio.h>
-#include <unistd.h>
-
-using namespace std;
-
-int main(int argc, char** argv) {
- FILE *LEDHandle = NULL;
- char *LEDBrightness = "/sys/class/leds/beaglebone:green:usr0/brightness";
- printf("\nStarting LED blink program wooo!\n");
- while(1){
- if((LEDHandle = fopen(LEDBrightness, "r+")) != NULL){
- fwrite("1", sizeof(char), 1, LEDHandle);
- fclose(LEDHandle);
- }
- sleep(1);
- if((LEDHandle = fopen(LEDBrightness, "r+")) != NULL){
- fwrite("0", sizeof(char), 1, LEDHandle);
- fclose(LEDHandle);
- }
- sleep(1);
- }
- return 0;
-}
-
-//Sample code that should read a pressure sensor pin (conversion factors
-//are just random numbers). Again pretty simple.
-
-#include STUFF
-
-double pressure(char *string) {
- int value = atoi(string);
- double millivolts = (value / 4096.0) * 1800; //convert input to volts
- double pressure = (millivolts - 500.0) / 10.0; //convert volts to pressure
- return pressure;
-}
-
-void main() {
- int fd = open("/sys/devices/platform/tsc/ain2", O_RDONLY); //open pin signal
- while (1) {
- char buffer[1024];
- int ret = read(fd, buffer, sizeof(buffer)); //get data
- if (ret != -1) {
- buffer[ret] = NULL;
- double kpa = pressure(buffer);
- printf("digital value: %s kilopascals: %f\n", buffer, kpa);
- lseek(fd, 0, 0);
- }
- sleep(1);
- }
- close(fd);
-}
\ No newline at end of file
+++ /dev/null
-#include "pwm.h"
-
-/* Initialize PWM :
-1/ mmap /dev/mem to have write access to system clock
-2/ enable system clock (0x0 = disabled, 0x02 = enabled)
-3/ set correct pin MUX
-
-can modify pwm variables through virtual filesystem:
-"/sys/class/pwm/ehrpwm.1:0/..."
-
-pwm drivers reference:
-http://processors.wiki.ti.com/index.php/AM335x_PWM_Driver%27s_Guide */
-
-static int pwminit = 0;
-static int pwmstart = 0;
-
-void pwm_init(void) {
- FILE *pwm_mux;
- int i;
- volatile uint32_t *epwmss1;
-
- int fd = open("/dev/mem", O_RDWR);
-
- if(fd < 0)
- {
- printf("Can't open /dev/mem\n");
- exit(1);
- }
-
- epwmss1 = (volatile uint32_t *) mmap(NULL, LENGTH, PROT_READ|PROT_WRITE, MAP_SHARED, fd, START);
- if(epwmss1 == NULL)
- {
- printf("Can't mmap\n");
- exit(1);
- }
- else
- {
- epwmss1[OFFSET_1 / sizeof(uint32_t)] = 0x2;
- }
- close(fd);
- pwminit = 1;
- pwm_mux = fopen(PWMMuxPath, "w");
- fprintf(pwm_mux, "6"); // pwm is mux mode 6
- fclose(pwm_mux);
-}
-
-//can change filepath of pwm module "/ehrpwm.%d:0/" by passing %d as argument
-//depends how many pwm modules we have to run
-//TODO:
-
-void pwm_start(void) {
- FILE *pwm_run;
- pwm_run = fopen(PWMRunPath, "w");
- fprintf(pwm_run, "1");
- fclose(pwm_run);
- pwmstart = 1;
-}
-
-void pwm_stop(void) {
- FILE *pwm_run;
- pwm_run = fopen(PWMRunPath, "w");
- fprintf(pwm_run, "0");
- fclose(pwm_run);
- pwmstart = 0;
-}
-
-//duty_percent is just a regular percentage (i.e. 50 = 50%)
-
-void pwm_set_duty(int duty_percent) {
- FILE *pwm_duty;
- pwm_duty = fopen(PWMDutyPath, "w");
- fprintf(pwm_duty, "%d", duty_percent);
- fclose(pwm_duty);
-}
-
-//freq is just normal frequency (i.e. 100 = 100Hz)
-
-void pwm_set_period(int freq) {
- FILE *pwm_period;
- pwm_period = fopen(PWMFreqPath, "w");
- fprintf(pwm_period, "%d", freq);
- fclose(pwm_period);
-}
\ No newline at end of file
+++ /dev/null
-#include <stdio.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <unistd.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <sys/mman.h>
-#include <fcntl.h>
-#include <sys/wait.h>
-#include <sched.h>
-#include <stdint.h>
-
-#define START 0x44e00000 // see datasheet of AM335x
-#define LENGTH 1024
-#define OFFSET_1 0xcc // offset of PWM1 clock (see datasheet of AM335x p.1018)
-#define FREQ 50 //50Hz pwm frequency for pressure regulator
-#define PWMMuxPath "/sys/kernel/debug/omap_mux/gpmc_a2"
-#define PWMRunPath "/sys/class/pwm/ehrpwm.1:0/run"
-#define PWMDutyPath "/sys/class/pwm/ehrpwm.1:0/duty_percent"
-#define PWMFreqPath "/sys/class/pwm/ehrpwm.1:0/period_freq"
-
-void pwm_init(void);
-void pwm_start(void);
-void pwm_stop(void);
-void pwm_set_duty(int duty_percent);
-void pwm_set_period(int freq);
\ No newline at end of file
+++ /dev/null
-<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
-<Project xmlns="http://schemas.microsoft.com/project">
- <SaveVersion>9</SaveVersion>
- <Name>MCTX3420</Name>
- <Title>MCTX3420</Title>
- <Manager>No one!</Manager>
- <ScheduleFromStart>1</ScheduleFromStart>
- <StartDate>2013-08-05T08:00:00</StartDate>
- <FinishDate>2013-10-28T17:00:00</FinishDate>
- <FYStartDate>1</FYStartDate>
- <CriticalSlackLimit>0</CriticalSlackLimit>
- <CurrencyDigits>2</CurrencyDigits>
- <CurrencySymbol>$</CurrencySymbol>
- <CurrencySymbolPosition>0</CurrencySymbolPosition>
- <CalendarUID>1</CalendarUID>
- <DefaultStartTime>16:00:00</DefaultStartTime>
- <DefaultFinishTime>01:00:00</DefaultFinishTime>
- <MinutesPerDay>480</MinutesPerDay>
- <MinutesPerWeek>2400</MinutesPerWeek>
- <DaysPerMonth>20</DaysPerMonth>
- <DefaultTaskType>0</DefaultTaskType>
- <DefaultFixedCostAccrual>2</DefaultFixedCostAccrual>
- <DefaultStandardRate>10</DefaultStandardRate>
- <DefaultOvertimeRate>15</DefaultOvertimeRate>
- <DurationFormat>7</DurationFormat>
- <WorkFormat>2</WorkFormat>
- <EditableActualCosts>0</EditableActualCosts>
- <HonorConstraints>0</HonorConstraints>
- <EarnedValueMethod>0</EarnedValueMethod>
- <InsertedProjectsLikeSummary>0</InsertedProjectsLikeSummary>
- <MultipleCriticalPaths>0</MultipleCriticalPaths>
- <NewTasksEffortDriven>0</NewTasksEffortDriven>
- <NewTasksEstimated>1</NewTasksEstimated>
- <SplitsInProgressTasks>0</SplitsInProgressTasks>
- <SpreadActualCost>0</SpreadActualCost>
- <SpreadPercentComplete>0</SpreadPercentComplete>
- <TaskUpdatesResource>1</TaskUpdatesResource>
- <FiscalYearStart>0</FiscalYearStart>
- <WeekStartDay>1</WeekStartDay>
- <MoveCompletedEndsBack>0</MoveCompletedEndsBack>
- <MoveRemainingStartsBack>0</MoveRemainingStartsBack>
- <MoveRemainingStartsForward>0</MoveRemainingStartsForward>
- <MoveCompletedEndsForward>0</MoveCompletedEndsForward>
- <BaselineForEarnedValue>0</BaselineForEarnedValue>
- <AutoAddNewResourcesAndTasks>1</AutoAddNewResourcesAndTasks>
- <CurrentDate>2013-08-18T21:21:00</CurrentDate>
- <MicrosoftProjectServerURL>1</MicrosoftProjectServerURL>
- <Autolink>1</Autolink>
- <NewTaskStartDate>0</NewTaskStartDate>
- <DefaultTaskEVMethod>0</DefaultTaskEVMethod>
- <ProjectExternallyEdited>0</ProjectExternallyEdited>
- <ActualsInSync>0</ActualsInSync>
- <RemoveFileProperties>0</RemoveFileProperties>
- <AdminProject>0</AdminProject>
- <ExtendedAttributes/>
- <Calendars>
- <Calendar>
- <UID>1</UID>
- <Name>Standard</Name>
- <IsBaseCalendar>1</IsBaseCalendar>
- <WeekDays>
- <WeekDay>
- <DayType>1</DayType>
- <DayWorking>0</DayWorking>
- </WeekDay>
- <WeekDay>
- <DayType>2</DayType>
- <DayWorking>1</DayWorking>
- <WorkingTimes>
- <WorkingTime>
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20:12 < jtanx> is this considered one of the pressure sensors?
20:14 < jtanx> or maybe it's just not used
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+--- Day changed Mon Sep 23 2013
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+--- Day changed Tue Sep 24 2013
+14:18 < jtanx> with kernel 3.8 they decided to make life hard with device tree overlays
+14:19 < jtanx> http://e2e.ti.com/support/arm/sitara_arm/f/791/t/277811.aspx
+14:19 < jtanx> https://docs.google.com/a/beagleboard.org/document/d/17P54kZkZO_-JtTjrFuVz-Cp_RMMg7GB_8W9JK9sLKfA/pub
+14:47 < jtanx> huh
+14:47 < jtanx> http://www.youtube.com/watch?v=6gv3gWtoBWQ
+14:47 < jtanx> http://digital-drive.com/?p=146
+15:39 < sam_moore> I wonder if I can write a module that just uses /dev/adcX /dev/gpioX and /dev/pwmX
+15:40 < jtanx> that would make life simple
+15:40 < jtanx> but no
+15:42 < sam_moore> http://www.tldp.org/LDP/lkmpg/2.6/html/x569.html
+15:42 < sam_moore> Probably out of date (2.6?)
+15:45 < sam_moore> Also rt.wiki.kernel.org - realtime linux supposedly gives you better timing accuracy, although it would possibly break with our setup involving nginx
+15:46 < sam_moore> Actually it looks like there are quite a few ways for it to not work
+15:48 < jtanx> I think trying to write a kernel module would cause more grief than it's worth
+15:50 < jtanx> http://saadahmad.ca/using-pwm-on-the-beaglebone-black/
+15:51 < jtanx> I have no idea what's been updated and what hasn't
+15:51 < jtanx> as in, do we have that fix in our kernel
+15:53 < sam_moore> I don't know
+15:54 < sam_moore> We only need 1 PWM though
+16:00 < sam_moore> Or at least, last we heard there was only one. Doesn't make the system very expandable though.
+19:07 < jtanx> you know what I'll try loading an Ubuntu image from rcn to my sd card
+19:08 < jtanx> instead of from armhf
+19:08 < jtanx> armhf.com*
+19:17 < jtanx> ah screw it
+19:17 < jtanx> i'll stick with debian (but do the same thing)
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+--- Day changed Wed Sep 25 2013
+12:15 < jtanx> I think I know why we were having issues with pwm yesterday
+12:16 < jtanx> if you do this command
+12:16 < jtanx> echo bone_pwm_P8_13 > /sys/devices/bone_capemgr.8/slots
+12:16 < jtanx> you make it unavailable from /sys/class/pwm
+12:16 < jtanx> so in the run.sh script it was exporting all the pwm devices via the first method
+12:16 < jtanx> and then it becomes unavailable via sysfs
+12:17 < jtanx> anyway... I tried booting from the rcn image
+12:17 < jtanx> it comes with pwm enabled already
+12:17 < jtanx> and via that capemgr I got pwm to work
+12:17 < jtanx> I don't know what /sys/class/pwm/pwm0 corresponds to (which pin)
+12:19 < jtanx> the electronics teams' bbb wasn't done properly when we tried to upgrade the kernel
+12:19 < jtanx> probably something to do with the device tree stuff
+12:19 < jtanx> so I flashed it with the rcn image (which runs 3.8.13-bone26
+12:20 < jtanx> (demo image from here)
+12:20 < jtanx> elinux.org/BeagleBoardDebian
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+13:16 < jtanx> oh
+13:16 < jtanx> so it now works
+13:16 < jtanx> echo bone_pwm_P9_22 > slots
+13:16 < jtanx> if I do that line for pwm0
+13:26 < jtanx> oh right
+13:26 < jtanx> echo bone_pwm_P9_21 >slots
+13:26 < jtanx> for pwm1
+13:30 < jtanx> ahhhhhh
+13:30 < jtanx> if you comment out the line
+13:30 < jtanx> modprobe pwm_test
+13:30 < jtanx> from run.sh
+13:30 < jtanx> it works
+13:43 < jtanx> geeze kernel 3.8 has issues with usb hotplugging
+13:43 < jtanx> https://groups.google.com/forum/?fromgroups#!searchin/beagleboard/usb/beagleboard/8aalvyWwaig/MUXAPuMTSOYJ
+13:43 < jtanx> which explains why we're having issues with cameras
+13:43 < jtanx> (partly at least)
+13:47 < jtanx> and now pwms not working again
+13:48 < jtanx> via sysfs
+13:50 < jtanx> oh
+13:50 < jtanx> I know why
+13:51 < jtanx> you have to export it /sys/class/pwm
+13:51 < jtanx> first
+13:51 < jtanx> *before* you do stuff like echo bone_pwm_P9_21 >slots
+13:52 < jtanx> yep
+13:53 < jtanx> so the order is: echo 0/1 > /sys/class/pwm/export
+13:53 < jtanx> then do that other stuff
+13:57 < jtanx> egh
+13:57 < jtanx> finnicky
+13:57 < jtanx> ok I have to stop now
+16:04 < jtanx> well that was an interesting experience
+16:04 < jtanx> it's most reliable when you work directly with /sys/devices/ocp2.helper/PWM9_22*
+16:05 < jtanx> I think if you echo am33xx_pwm to the slots thing when it's already loaded
+16:05 < jtanx> weird shit can happen
+16:05 < jtanx> too
+16:07 < jtanx> setting the period via sysfs (eg /sys/class/pwm) didn't work most of the time either
+16:07 < jtanx> you could change duty but not period
+16:07 < jtanx> although I swear I had it working at one point
+16:07 < jtanx> via the other way I think it works ok
+16:08 < jtanx> oh yeah, and I was doing this using the demo image from http://elinux.org/BeagleBoardDebian
+16:09 < jtanx> the electrical group's one has been reflashed with that version as well
+16:09 < jtanx> (for ours I worked off my sd card)
+16:10 < jtanx> that image also enables the ethernet-over-usb
+16:36 < jtanx> I think we have to be careful which pins we export/enable
+16:37 < jtanx> https://github.com/CircuitCo/BeagleBone-Black/blob/master/BBB_SRM.pdf?raw=true
+16:37 < jtanx> pages 80-82
+16:37 < jtanx> the pins have different meanings based on what mode they're in
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+18:05 < jtanx> ...so I brought the BBB home, even though I should be studying for 2402 :S
+18:05 < jtanx> the microphone came in today too
+18:19 < jtanx> ok
+18:19 < jtanx> so these documents: https://github.com/derekmolloy/boneDeviceTree/tree/master/docs
+18:19 < jtanx> describes what the pins are used for by default
+19:00 < sam_moore> Ah... they already got the microphone
+19:00 < sam_moore> Welp. Guess we're stuck with it.
+19:00 < sam_moore> So... we can record <50Hz sounds reliably, maybe
+19:00 < sam_moore> How useful
+19:01 < sam_moore> Have I been missing out on an email stream where the sensors team actually clears things with us?
+19:04 < jtanx> not that I know of
+19:04 < jtanx> haha
+19:04 < jtanx> in other news
+19:04 < jtanx> the sensors team ordered a pressure sensor with no mount
+19:04 < jtanx> adrian had a spat because it'd cost something like $200 to make the mount
+19:05 < jtanx> for a $10 part
+19:05 < jtanx> so he said, order it from online , I don't care if it's from overseas
+19:05 < sam_moore> Oh boy
+19:06 < sam_moore> If there's an issue with the camera and/or microphone they'll blame us
+19:06 < jtanx> yeah
+19:06 < jtanx> about that camera
+19:06 < sam_moore> Oh dear...
+19:06 < sam_moore> Go ahead?
+19:06 < jtanx> still couldn't get it to work today
+19:06 < sam_moore> God dammit
+19:06 < jtanx> although I didn't spend much time on it
+19:06 < jtanx> I got pwm to work
+19:06 < jtanx> mostly
+19:06 < sam_moore> I thought it might be something like adding the user to the "video" group
+19:06 < sam_moore> That's good!
+19:07 < sam_moore> What was happening?
+19:07 < jtanx> yeah, the problem is it doesn't show up at all (the camera)
+19:07 < sam_moore> Hmm
+19:07 < jtanx> and partly because 3.8 has an issue with usb hotplugging
+19:07 < sam_moore> Haha
+19:07 < jtanx> about pwm
+19:07 < jtanx> it seems that the sysfs method is not so reliable
+19:07 < jtanx> you can get it to work
+19:07 < jtanx> you have to export those first
+19:07 < jtanx> so echo 0 > /sys/class/pwm/export
+19:08 < jtanx> then (and only then)
+19:08 < jtanx> can you do
+19:08 < jtanx> that echo to the slots
+19:08 < jtanx> for those pins
+19:08 < jtanx> then it seems to be happy
+19:08 < jtanx> if you echo am33xx_pwm to the slots when it's already enabled
+19:08 < jtanx> that also screws things up
+19:08 < sam_moore> Ok
+19:09 < sam_moore> Thanks for working that out
+19:09 < jtanx> yeah
+19:09 < sam_moore> If you want to change from sysfs to the other method that's fine
+19:09 < sam_moore> But sysfs was much simpler to code
+19:09 < jtanx> should have spent that time studying for mech2402 though :P
+19:09 < sam_moore> Because you just sprintf an integer to the path
+19:09 < jtanx> yeah
+19:09 < jtanx> witht he other way it's all that dynamic path crap
+19:09 < sam_moore> Rather than keeping track of "bone_pwm_test_P9_22.15.arbitrary_string" crap
+19:09 < sam_moore> Exactly :P
+19:09 < jtanx> but
+19:10 < jtanx> you can enable pwm and analogue on boot
+19:10 < jtanx> if I can find the link
+19:10 < sam_moore> Sure, if that's easy
+19:10 < sam_moore> I figured if we put them in the /etc/init.d script that'd be fine too
+19:10 < sam_moore> Actually... maybe we should put it in the /etc/init.d script
+19:11 < jtanx> oh yeah
+19:11 < jtanx> and the demo image from that rcn image
+19:11 < sam_moore> Because if someone gets a different beaglebone then they'd have to reenable it on boot
+19:11 < jtanx> is better than screwing around with recompiling kernels
+19:11 < sam_moore> Can you give a link?
+19:11 < jtanx> I think it's the first image that you had originally
+19:11 < jtanx> http://elinux.org/BeagleBoardDebian
+19:12 < jtanx> there's this script in /boot
+19:12 < sam_moore> Oh
+19:12 < jtanx> that allows you to copy the sd card to flash
+19:12 < jtanx> it also enables the usb over ethernet
+19:12 < sam_moore> Oh right, the image I downloaded before we used yours
+19:12 < sam_moore> Cool
+19:12 < jtanx> yeah
+19:12 < jtanx> I flashed electronics' one with that
+19:12 < sam_moore> Does PWM and stuff work on it?
+19:13 < jtanx> probably
+19:13 < jtanx> I was using the same image
+19:13 < jtanx> on ours
+19:13 < jtanx> you run this script and it copies exatly what's on the sd card to the internal flash
+19:13 < jtanx> resizes the partition as necessary
+19:13 < jtanx> http://digital-drive.com/?p=146
+19:13 < jtanx> that page shows how to enable on boot
+19:13 < jtanx> it's just a change to uEnv.txt in the boot partition
+19:18 < sam_moore> Good work
+19:19 < sam_moore> While I remember, for multiple logins and crap... can you just try to login as a local user account?
+19:19 < sam_moore> Then we could make a wrapper around adduser and deluser for the "administrator" account
+19:19 < jtanx> wow
+19:20 < jtanx> I don't know
+19:20 < sam_moore> I was just thinking
+19:20 < sam_moore> Linux has a user account system already
+19:20 < jtanx> yep, but is it a good idea to be making ~300 on a BBB?
+19:21 < sam_moore> Well... putting LDAP on the BBB probably won't be less intense
+19:21 < sam_moore> I know it's called "Lightweight"
+19:21 < sam_moore> But that's in comparison to "DAP"
+19:21 < jtanx> well to be perfectly honest, adrian is asking way too much
+19:21 < sam_moore> Which was designed in the 1980s by a telephone directory company and used the original OSI networking model
+19:21 < jtanx> you simply can't support a 300-odd user base on something like a BBB
+19:21 < sam_moore> Yeah
+19:22 < sam_moore> But maybe something like 30 users would work?
+19:22 < jtanx> yeah
+19:22 < jtanx> let's just keep it at that limit
+19:22 < sam_moore> Another thing regarding the crazy requirements...
+19:22 < sam_moore> If we have multiple Beaglebones running FastCGI
+19:23 < sam_moore> We can design our GUI so that it has links to the appropriate Beaglebone for each function
+19:23 < sam_moore> I don't think we actually need to do anything in nginx or the Beaglebone software
+19:24 < jtanx> hmm
+19:24 < sam_moore> At least in terms of displaying sensor data
+19:24 < sam_moore> For actuator control, we would need to introduce networking between individual beaglebones
+19:24 < jtanx> it actually depends on what he means by 'extensible' and/or distributed
+19:24 < jtanx> like
+19:24 < jtanx> you could say this BBB is for this experiement
+19:25 < jtanx> this other BBB is for this other experiment
+19:25 < sam_moore> But quite frankly you'd be mad to trust a distributed system with networking delays to coordinate control over hardware
+19:25 < jtanx> well yeah
+19:25 < sam_moore> Well at least something like this where we care about safety
+19:25 < sam_moore> But if you keep the actual control over hardware independent and on seperate devices
+19:25 < jtanx> but I mean
+19:26 < jtanx> wait
+19:26 < jtanx> if we interpret it as meaning
+19:26 < jtanx> that each BBB runs an instance of the software
+19:26 < jtanx> then they would still be separate
+19:26 < jtanx> as in each BBB controls one 'experiment'
+19:26 < jtanx> you customise each BBB based on the experiment that needs to be done
+19:26 < sam_moore> Yes, that would work
+19:26 < sam_moore> Yep
+19:26 < jtanx> then there's no interaction between BBBS
+19:27 < jtanx> the only thing is you have some sort of control at the front
+19:27 < jtanx> that determines which BBB you connect to
+19:27 < sam_moore> Yes, if there's interaction between BBBs it gets problematic
+19:27 < jtanx> yeah
+19:27 < sam_moore> Yes, you have one BBB which gives the user the "main menu" part of the GUI
+19:27 < jtanx> I reckon that's a stupid requirement to ask
+19:27 < jtanx> yeah
+19:27 < sam_moore> Then the others just have customised GUIs or whatever
+19:28 < jtanx> once you have to get them to talk to each other, you're then having to try and invent a whole new protocol
+19:28 < jtanx> for that
+19:28 < sam_moore> Yeah, and it depends on exactly what the hardware is
+19:29 < sam_moore> You might be able to hack it onto the web protocol (eg: BeagleBone #1 sends http://beaglebone2/api/actuators?id=X?set=Y)
+19:29 < sam_moore> But... let's not think about that
+19:30 < sam_moore> It's clearly beyond the scope of this project
+19:31 < sam_moore> So, after all that, I reckon if we use snoopy for ADC/GPIO/PWM and spike for the dilatometer then that would be cool (probably not actually necessary though)
+19:31 < jtanx> yeah
+19:32 < sam_moore> The dilatomter... it's going to cause headaches if Kieren really wants to "return" an array of points
+19:33 < sam_moore> If the goal is to provide the user with a demonstration of what the dilatometer is doing, then you can just edit an image
+19:33 < sam_moore> If the goal is to provide more data... I don't see the point really
+19:34 < sam_moore> It's going to be the same sort of distribution every time
+19:34 < sam_moore> Realistically all anyone would do is average it
+19:34 < sam_moore> Maybe take a standard deviation
+19:36 < jtanx> I really don't know why a dilatometer's even needed
+19:36 < sam_moore> Educational reasons? :P
+19:37 < jtanx> haha sure
+19:37 < sam_moore> Anyway, hopefully Callum will deal with the dilatometer stuff
+19:37 < sam_moore> The interferometer code is a good starting point
+19:39 < jtanx> Yeah
+19:39 < jtanx> hopefully
+19:42 < sam_moore> We should arrange some meetings next week
+19:42 < sam_moore> Also I'd like to see more of the other group members committing to git and talking in this channel
+19:45 < sam_moore> People are missing a lot of design decisions here :S
+19:45 < jtanx> Yeah
+19:51 < jtanx> Ok
+19:51 < jtanx> so I made a LUT from pin number on the board to GPIO pin number
+19:52 < jtanx> so if you wanted to use P8_13
+19:52 < jtanx> you can use the lut to figure out what gpio number that corresponds to
+19:53 < jtanx> we should probably restrict which pins can be used
+19:53 < jtanx> because quite a few are reserved
+19:53 < sam_moore> Sure
+19:53 < sam_moore> Remove the #defines in bbb_pin_defines.h ?
+19:54 < sam_moore> Don't export those pins in pin_test.c
+19:54 < sam_moore> It is only really for testing anyway
+19:54 < jtanx> yeah
+19:55 < sam_moore> Although... I predict if we leave it in the software, *someone* at some point will try and control hardware directly through it :P
+19:55 < sam_moore> For all the educational stuff it's nice though
+19:56 < sam_moore> Oh, we could have an image of the pinout diagram
+19:56 < sam_moore> And when someone clicks on a part of the image they get to control that pin
+19:57 < sam_moore> Anyway... I really should study for MECH2402 or I will fail it
+19:57 < sam_moore> So bye
+19:57 < jtanx> yeah
+19:57 < jtanx> bye
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+--- Day changed Thu Sep 26 2013
+17:52 < jtanx> http://www.ti.com/lit/ug/spruh73i/spruh73i.pdf p1986 (chapter 15) on pwm
+17:55 < jtanx> page 1996 on ePWM
+17:56 < jtanx> ahhhhh
+17:56 < jtanx> for ehrpwm0a/0b
+17:56 < jtanx> the frequency is linked
+18:08 < jtanx> ehrpwm is enhanced resolution pwm
+18:08 < jtanx> Implemented using the A signal path of PWM, that is, on the EPWMxA output. EPWMxB output has
+18:08 < jtanx> conventional PWM capabilities
+18:08 < jtanx> (p2053)
+19:06 < jtanx> if you want to make the pwm stuff not suck
+19:06 < jtanx> there's this file called pwm_test.c
+19:06 < jtanx> that's the driver
+19:59 < jtanx> for future ref: http://armsdr.blogspot.com.au/2013/04/archlinux-on-beaglebone-and-linux-38.html
+21:19 < jtanx_> urgh wow
+21:19 < jtanx_> ok, so I think pwm1/3/5 shouldn't be used to avoid period conflicts
+21:19 < jtanx_> (pwm0/1 is for channel A/B of one pwm device, 3/4 another, 5/6 another)
+21:20 < jtanx_> btw the correspondence between pwmX and pin number is:
+21:21 < jtanx_> P9_22, P9_21, P9_42. P9_14, P9_16, P8_19, P8_13, P9_28
+21:23 < jtanx_> pwm 2/7 correspond to eCAP devices
+21:24 < jtanx_> which I think are to capture PWM input
+21:24 < jtanx_> but they can also be used to generate PWM output, afaik
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+--- Day changed Fri Sep 27 2013
+13:29 < jtanx> so, apparently if we don't order stuff that we need before the mid semester break (ie today), adrian just won't order it
+13:29 < jtanx> in other news, I think I've mostly sorted out pwm
+13:43 < jtanx> trying to standardise the pin code
+20:10 < jtanx_> lol
+20:10 < jtanx_> we have a file authored '14 years ago'
+20:10 < jtanx_> in git
+20:10 < jtanx_> talk about commitment
+21:47 < jtanx_> so on non-BBB platforms, I disabled the pin code
+21:47 < jtanx_> required some pretty dubious hacks to stop gcc from complaining
+21:48 < jtanx_> 1st attempt: define the functions to nothing
+21:48 < jtanx_> gcc complains about statements that do nothing
+21:48 < jtanx_> various combinations later on statements that do nothing, I move to making function stubs
+21:49 < jtanx_> shaft all the parameters to the stubs
+21:49 < jtanx_> to stop complaints about unused variables
+21:49 < jtanx_> (eg if you did int freq=1000; PWM_Set(...,freq) where the define for PWM_Set doesn't use freq
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+--- Day changed Sat Sep 28 2013
+--- Log closed Sat Sep 28 12:20:39 2013
+--- Log opened Sat Sep 28 12:26:58 2013
+12:26 -!- Irssi: #mctxuwa_softdev: Total of 3 nicks [0 ops, 0 halfops, 0 voices, 3 normal]
+12:27 -!- Irssi: Join to #mctxuwa_softdev was synced in 9 secs
+21:36 -!- jtanx [
[email protected]] has quit ["ChatZilla 0.9.90.1 [Firefox 24.0/20130910160258]"]
--- /dev/null
+P8_07,66
+P8_08,67
+P8_09,69
+P8_10,68
+P8_11,45
+P8_12,44
+P8_14,26
+P8_15,47
+P8_16,46
+P8_17,27
+P8_18,65
+P8_26,61
+P8_27,86
+P8_28,88
+P8_29,87
+P8_30,89
+P8_31,10
+P8_32,11
+P8_33,9
+P8_34,81
+P8_35,8
+P8_36,80
+P8_37,78
+P8_38,79
+P8_39,76
+P8_40,77
+P8_41,74
+P8_42,75
+P8_43,72
+P8_44,73
+P8_45,70
+P8_46,71
+P9_11,30
+P9_12,60
+P9_13,31
+P9_15,48
+P9_17,5
+P9_18,4
+P9_23,49
+P9_24,15
+P9_26,14
+P9_27,115
+P9_30,112
--- /dev/null
+import sys, re, os
+from parseit import printlut
+
+def doit2(x):
+ with open(x) as f:
+ lut = {}
+ rlut = {}
+ i = 0
+ for line in f:
+ gpionum = int(line)
+ lut[gpionum] = i
+ rlut[i] = gpionum
+ i += 1
+
+ lutarr = []
+ reverse = []
+ for i in range(118): #Max safe gpio is 117
+ lutarr.append(lut.get(i, 128))
+ for i in range(len(rlut)):
+ reverse.append(rlut[i])
+ return (lutarr, reverse)
+
--- /dev/null
+4
+5
+8
+9
+10
+11
+14
+15
+26
+27
+30
+31
+44
+45
+46
+47
+48
+49
+60
+61
+65
+66
+67
+68
+69
+70
+71
+72
+73
+74
+75
+76
+77
+78
+79
+80
+81
+86
+87
+88
+89
+112
+115
--- /dev/null
+import sys, re, os
+#lut size of 93 (46 pins/header; 2 headers; padding for 1-indexed)
+
+def doit(x):
+ '''generate the lut from the csv'''
+ lut = {}
+ reverselut = {}
+
+ with open(x) as f:
+ for line in f:
+ m = re.search("P(\d)_(\d+),(\d+)", line)
+ header = int(m.group(1))
+ pin = int(m.group(2))
+ gpionum = int(m.group(3))
+
+ if header==8:
+ header = 0
+ else:
+ header = 1
+
+ lut[header*46+pin] = gpionum
+ reverselut[gpionum] = header*46+pin
+ lutarr = []
+ reverselutarr =[]
+
+ for i in range(0, 93):
+ lutarr.append(lut.get(i, 0))
+
+ for i in range(0, 116): #Max safe GPIO is 115
+ reverselutarr.append(reverselut.get(i, 0))
+
+ return (lutarr, reverselutarr)
+
+def printlut(lut, name="g_gpio_lut"):
+ '''print the lut for C'''
+ rowsize = 14
+ print("const unsigned char %s[%d] = {" % (name, len(lut)))
+ low = 0
+ high = rowsize
+ for i in range(0, len(lut), rowsize):
+ print("\t", end="")
+ print(*("%3d" % g for g in lut[low:high]), sep=', ', end="")
+ low = high
+ high += rowsize
+ if low < len(lut):
+ print(",")
+ else:
+ print("")
+ print("}")
+
+
+
--- /dev/null
+GPIO Pin correspondence.xls - all maps with descriptions
+GPIO pin correspondence unrestricted.csv - all unused pins + hdmi pins
+GPIO pin correspondence.csv - all gpio pins
+
+max usable gpio: 117
\ No newline at end of file
CXX = gcc
FLAGS = -std=c99 -Wall -pedantic -g -I/usr/include/opencv -I/usr/include/opencv2/highgui -L/usr/lib
LIB = -lfcgi -lssl -lcrypto -lpthread -lm -lopencv_highgui -lopencv_core -lopencv_ml -lopencv_imgproc
-OBJ = log.o control.o data.o fastcgi.o main.o sensor.o actuator.o image.o bbb_pin.o
+OBJ = log.o control.o data.o fastcgi.o main.o sensor.o actuator.o image.o bbb_pin.o bbb_pin_defines.o pin_test.o
RM = rm -f
BIN = server
// Initialise pins used
GPIO_Export(GPIO1_16);
PWM_Export(EHRPWM0A);
- PWM_Export(EHRPWM0B);
}
* THIS CODE IS NOT THREADSAFE
*/
+#define _BBB_PIN_SRC
#include "bbb_pin.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
-#include <ctype.h>
#include "options.h"
/**
*/
typedef struct
{
+ bool initialised;
int fd_value;
int fd_direction;
} GPIO_Pin;
*/
typedef struct
{
+ bool initialised;
int fd_value;
} ADC_Pin;
*/
typedef struct
{
+ bool initialised;
int fd_run;
FILE * file_duty;
FILE * file_period;
/** Array of PWM pins **/
static PWM_Pin g_pwm[PWM_NUM_PINS] = {{0}};
-static char g_buffer[BUFSIZ] = "";
-
-
-
+static char g_buffer[BUFSIZ] = {0};
/**
* Export a GPIO pin and open the file descriptors
+ * @param pin The GPIO number to be exported
+ * @return true on success, false otherwise
*/
-void GPIO_Export(int pin)
+bool GPIO_Export(int pin)
{
- if (pin < 0 || pin > GPIO_NUM_PINS)
- Fatal("Invalid pin number %d", pin);
+ if (pin < 0 || pin > GPIO_MAX_NUMBER || g_pin_gpio_to_index[pin] == 128)
+ {
+ AbortBool("Not a useable pin number: %d", pin);
+ }
-
+ GPIO_Pin *gpio = &g_gpio[g_pin_gpio_to_index[pin]];
+ if (gpio->initialised)
+ {
+ Log(LOGNOTE, "GPIO %d already initialised.", pin);
+ return true;
+ }
// Export the pin
sprintf(g_buffer, "%s/export", GPIO_DEVICE_PATH);
- FILE * export = fopen(g_buffer, "w");
- if (export == NULL)
- Fatal("Couldn't open %s to export GPIO pin %d - %s", g_buffer, pin, strerror(errno));
-
- fprintf(export, "%d", pin);
- fclose(export);
+ FILE * file_export = fopen(g_buffer, "w");
+ if (file_export == NULL)
+ {
+ AbortBool("Couldn't open %s to export GPIO pin %d - %s", g_buffer, pin, strerror(errno));
+ }
+ fprintf(file_export, "%d", pin);
+ fclose(file_export);
// Setup direction file descriptor
sprintf(g_buffer, "%s/gpio%d/direction", GPIO_DEVICE_PATH, pin);
- g_gpio[pin].fd_direction = open(g_buffer, O_RDWR);
- if (g_gpio[pin].fd_direction < 0)
- Fatal("Couldn't open %s for GPIO pin %d - %s", g_buffer, pin, strerror(errno));
-
+ gpio->fd_direction = open(g_buffer, O_RDWR);
+ if (gpio->fd_direction < 0)
+ {
+ AbortBool("Couldn't open %s for GPIO pin %d - %s", g_buffer, pin, strerror(errno));
+ }
// Setup value file descriptor
sprintf(g_buffer, "%s/gpio%d/value", GPIO_DEVICE_PATH, pin);
- g_gpio[pin].fd_value = open(g_buffer, O_RDWR);
- if (g_gpio[pin].fd_value < 0)
- Fatal("Couldn't open %s for GPIO pin %d - %s", g_buffer, pin, strerror(errno));
+ gpio->fd_value = open(g_buffer, O_RDWR);
+ if (gpio->fd_value < 0)
+ {
+ close(gpio->fd_direction);
+ AbortBool("Couldn't open %s for GPIO pin %d - %s", g_buffer, pin, strerror(errno));
+ }
+
+ gpio->initialised = true;
+ Log(LOGDEBUG, "Exported GPIO%d", pin);
+ return true;
}
/**
* Unexport a GPIO pin and close its' file descriptors
+ * @param pin The GPIO number to be unexported
*/
void GPIO_Unexport(int pin)
{
+ if (pin < 0 || pin > GPIO_MAX_NUMBER || g_pin_gpio_to_index[pin] == 128)
+ {
+ Abort("Not a useable pin number: %d", pin);
+ }
- if (pin < 0 || pin > GPIO_NUM_PINS)
- Fatal("Invalid pin number %d", pin);
+ GPIO_Pin *gpio = &g_gpio[g_pin_gpio_to_index[pin]];
+ if (!gpio->initialised)
+ {
+ Abort("GPIO %d is already uninitialised", pin);
+ }
// Close file descriptors
- close(g_gpio[pin].fd_value);
- close(g_gpio[pin].fd_direction);
+ close(gpio->fd_value);
+ close(gpio->fd_direction);
+ // Uninitialise this one
+ gpio->initialised = false;
// Unexport the pin
-
if (g_buffer[0] == '\0')
sprintf(g_buffer, "%s/unexport", GPIO_DEVICE_PATH);
- FILE * export = fopen(g_buffer, "w");
- if (export == NULL)
- Fatal("Couldn't open %s to export GPIO pin %d - %s", g_buffer, pin, strerror(errno));
+ FILE * file_export = fopen(g_buffer, "w");
+ if (file_export == NULL)
+ {
+ Abort("Couldn't open %s to export GPIO pin %d - %s", g_buffer, pin, strerror(errno));
+ }
- fprintf(export, "%d", pin);
- fclose(export);
+ fprintf(file_export, "%d", pin);
+ fclose(file_export);
}
-
-
-
/**
- * Export all PWM pins and open file descriptors
- * @param pin - The pin number
+ * Initialise all PWM pins and open file descriptors
+ * @param pin - The sysfs pin number
+ * @return true if exported, false otherwise
*/
-void PWM_Export(int pin)
+bool PWM_Export(int pin)
{
- if (pin < 0 || pin > PWM_NUM_PINS)
- Fatal("Invalid pin number %d", pin);
-
- // Export the pin
+ //goto would make this easier...
+ if (pin < 0 || pin >= PWM_NUM_PINS)
+ {
+ AbortBool("Invalid PWM pin %d specified.", pin);
+ }
+
+ PWM_Pin *pwm = &g_pwm[pin];
+ if (pwm->initialised)
+ {
+ Log(LOGNOTE, "PWM %d already exported.", pin);
+ return true;
+ }
+
+ // Try export the pin, doesn't matter if it's already exported.
sprintf(g_buffer, "%s/export", PWM_DEVICE_PATH);
- FILE * export = fopen(g_buffer, "w");
- if (export == NULL)
- Fatal("Couldn't open %s to export PWM pin %d - %s", g_buffer, pin, strerror(errno));
-
- fprintf(export, "%d\n", pin);
- fclose(export);
+ FILE * file_export = fopen(g_buffer, "w");
+ if (file_export == NULL)
+ {
+ AbortBool("Couldn't open %s to export PWM pin %d - %s",
+ g_buffer, pin, strerror(errno));
+ }
+ fprintf(file_export, "%d\n", pin);
+ fclose(file_export);
// Open file descriptors
sprintf(g_buffer, "%s/pwm%d/run", PWM_DEVICE_PATH, pin);
- g_pwm[pin].fd_run = open(g_buffer, O_WRONLY);
- if (g_pwm[pin].fd_run < 0)
- Fatal("Couldn't open %s for PWM pin %d - %s", g_buffer, pin, strerror(errno));
+ pwm->fd_run = open(g_buffer, O_WRONLY);
+ if (pwm->fd_run < 0)
+ {
+ AbortBool("Couldn't open %s for PWM%d - %s", g_buffer, pin, strerror(errno));
+ }
- sprintf(g_buffer, "%s/pwm%d/polarity",PWM_DEVICE_PATH, pin);
- g_pwm[pin].fd_polarity = open(g_buffer, O_WRONLY);
- if (g_pwm[pin].fd_polarity < 0)
- Fatal("Couldn't open %s for PWM pin %d - %s", g_buffer, pin, strerror(errno));
+ sprintf(g_buffer, "%s/pwm%d/polarity", PWM_DEVICE_PATH, pin);
+ pwm->fd_polarity = open(g_buffer, O_WRONLY);
+ if (pwm->fd_polarity < 0)
+ {
+ close(pwm->fd_run);
+ AbortBool("Couldn't open %s for PWM%d - %s", g_buffer, pin, strerror(errno));
+ }
- sprintf(g_buffer, "%s/pwm%d/period_ns",PWM_DEVICE_PATH, pin);
- g_pwm[pin].file_period = fopen(g_buffer, "w");
- if (g_pwm[pin].file_period == NULL)
- Fatal("Couldn't open %s for PWM pin %d - %s", g_buffer, pin, strerror(errno));
+ sprintf(g_buffer, "%s/pwm%d/period_ns", PWM_DEVICE_PATH, pin);
+ pwm->file_period = fopen(g_buffer, "w");
+ if (pwm->file_period == NULL)
+ {
+ close(pwm->fd_run);
+ close(pwm->fd_polarity);
+ AbortBool("Couldn't open %s for PWM%d - %s", g_buffer, pin, strerror(errno));
+ }
- sprintf(g_buffer, "%s/pwm%d/duty_ns",PWM_DEVICE_PATH, pin);
- g_pwm[pin].file_duty = fopen(g_buffer, "w");
- if (g_pwm[pin].file_duty == NULL)
- Fatal("Couldn't open %s for PWM pin %d - %s", g_buffer, pin, strerror(errno));
+ sprintf(g_buffer, "%s/pwm%d/duty_ns", PWM_DEVICE_PATH, pin);
+ pwm->file_duty = fopen(g_buffer, "w");
+ if (pwm->file_duty == NULL)
+ {
+ close(pwm->fd_run);
+ close(pwm->fd_polarity);
+ fclose(pwm->file_period);
+ AbortBool("Couldn't open %s for PWM%d - %s", g_buffer, pin, strerror(errno));
+ }
// Don't buffer the streams
- setbuf(g_pwm[pin].file_period, NULL);
- setbuf(g_pwm[pin].file_duty, NULL);
+ setbuf(pwm->file_period, NULL);
+ setbuf(pwm->file_duty, NULL);
-
+ pwm->initialised = true;
+ Log(LOGDEBUG, "Exported PWM%d", pin);
+ return true;
}
+
/**
* Unexport a PWM pin and close its file descriptors
- * @param pin - The pin number
+ * @param pin - The sysfs pin number
*/
void PWM_Unexport(int pin)
{
- if (pin < 0 || pin > PWM_NUM_PINS)
- Fatal("Invalid pin number %d", pin);
+ if (pin < 0 || pin >= PWM_NUM_PINS)
+ {
+ Abort("Invalid PWM pin number %d specified.", pin);
+ }
- // Close the file descriptors
- close(g_pwm[pin].fd_polarity);
- close(g_pwm[pin].fd_run);
- fclose(g_pwm[pin].file_period);
- fclose(g_pwm[pin].file_duty);
+ PWM_Pin *pwm = &g_pwm[pin];
+ if (!pwm->initialised)
+ {
+ Abort("PWM %d not initialised", pin);
+ }
- //Unexport the pin
- sprintf(g_buffer, "%s/unexport", PWM_DEVICE_PATH);
- FILE * export = fopen(g_buffer, "w");
- if (export == NULL)
- Fatal("Couldn't open %s to unexport PWM pin %d - %s", g_buffer, pin, strerror(errno));
-
- fprintf(export, "%d", pin);
- fclose(export);
+ // Close the file descriptors
+ close(pwm->fd_polarity);
+ //Stop it, if it's still running
+ pwrite(pwm->fd_run, "0", 1, 0);
+ close(pwm->fd_run);
+ fclose(pwm->file_period);
+ fclose(pwm->file_duty);
+ pwm->initialised = false;
+ // Try unexport the pin, doesn't matter if it's already unexported.
+ sprintf(g_buffer, "%s/unexport", PWM_DEVICE_PATH);
+ FILE * file_unexport = fopen(g_buffer, "w");
+ if (file_unexport == NULL)
+ {
+ Abort("Couldn't open %s to unexport PWM pin %d - %s", g_buffer, pin, strerror(errno));
+ }
+ fprintf(file_unexport, "%d\n", pin);
+ fclose(file_unexport);
}
/**
- * Export ADC pins; http://beaglebone.cameon.net/home/reading-the-analog-inputs-adc
- * Can't use sysfs like GPIO or PWM pins
- * Bloody annoying how inconsistent stuff is on the Beaglebone
+ * Initialise ADC structures
+ * @param pin The ADC pin number
*/
-void ADC_Export()
+bool ADC_Export(int pin)
{
- for (int i = 0; i < ADC_NUM_PINS; ++i)
+ if (pin < 0 || pin >= ADC_NUM_PINS)
{
- sprintf(g_buffer, "%s/AIN%d", g_options.adc_device_path, i);
- g_adc[i].fd_value = open(g_buffer, O_RDONLY);
- if (g_adc[i].fd_value < 0)
- Fatal("Couldn't open ADC %d device file %s - %s", i, g_buffer, strerror(errno));
-
- //setbuf(g_adc[i].file_value, NULL);
+ AbortBool("Invalid ADC pin %d specified.", pin);
+ }
+ else if (g_adc[pin].initialised)
+ {
+ Log(LOGNOTE, "ADC %d already initialised", pin);
+ return true;
+ }
+ sprintf(g_buffer, "%s/in_voltage%d_raw", g_options.adc_device_path, pin);
+ g_adc[pin].fd_value = open(g_buffer, O_RDONLY);
+ if (g_adc[pin].fd_value <0)
+ {
+ AbortBool("Couldn't open ADC %d device file %s - %s", pin, g_buffer, strerror(errno));
}
+
+ g_adc[pin].initialised = true;
+ Log(LOGDEBUG, "Opened ADC %d", pin);
+ return true;
}
/**
* Unexport ADC pins
+ * @param pin The ADC pin number
*/
-void ADC_Unexport()
+void ADC_Unexport(int pin)
{
- for (int i = 0; i < ADC_NUM_PINS; ++i)
- close(g_adc[i].fd_value);
+ if (pin < 0 || pin >= ADC_NUM_PINS)
+ {
+ Abort("Invalid ADC pin %d specified.", pin);
+ }
+ else if (!g_adc[pin].initialised)
+ {
+ Abort("ADC %d already uninitialised", pin);
+ }
+
+ close(g_adc[pin].fd_value);
+ g_adc[pin].fd_value = -1;
+ g_adc[pin].initialised = false;
}
/**
* Set a GPIO pin
* @param pin - The pin to set. MUST have been exported before calling this function.
*/
-void GPIO_Set(int pin, bool value)
+bool GPIO_Set(int pin, bool value)
{
- if (pwrite(g_gpio[pin].fd_direction, "out", 3, 0) != 3)
- Fatal("Couldn't set GPIO %d direction - %s", pin, strerror(errno));
+ if (pin < 0 || pin > GPIO_MAX_NUMBER || g_pin_gpio_to_index[pin] == 128)
+ {
+ AbortBool("Not a useable pin number: %d", pin);
+ }
- char c = '0' + (value);
- if (pwrite(g_gpio[pin].fd_value, &c, 1, 0) != 1)
- Fatal("Couldn't read GPIO %d value - %s", pin, strerror(errno));
+ GPIO_Pin *gpio = &g_gpio[g_pin_gpio_to_index[pin]];
+ if (!gpio->initialised)
+ {
+ AbortBool("GPIO %d is not initialised.", pin);
+ }
+ //Set the pin direction
+ if (pwrite(gpio->fd_direction, "out", 3, 0) != 3)
+ {
+ AbortBool("Couldn't set GPIO %d direction - %s", pin, strerror(errno));
+ }
+
+ char c = value ? '1' : '0';
+ if (pwrite(gpio->fd_value, &c, 1, 0) != 1)
+ {
+ AbortBool("Couldn't read GPIO %d value - %s", pin, strerror(errno));
+ }
+ return true;
}
/**
* Read from a GPIO Pin
* @param pin - The pin to read
+ * @param result A pointer to store the result
+ * @return true on success, false otherwise
*/
-bool GPIO_Read(int pin)
+bool GPIO_Read(int pin, bool *result)
{
- if (pwrite(g_gpio[pin].fd_direction, "in", 2, 0) != 2)
- Fatal("Couldn't set GPIO %d direction - %s", pin, strerror(errno));
- char c = '0';
- if (pread(g_gpio[pin].fd_value, &c, 1, 0) != 1)
- Fatal("Couldn't read GPIO %d value - %s", pin, strerror(errno));
+ if (pin < 0 || pin > GPIO_MAX_NUMBER || g_pin_gpio_to_index[pin] == 128)
+ {
+ AbortBool("Not a useable pin number: %d", pin);
+ }
- return (c == '1');
+ GPIO_Pin *gpio = &g_gpio[g_pin_gpio_to_index[pin]];
+ if (!gpio->initialised)
+ {
+ AbortBool("GPIO %d is not initialised.", pin);
+ }
+
+ if (pwrite(gpio->fd_direction, "in", 2, 0) != 2)
+ {
+ AbortBool("Couldn't set GPIO %d direction - %s", pin, strerror(errno));
+ }
+
+ char c = '0';
+ if (pread(gpio->fd_value, &c, 1, 0) != 1)
+ {
+ AbortBool("Couldn't read GPIO %d value - %s", pin, strerror(errno));
+ }
+ *result = (c == '1');
+ return true;
}
/**
* Activate a PWM pin
- * @param pin - The pin to activate
+ * @param pin - The sysfs pin number
* @param polarity - if true, pin is active high, else active low
* @param period - The period in ns
* @param duty - The time the pin is active in ns
*/
-void PWM_Set(int pin, bool polarity, long period, long duty)
+bool PWM_Set(int pin, bool polarity, long period, long duty)
{
+ Log(LOGDEBUG, "Pin %d, pol %d, period: %lu, duty: %lu", pin, polarity, period, duty);
+
+ if (pin < 0 || pin >= PWM_NUM_PINS)
+ {
+ AbortBool("Invalid PWM pin number %d specified.", pin);
+ }
+
+ PWM_Pin *pwm = &g_pwm[pin];
+ if (!pwm->initialised)
+ {
+ AbortBool("PWM %d is not initialised.", pin);
+ }
+
// Have to stop PWM before changing it
- if (pwrite(g_pwm[pin].fd_run, "0", 1, 0) != 1)
- Fatal("Couldn't stop PWM %d - %s", pin, strerror(errno));
+ if (pwrite(pwm->fd_run, "0", 1, 0) != 1)
+ {
+ AbortBool("Couldn't stop PWM %d - %s", pin, strerror(errno));
+ }
- char c = '0' + polarity;
- if (pwrite(g_pwm[pin].fd_polarity, &c, 1, 0) != 1)
- Fatal("Couldn't set PWM %d polarity - %s", pin, strerror(errno));
+ char c = polarity ? '1' : '0';
+ if (pwrite(pwm->fd_polarity, &c, 1, 0) != 1)
+ {
+ AbortBool("Couldn't set PWM %d polarity - %s", pin, strerror(errno));
+ }
-
- rewind(g_pwm[pin].file_period);
- rewind(g_pwm[pin].file_duty);
+ //This must be done first, otherwise period/duty settings can conflict
+ if (fwrite("0", 1, 1, pwm->file_duty) < 1)
+ {
+ AbortBool("Couldn't zero the duty for PWM %d - %s", pin, strerror(errno));
+ }
- if (fprintf(g_pwm[pin].file_duty, "%lu", duty) == 0)
- Fatal("Couldn't set duty cycle for PWM %d - %s", pin, strerror(errno));
+ if (fprintf(pwm->file_period, "%lu", period) < 0)
+ {
+ AbortBool("Couldn't set period for PWM %d - %s", pin, strerror(errno));
+ }
- if (fprintf(g_pwm[pin].file_period, "%lu", period) == 0)
- Fatal("Couldn't set period for PWM %d - %s", pin, strerror(errno));
-
- if (pwrite(g_pwm[pin].fd_run, "1", 1, 0) != 1)
- Fatal("Couldn't start PWM %d - %s", pin, strerror(errno));
+ if (fprintf(pwm->file_duty, "%lu", duty) < 0)
+ {
+ AbortBool("Couldn't set duty cycle for PWM %d - %s", pin, strerror(errno));
+ }
+
+
+ if (pwrite(pwm->fd_run, "1", 1, 0) != 1)
+ {
+ AbortBool("Couldn't start PWM %d - %s", pin, strerror(errno));
+ }
+
+ return true;
}
/**
* Deactivate a PWM pin
- * @param pin - The pin to turn off
+ * @param pin - The syfs pin number
+ * @return true on success, false otherwise
*/
-void PWM_Stop(int pin)
+bool PWM_Stop(int pin)
{
+ if (pin < 0 || pin >= PWM_NUM_PINS)
+ {
+ AbortBool("Invalid PWM pin number %d specified.", pin);
+ }
+ else if (!g_pwm[pin].initialised)
+ {
+ AbortBool("PWM %d is not initialised.", pin);
+ }
+
if (pwrite(g_pwm[pin].fd_run, "0", 1, 0) != 1)
- Fatal("Couldn't stop PWM %d - %s", pin, strerror(errno));
+ {
+ AbortBool("Couldn't stop PWM %d - %s", pin, strerror(errno));
+ }
+ return true;
}
/**
* Read an ADC value
* @param id - The ID of the ADC pin to read
- * @returns - The reading of the ADC channel
+ * @param value - A pointer to store the value read from the ADC
+ * @returns - The true if succeeded, false otherwise.
*/
-int ADC_Read(int id)
+bool ADC_Read(int id, int *value)
{
- char adc_str[ADC_DIGITS] = "";
- lseek(g_adc[id].fd_value, 0, SEEK_SET);
-
- int i = 0;
- for (i = 0; i < ADC_DIGITS-1; ++i)
+ char adc_str[ADC_DIGITS] = {0};
+
+ if (id < 0 || id >= ADC_NUM_PINS)
+ {
+ AbortBool("Invalid ADC pin %d specified.", id);
+ }
+ else if (!g_adc[id].initialised)
{
- if (read(g_adc[id].fd_value, adc_str+i, 1) != 1)
- break;
- if (adc_str[i] == '\n')
- {
- adc_str[i] = '\0';
- break;
- }
+ AbortBool("ADC %d is not initialised.", id);
}
- char * end;
- int val = strtol(adc_str, &end, 10);
- if (*end != '\0')
+ if (pread(g_adc[id].fd_value, adc_str, ADC_DIGITS-1, 0) == -1)
{
- Log(LOGERR, "Read non integer from ADC %d - %s", id, adc_str);
- }
- return val;
+ AbortBool("ADC %d read failed: %s", id, strerror(errno));
+ }
+
+ *value = strtol(adc_str, NULL, 10);
+ return true;
}
+
+#ifndef _BBB
+//For running on systems that are not the BBB
+bool True_Stub(void *arg, ...) { return true; }
+bool ADC_Read_Stub(int *val, ...) { *val = 0; return true; }
+bool GPIO_Read_Stub(bool *val, ...) { *val = false; return true; }
+#endif
\ No newline at end of file
#include "bbb_pin_defines.h"
+#if defined(_BBB) || defined(_BBB_PIN_SRC)
// Initialise / Deinitialise functions
-extern void GPIO_Export(int pin);
+extern bool GPIO_Export(int pin);
extern void GPIO_Unexport(int pin);
-extern void PWM_Export(int pin);
+extern bool PWM_Export(int pin);
extern void PWM_Unexport(int pin);
-extern void ADC_Export();
-extern void ADC_Unexport();
+extern bool ADC_Export(int pin);
+extern void ADC_Unexport(int pin);
// Pin reading/setting functions
-extern bool GPIO_Read(int pin);
-extern void GPIO_Set(int pin, bool value);
+extern bool GPIO_Read(int pin, bool *result);
+extern bool GPIO_Set(int pin, bool value);
-extern int ADC_Read(int pin);
+extern bool ADC_Read(int id, int *value);
-extern void PWM_Set(int pin, bool polarity, long period, long duty); // period and duty are in ns
-extern void PWM_Stop(int pin);
+extern bool PWM_Set(int pin, bool polarity, long period, long duty); // period and duty are in ns
+extern bool PWM_Stop(int pin);
+#else
+//Horrible hacks to silence gcc when compiling on systems that are not the BBB
+extern bool True_Stub(void *arg, ...);
+extern bool ADC_Read_Stub(int *val, ...);
+extern bool GPIO_Read_Stub(bool *val, ...);
+#define GPIO_Export(pin) True_Stub((void*)pin)
+#define GPIO_Unexport(pin) (void)0
+
+#define PWM_Export(pin) True_Stub((void*)pin)
+#define PWM_Unexport(pin) (void)0
+
+#define ADC_Export(pin) True_Stub((void*)pin)
+#define ADC_Unexport(pin) (void)0
+
+#define GPIO_Read(pin, result) GPIO_Read_Stub(result, pin)
+#define GPIO_Set(pin, value) True_Stub((void*)pin, value)
+
+#define ADC_Read(id, value) ADC_Read_Stub(value, id)
+
+#define PWM_Set(pin, polarity, period, duty) True_Stub((void*)pin, polarity, period, duty)
+#define PWM_Stop(pin) True_Stub((void*)(int)pin)
+//yuck
+
+#endif //_BBB
#endif //_BBB_PIN_H
--- /dev/null
+#include "bbb_pin_defines.h"
+
+/* Luts and stuff. Yay magic numbers **/
+
+/**
+ * A lookup table from the actual pin number to GPIO number.
+ * e.g P8_13 is g_pin_real_to_gpio[0*46+13] = g_pin_real_to_gpio[13]
+ * e.g P9_13 is g_pin_real_to_gpio[1*46+13] = g_pin_real_to_gpio[59]
+ *
+ * Where the returned value is 0, there is no GPIO pin
+ * at that location.
+ */
+const unsigned char g_pin_real_to_gpio[BBB_PIN_COUNT+1] = {
+ 0, 0, 0, 0, 0, 0, 0, 66, 67, 69, 68, 45, 44, 0,
+ 26, 47, 46, 27, 65, 0, 0, 0, 0, 0, 0, 0, 61, 86,
+ 88, 87, 89, 10, 11, 9, 81, 8, 80, 78, 79, 76, 77, 74,
+ 75, 72, 73, 70, 71, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+ 0, 30, 60, 31, 0, 48, 0, 5, 4, 0, 0, 0, 0, 49,
+ 15, 0, 14, 115, 0, 0, 112, 0, 0, 0, 0, 0, 0, 0,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0
+};
+
+/**
+ * Maps a GPIO number to an index into g_gpio (only for use in bbb_pin.c)
+ * If there is no index for that GPIO number, 128 is returned.
+ */
+const unsigned char g_pin_gpio_to_index[GPIO_MAX_NUMBER+1] = {
+ 128, 128, 128, 128, 0, 1, 128, 128, 2, 3, 4, 5, 128, 128,
+ 6, 7, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 8, 9,
+ 128, 128, 10, 11, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128,
+ 128, 128, 12, 13, 14, 15, 16, 17, 128, 128, 128, 128, 128, 128,
+ 128, 128, 128, 128, 18, 19, 128, 128, 128, 20, 21, 22, 23, 24,
+ 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 128, 128,
+ 128, 128, 37, 38, 39, 40, 128, 128, 128, 128, 128, 128, 128, 128,
+ 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128,
+ 41, 128, 128, 42
+};
+
+/**
+ * Maps an index in g_gpio to the corresponding GPIO number.
+ */
+const unsigned char g_pin_index_to_gpio[GPIO_NUM_PINS] = {
+ 4, 5, 8, 9, 10, 11, 14, 15, 26, 27, 30, 31, 44, 45,
+ 46, 47, 48, 49, 60, 61, 65, 66, 67, 68, 69, 70, 71, 72,
+ 73, 74, 75, 76, 77, 78, 79, 80, 81, 86, 87, 88, 89, 112,
+ 115
+};
+
+/**
+ * Converts PWM index to PWM number
+ * e.g index 3 becomes 6 for /sys/class/pwm/pwm6
+ */
+const unsigned char g_pin_safe_pwm[PWM_NUM_SAFE_PINS] = {
+ 0, 2, 4, 6, 7
+}; //blergh
\ No newline at end of file
#ifndef _BBB_PIN_DEFINES_H
#define _BBB_PIN_DEFINES_H
+/** The number of expansion pins on the BBB **/
+#define BBB_PIN_COUNT 92
+
/** GPIO0 defines **/
#define GPIO0_1 1
-#define GPIO0_2 2
-//#define GPIO0_3 3 // Used for PWM
-//#define GPIO0_4 4 // Used for PWM
+#define GPIO0_2 2 // Used for PWM
+#define GPIO0_3 3 // Used for PWM
+#define GPIO0_4 4
#define GPIO0_5 5
#define GPIO0_6 6
#define GPIO0_7 7
#define GPIO2_31 95
#define GPIO2_32 96
-/** Number of GPIO pins **/
-#define GPIO_NUM_PINS 97
-
/** Export path **/
#define GPIO_DEVICE_PATH "/sys/class/gpio"
+/** Number of useable GPIO pins **/
+#define GPIO_NUM_PINS 43
+/** The max usable GPIO number **/
+#define GPIO_MAX_NUMBER 115
+
+/* Luts */
+extern const unsigned char g_pin_real_to_gpio[BBB_PIN_COUNT+1];
+extern const unsigned char g_pin_gpio_to_index[GPIO_MAX_NUMBER+1];
+extern const unsigned char g_pin_index_to_gpio[GPIO_NUM_PINS];
+
#define ADC_BITS 12
#define ADC_DIGITS 5
#define ADC0 0
/** Number of ADC pins **/
#define ADC_NUM_PINS 8
-/** Path to export ADCs with**/
-#define ADC_EXPORT_PATH "/sys/devices/bone_capemgr.9/slots"
-/** Path at which ADCs appear **/
-#define ADC_DEVICE_PATH "/sys/devices/ocp.3/helper.16"
+#define ADC_DEVICE_PATH "/sys/bus/iio/devices/iio:device0/"
-/** PWM defines **/
-#define EHRPWM0A 0
-#define EHRPWM0B 1
-// No other PWM pins work!
+/** PWM names to sysfs numbers **/
+#define EHRPWM0A 0 //P9_22
+#define EHRPWM0B 1 //P9_21 - period paired with EHRPWM0A
+#define EHRPWM1A 3 //P9_14
+#define EHRPWM1B 4 //P9_16 - period paired with EHRPWM1A
+#define ECAP0 2 //P9_42
+#define ECAP2 7 //P9_28
+#define EHRPWM2A 5 //P8_19
+#define EHRPWM2B 6 //P8_13 - period paired with EHRPWM2A
/** Number of PWM pins **/
-#define PWM_NUM_PINS 2
+#define PWM_NUM_PINS 8
+
+/** Number of PWM pins which are guaranteed not to interfere with one another **/
+#define PWM_NUM_SAFE_PINS 5
/** Path to PWM sysfs **/
#define PWM_DEVICE_PATH "/sys/class/pwm"
-
+/** Maps internal pin number to safe 'pwmX' number **/
+extern const unsigned char g_pin_safe_pwm[PWM_NUM_SAFE_PINS];
#endif //_BBB_PIN_DEFINES_H
#define _BSD_SOURCE
#define _XOPEN_SOURCE 600
+/** Determine if we're running on the BBB **/
+#ifdef __arm__
+#define _BBB
+#endif
+
/** The current API version **/
#define API_VERSION 0
#define TIMEVAL_DIFF(tv1, tv2) ((tv1).tv_sec - (tv2).tv_sec + 1e-6 * ((tv1).tv_usec - (tv2).tv_usec))
+
+
#endif //_COMMON_H
void Data_Init(DataFile * df)
{
// Everything is NULL
- df->filename = NULL;
+ memset(df, 0, sizeof(DataFile));
pthread_mutex_init(&(df->mutex), NULL);
- df->file = NULL;
}
/**
#include "control.h"
#include "options.h"
#include "image.h"
+#include "pin_test.h"
/**The time period (in seconds) before the control key expires */
#define CONTROL_TIMEOUT 180
switch(FCGI_TYPE(val->flags)) {
case FCGI_BOOL_T:
- *((bool*) val->value) = true;
+ if (!*value) //No value: Default true
+ *((bool*) val->value) = true;
+ else {
+ *((bool*) val->value) = !!(strtol(value, &ptr, 10));
+ if (*ptr) {
+ snprintf(buf, BUFSIZ, "Expected bool for '%s' but got '%s'", key, value);
+ FCGI_RejectJSON(context, buf);
+ return false;
+ }
+ }
break;
case FCGI_INT_T: case FCGI_LONG_T: {
long parsed = strtol(value, &ptr, 10);
module_handler = Actuator_Handler;
} else if (!strcmp("image", module)) {
module_handler = Image_Handler;
+ } else if (!strcmp("pin", module)) {
+ module_handler = Pin_Handler; // *Debug only* pin test module
}
context.current_module = module;
static const char * unspecified_funct = "???";
+
/**
* Print a message to stderr and log it via syslog. The message must be
* less than BUFSIZ characters long, or it will be truncated.
funct = unspecified_funct;
syslog(LOG_CRIT, "FATAL: %s (%s:%d) - %s", funct, file, line, buffer);
+
exit(EXIT_FAILURE);
}
#define Log(level, ...) LogEx(level, __func__, __FILE__, __LINE__, __VA_ARGS__)
#define Fatal(...) FatalEx(__func__, __FILE__, __LINE__, __VA_ARGS__)
+/*** Macro to abort function ***/
+#define Abort(...) { LogEx(LOGERR, __func__, __FILE__, __LINE__, __VA_ARGS__); return; }
+#define AbortBool(...) { LogEx(LOGERR, __func__, __FILE__, __LINE__, __VA_ARGS__); return false; }
+
// An enum to make the severity of log messages human readable in code
enum {LOGERR=0, LOGWARN=1, LOGNOTE=2, LOGINFO=3,LOGDEBUG=4};
#include "sensor.h"
#include "actuator.h"
#include "control.h"
+#include "pin_test.h"
#include "bbb_pin_defines.h"
// --- Standard headers --- //
*/
void ParseArguments(int argc, char ** argv)
{
+ // horrible horrible hacks
+ g_options.argc = argc;
+ g_options.argv = argv;
+
g_options.program = argv[0]; // program name
g_options.verbosity = LOGDEBUG; // default log level
gettimeofday(&(g_options.start_time), NULL); // Start time
*/
Sensor_Init();
Actuator_Init();
+ Pin_Init();
//Sensor_StartAll("test");
//Actuator_StartAll("test");
const char *ret;
//Sensor_StopAll();
//Actuator_StopAll();
+ Pin_Close();
+
Cleanup();
return 0;
}
struct timeval end_time;
/** Path to ADC files **/
- char * adc_device_path;
+ const char * adc_device_path;
+
+ /*** Horrible horrible hack ***/
+ int argc;
+ /*** Horrible horrible hack ***/
+ char ** argv;
} Options;
--- /dev/null
+/**
+ * @file pin_test.c
+ * @purpose Implementations to allow direct control over pins through FastCGI
+ */
+
+#include "pin_test.h"
+
+#include "bbb_pin.h"
+
+/**
+ * Export *ALL* pins for control
+ */
+void Pin_Init()
+{
+
+}
+
+/**
+ * Unexport all pins
+ */
+void Pin_Close()
+{
+ for (int i = 0; i < GPIO_NUM_PINS; ++i)
+ GPIO_Unexport(g_pin_index_to_gpio[i]);
+
+ for (int i = 0; i < ADC_NUM_PINS; ++i)
+ ADC_Unexport(i);
+
+ for (int i = 0; i < PWM_NUM_PINS; ++i)
+ PWM_Unexport(g_pin_safe_pwm[i]);
+}
+
+bool Pin_Configure(const char *type, int pin_export, int num)
+{
+ bool ret = true;
+
+ if (strcmp(type, "gpo") == 0 || strcmp(type, "gpi") == 0)
+ {
+ if (pin_export < 0)
+ GPIO_Unexport(num);
+ else
+ ret = GPIO_Export(num);
+ }
+ else if (strcmp(type, "pwm") == 0)
+ {
+ if (pin_export < 0)
+ PWM_Unexport(num);
+ else
+ ret = PWM_Export(num);
+ }
+ else if (strcmp(type, "adc") == 0)
+ {
+ if (pin_export < 0)
+ ADC_Unexport(num);
+ else
+ ret = ADC_Export(num);
+ }
+ return ret;
+}
+
+/**
+ * Handle a request to the Pin test module
+ * @param context - The FastCGI context
+ * @param params - key/value pair parameters as a string
+ */
+void Pin_Handler(FCGIContext *context, char * params)
+{
+
+ const char * type = NULL;
+ int num = 0;
+ int pin_export = 0;
+ bool set = false;
+ bool pol = false;
+ double freq = 50;
+ double duty = 0.5;
+
+
+ // key/value pairs
+ FCGIValue values[] = {
+ {"type", &type, FCGI_REQUIRED(FCGI_STRING_T)},
+ {"num", &num, FCGI_REQUIRED(FCGI_INT_T)},
+ {"export", &pin_export, FCGI_INT_T},
+ {"set", &set, FCGI_BOOL_T},
+ {"pol", &pol, FCGI_BOOL_T},
+ {"freq", &freq, FCGI_DOUBLE_T},
+ {"duty", &duty, FCGI_DOUBLE_T}
+ };
+
+ // enum to avoid the use of magic numbers
+ typedef enum {
+ TYPE,
+ NUM,
+ EXPORT,
+ SET,
+ POL,
+ FREQ,
+ DUTY
+ } SensorParams;
+
+ // Fill values appropriately
+ if (!FCGI_ParseRequest(context, params, values, sizeof(values)/sizeof(FCGIValue)))
+ {
+ // Error occured; FCGI_RejectJSON already called
+ return;
+ }
+
+ Log(LOGDEBUG, "Params: type = %s, num = %d, export = %d, set = %d, pol = %d, freq = %f, duty = %f", type, num, pin_export, set, pol, freq, duty);
+ if (pin_export != 0)
+ {
+ if (!Pin_Configure(type, pin_export, num))
+ {
+ FCGI_RejectJSON(context, "Failed to (un)export the pin. Check that a valid number has been specified.");
+ return;
+ }
+ FCGI_BeginJSON(context, STATUS_OK);
+ FCGI_JSONPair("description", "Pin (un)export OK!");
+ FCGI_EndJSON();
+ return;
+ }
+
+ if (strcmp(type, "gpo") == 0)
+ {
+ if (num <= 0 || num > GPIO_NUM_PINS)
+ {
+ FCGI_RejectJSON(context, "Invalid GPIO pin");
+ return;
+ }
+
+ Log(LOGDEBUG, "Setting GPIO%d to %d", num, set);
+ if (!GPIO_Set(num, set))
+ {
+ FCGI_RejectJSON(context, "Failed to set the GPIO pin. Check that it's exported.");
+ }
+ else
+ {
+ FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
+ FCGI_PrintRaw("GPIO%d set to %d\n", num, set);
+ }
+ }
+ else if (strcmp(type, "gpi") == 0)
+ {
+ if (num < 0 || num >= GPIO_NUM_PINS)
+ {
+ FCGI_RejectJSON(context, "Invalid GPIO pin");
+ return;
+ }
+ Log(LOGDEBUG, "Reading GPIO%d", num);
+ bool val;
+ if (!GPIO_Read(num, &val))
+ {
+ FCGI_RejectJSON(context, "Failed to read from the GPIO pin. Check that it's exported.");
+ }
+ else
+ {
+ FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
+ FCGI_PrintRaw("GPIO%d reads %d\n", num, val);
+ }
+ }
+ else if (strcmp(type, "adc") == 0)
+ {
+ if (num < 0 || num >= ADC_NUM_PINS)
+ {
+ FCGI_RejectJSON(context, "Invalid ADC pin");
+ return;
+ }
+ Log(LOGDEBUG, "Reading ADC%d", num, set);
+ int raw_adc;
+ if (!ADC_Read(num, &raw_adc))
+ {
+ FCGI_RejectJSON(context, "ADC read failed. Check that it's exported.");
+ }
+ else
+ {
+ FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
+ FCGI_PrintRaw("ADC%d reads %d\n", num, raw_adc);
+ }
+ }
+ else if (strcmp(type, "pwm") == 0)
+ {
+ if (num < 0 || num >= PWM_NUM_SAFE_PINS)
+ {
+ FCGI_RejectJSON(context, "Invalid PWM pin");
+ return;
+ }
+
+ if (set)
+ {
+ Log(LOGDEBUG, "Setting PWM%d", num);
+ duty = duty < 0 ? 0 : duty > 1 ? 1 : duty;
+ long period_ns = (long)(1e9 / freq);
+ long duty_ns = (long)(duty * period_ns);
+ if (!PWM_Set(num, pol, period_ns, duty_ns))
+ {
+ FCGI_RejectJSON(context, "PWM set failed. Check if it's exported, and that there's no channel conflict.");
+ }
+ else
+ {
+ FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
+ FCGI_PrintRaw("PWM%d set to period_ns = %lu (%f Hz), duty_ns = %lu (%f), polarity = %d",
+ num, period_ns, freq, duty_ns, duty*100, (int)pol);
+ }
+ }
+ else
+ {
+ Log(LOGDEBUG, "Stopping PWM%d",num);
+ PWM_Stop(g_pin_safe_pwm[num]);
+ FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
+ FCGI_PrintRaw("PWM%d stopped",num);
+ }
+ }
+ else
+ {
+ Log(LOGDEBUG, "Invalid pin type %s", type);
+ FCGI_RejectJSON(context, "Invalid pin type");
+ }
+
+}
\ No newline at end of file
--- /dev/null
+/**
+ * @file pin_test.h
+ * @purpose Declarations to allow direct control over pins through FastCGI
+ */
+
+#ifndef _PIN_MODULE_H
+#define _PIN_MODULE_H
+
+#include "common.h"
+
+extern void Pin_Init();
+extern void Pin_Close();
+extern void Pin_Handler(FCGIContext *context, char * params);
+
+#endif //_PIN_MODULE_H
+
+//EOF
Data_Init(&(g_sensors[i].data_file));
}
- // Get the ADCs
- ADC_Export();
+ // Get the required ADCs
+ ADC_Export(0);
// GPIO1_28 used as a pulse for sampling
- GPIO_Export(GPIO1_28);
+ //GPIO_Export(GPIO1_28);
// GPIO0_30 toggled during sampling
- GPIO_Export(GPIO0_30);
+ //GPIO_Export(GPIO0_30);
}
/**
// Read value based on Sensor Id
switch (s->id)
{
- case ANALOG_REALTEST:
+ case 2:
{
static bool set = false;
-
- GPIO_Set(GPIO0_30, true);
- d->value = 0;//(double)ADC_Read(ADC0); //ADC #0 on the Beaglebone
+ int raw_adc = 0;
+ //GPIO_Set(GPIO0_30, true);
+ ADC_Read(ADC0, &raw_adc);
+ d->value = (double)raw_adc; //ADC #0 on the Beaglebone
//Log(LOGDEBUG, "Got value %f from ADC0", d->value);
- GPIO_Set(GPIO0_30, false);
+ //GPIO_Set(GPIO0_30, false);
set = !set;
- GPIO_Set(GPIO1_28, set);
+ //GPIO_Set(GPIO1_28, set);
+
+ usleep(100000);
break;
}
break;
case DIGITAL_REALTEST:
{
+ d->value = 0; //d->value must be something... valgrind...
// Can pass pin as argument, just using 20 as an example here
// Although since pins will be fixed, can just define it here if we need to
//d->value = pinRead(20); //Pin 20 on the Beaglebone
s->newest_data.time_stamp = d->time_stamp;
s->newest_data.value = d->value;
}
+
+#ifdef _BBB
+ //Not all cases have usleep, easiest here.
+ usleep(1000000);
+#endif
return result;
}
<![endif]-->
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+ <script type="text/javascript" src="static/base64.js"></script>
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+
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+ $("#login").submit(function () {
+ $("#login").login();
+ return false;
+ });
+
+ $("#main_controls").submit(function () {
+ //Validate!
+ return false;
+ });
+ //$("#cam1").setCamera();
+ //$("#strain-graphs").setStrainGraphs();
+ $("#errorlog").setErrorLog();
});
</script>
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+ <!-- End header -->
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+ <div class="title">Status</div>
<div class="item">
<table class="status centre">
<tr><th>Module</th> <th>State</th></tr>
- <tr><td>Case interlock</td> <td>FAIL</td></tr>
+ <tr><td>Server API</td> <td>PASS</td></tr>
+ <tr><td>Enclosure interlock</td> <td>FAIL</td></tr>
<tr><td>Pressure level</td> <td>PASS</td></tr>
</table>
+ <hr>
+ Software mode: <span id="server_mode">off</span>
</div>
</div>
<div class="widget">
- <div class="title">
- Login
- </div>
+ <div class="title">Pressure controls</div>
+ <form action="#">
+ Pressure level <input type="text" name="pressurelevel"><br>
+ <input type="submit" value="Submit">
+ </form>
+ </div>
+
+ <div class="widget">
+ <div class="title">Login</div>
<div class="item">
- <form action="#">
+ <form id="login" action="#">
<table class="centre">
<tr><td>Username</td><td><input name="username" type="text"></td></tr>
<tr><td>Password</td><td><input name="pass" type="password"></td></tr>
- <tr><td></td><td><input type="button" value="Submit"></td></tr>
+ <tr>
+ <td></td>
+ <td>
+ <input type="submit" value="Submit">
+ <input type="checkbox" name="force"> Force
+ </td>
+ </tr>
</table>
</form>
</div>
</div>
-
</div>
+ <!-- End sidebar -->
<div id="main">
<div class="widget">
<div class="title">Dashboard</div>
-
- </div>
-
- <div class="widget">
- <div class="title">Sensors</div>
-
+ <!--<img class="centre" src="overview.png" alt="Overview">-->
+ <b>Main controls</b>
+ <form id="main_controls" action="">
+ <table>
+ <tr>
+ <td>Experiment name</td>
+ <td><input name="experiment_name" type="text"></td>
+ </tr>
+ <tr>
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+ <td>
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+ </td>
+ </tr>
+ <tr>
+ <td>
+ </td>
+ <td align="right">
+ <input type="submit" value="Start">
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+ <input type="submit" value="Stop">
+ </td>
+ </tr>
+ </table>
+ </form>
+ <b>Error and warning messages</b><br>
+ <textarea id="errorlog" wrap="off" rows="4" cols="30" readonly></textarea>
</div>
<div class="widget">
- <div class="title">Actuators</div>
- <form action="#">
- <table class="status">
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- <td><input type="button" value="Turn on"></td>
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+ <div class="title">Strain gauges</div>
+ <div id="strain-graphs" class="graph">
+ <!-- Strain graph placeholder -->
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<div class="widget">
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+ <div class="title">Camera Feed</div>
+ <img src="" alt="Camera 1" id="cam1" class="centre">
</div>
</div>
+ <!-- End main content -->
+
</div>
</body>
</html>
+++ /dev/null
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+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd">
+<html>
+ <head>
+ <title>BeagleBone Black Pin Test</title>
+ <meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
+ <!--[if lte IE 8]>
+ <script language="javascript" type="text/javascript" src="static/excanvas.min.js"></script>
+ <![endif]-->
+ <script type="text/javascript" src="static/jquery-1.10.1.min.js"></script>
+ <script type="text/javascript" src="static/jquery.flot.min.js"></script>
+ <script type="text/javascript" src="static/base64.js"></script>
+ <script type="text/javascript" src="static/mctx.gui.js"></script>
+ <script type="text/javascript" src="static/mctx.pintest.js"></script>
+
+ <link rel="stylesheet" type="text/css" href="static/style.css">
+ <link rel="stylesheet" type="text/css" href="static/nav-menu.css">
+ <script type="text/javascript">
+ $(document).ready(function () {
+ $("#errorlog").setErrorLog();
+ $("#gpio-menu").populateDropdown(mctx.pintest.gpios, "GPIO ");
+ $("#pwm-menu").populateDropdown(mctx.pintest.pwms, "PWM ");
+
+ $("#gpio-go").click(function () {
+ if ($("#gpio-menu").val()) {
+ $("#gpio-container").exportGPIO($("#gpio-menu"));
+ }
+ });
+ $("#pwm-go").click(function () {
+ if ($("#pwm-menu").val()) {
+ $("#pwm-container").exportPWM($("#pwm-menu"));
+ }
+ });
+ });
+ </script>
+ </head>
+
+ <body>
+ <div id="header">
+ <span id="title">BBB pin test</span>
+ <div id="rightnav">
+ <div id="menu-container" class="nav-menu">
+ </div>
+ <span id="date">
+ <script type="text/javascript">getDate();</script>
+ </span>
+ </div>
+ <div class="clear"></div>
+ </div>
+ <!-- End header -->
+
+ <div id="content">
+ <div id="sidebar">
+ <div class="widget">
+ <div class="title">Info</div>
+ <p>This test page gives control over the BBB's pins.
+ Select a pin that you wish to use from the relevant drop-down
+ menu and click 'Go'.</p>
+ <p>A new widget will appear with controls relevant to that pin.</p>
+ <p>Make sure to check the error log to see if something goes wrong.</p>
+ </div>
+ <div class="widget">
+ <div class="title">Pin out diagram</div>
+ <p>To see the pin out diagram of the BBB, click <a href="">here</a>.</p>
+ </div>
+ <div class="widget">
+ <div class="title">Unexport?</div>
+ <p>
+ To 'unexport' a pin means to disable it. Apart from the obvious
+ use case, sometimes this can be required if you use two PWM channels
+ that share the same frequency base.
+ </p>
+ <p>
+ You won't be able to change
+ the frequency until you unexport one of them.
+ </p>
+ </div>
+ <div class="widget">
+ <div class="title">PWM explained</div>
+ <p>
+ The BBB has up to 8 PWM channels, with 6 having enhanced
+ resolution.
+ </p>
+ <p>
+ However, those 6 are paired, meaning that each pair must share the
+ same frequency (although the duty cycle can be different).
+ </p>
+ </div>
+ </div>
+ <!-- End sidebar -->
+
+ <div id="main">
+ <div class="widget">
+ <div class="title">Dashboard</div>
+ <table>
+ <tr>
+ <td>
+ GPIO <select id="gpio-menu"></select>
+ <input type="button" id="gpio-go" value="Go">
+ </td>
+ <td>
+ PWM <select id="pwm-menu"></select>
+ <input type="button" id="pwm-go" value="Go">
+ </td>
+ </tr>
+ </table>
+
+ <div class="sub-title">Error log</div>
+ <textarea id="errorlog" wrap="off" rows="4" cols="30" readonly></textarea>
+ </div>
+
+ <div class="widget">
+ <div class="title">Analogue input (ADC)</div>
+ <form class="controls" action="#">
+ <table class="centre">
+ <tr>
+ <td>AIN</td><th>0</th><th>1</th><th>2</th><th>3</th>
+ <th>4</th><th>5</th><th>6</th><th>7</th>
+ </tr>
+ <tr>
+ <td>Value</td>
+ <td><input name="0" type="text" readonly></td>
+ <td><input name="1" type="text" readonly></td>
+ <td><input name="2" type="text" readonly></td>
+ <td><input name="3" type="text" readonly></td>
+ <td><input name="4" type="text" readonly></td>
+ <td><input name="5" type="text" readonly></td>
+ <td><input name="6" type="text" readonly></td>
+ <td><input name="7" type="text" readonly></td>
+ </tr>
+ <tr>
+ <td>Export</td>
+ <td><input name="0" type="checkbox"></td>
+ <td><input name="1" type="checkbox"></td>
+ <td><input name="2" type="checkbox"></td>
+ <td><input name="3" type="checkbox"></td>
+ <td><input name="4" type="checkbox"></td>
+ <td><input name="5" type="checkbox"></td>
+ <td><input name="6" type="checkbox"></td>
+ <td><input name="7" type="checkbox"></td>
+ </tr>
+ </table>
+ </form>
+ </div>
+
+ <div class="widget" id="gpio-container">
+ <div class="title">GPIO controls</div>
+ </div>
+
+ <div class="widget" id="pwm-container">
+ <div class="title">PWM controls</div>
+ </div>
+ </div>
+ <!-- End main content -->
+ </div>
+ </body>
+</html>
--- /dev/null
+/*
+ * Copyright (c) 2010 Nick Galbreath
+ * http://code.google.com/p/stringencoders/source/browse/#svn/trunk/javascript
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+/* base64 encode/decode compatible with window.btoa/atob
+ *
+ * window.atob/btoa is a Firefox extension to convert binary data (the "b")
+ * to base64 (ascii, the "a").
+ *
+ * It is also found in Safari and Chrome. It is not available in IE.
+ *
+ * if (!window.btoa) window.btoa = base64.encode
+ * if (!window.atob) window.atob = base64.decode
+ *
+ * The original spec's for atob/btoa are a bit lacking
+ * https://developer.mozilla.org/en/DOM/window.atob
+ * https://developer.mozilla.org/en/DOM/window.btoa
+ *
+ * window.btoa and base64.encode takes a string where charCodeAt is [0,255]
+ * If any character is not [0,255], then an DOMException(5) is thrown.
+ *
+ * window.atob and base64.decode take a base64-encoded string
+ * If the input length is not a multiple of 4, or contains invalid characters
+ * then an DOMException(5) is thrown.
+ */
+var base64 = {};
+base64.PADCHAR = '=';
+base64.ALPHA = 'ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/';
+
+base64.makeDOMException = function() {
+ // sadly in FF,Safari,Chrome you can't make a DOMException
+ var e, tmp;
+
+ try {
+ return new DOMException(DOMException.INVALID_CHARACTER_ERR);
+ } catch (tmp) {
+ // not available, just passback a duck-typed equiv
+ // https://developer.mozilla.org/en/Core_JavaScript_1.5_Reference/Global_Objects/Error
+ // https://developer.mozilla.org/en/Core_JavaScript_1.5_Reference/Global_Objects/Error/prototype
+ var ex = new Error("DOM Exception 5");
+
+ // ex.number and ex.description is IE-specific.
+ ex.code = ex.number = 5;
+ ex.name = ex.description = "INVALID_CHARACTER_ERR";
+
+ // Safari/Chrome output format
+ ex.toString = function() { return 'Error: ' + ex.name + ': ' + ex.message; };
+ return ex;
+ }
+}
+
+base64.getbyte64 = function(s,i) {
+ // This is oddly fast, except on Chrome/V8.
+ // Minimal or no improvement in performance by using a
+ // object with properties mapping chars to value (eg. 'A': 0)
+ var idx = base64.ALPHA.indexOf(s.charAt(i));
+ if (idx === -1) {
+ throw base64.makeDOMException();
+ }
+ return idx;
+}
+
+base64.decode = function(s) {
+ // convert to string
+ s = '' + s;
+ var getbyte64 = base64.getbyte64;
+ var pads, i, b10;
+ var imax = s.length
+ if (imax === 0) {
+ return s;
+ }
+
+ if (imax % 4 !== 0) {
+ throw base64.makeDOMException();
+ }
+
+ pads = 0
+ if (s.charAt(imax - 1) === base64.PADCHAR) {
+ pads = 1;
+ if (s.charAt(imax - 2) === base64.PADCHAR) {
+ pads = 2;
+ }
+ // either way, we want to ignore this last block
+ imax -= 4;
+ }
+
+ var x = [];
+ for (i = 0; i < imax; i += 4) {
+ b10 = (getbyte64(s,i) << 18) | (getbyte64(s,i+1) << 12) |
+ (getbyte64(s,i+2) << 6) | getbyte64(s,i+3);
+ x.push(String.fromCharCode(b10 >> 16, (b10 >> 8) & 0xff, b10 & 0xff));
+ }
+
+ switch (pads) {
+ case 1:
+ b10 = (getbyte64(s,i) << 18) | (getbyte64(s,i+1) << 12) | (getbyte64(s,i+2) << 6);
+ x.push(String.fromCharCode(b10 >> 16, (b10 >> 8) & 0xff));
+ break;
+ case 2:
+ b10 = (getbyte64(s,i) << 18) | (getbyte64(s,i+1) << 12);
+ x.push(String.fromCharCode(b10 >> 16));
+ break;
+ }
+ return x.join('');
+}
+
+base64.getbyte = function(s,i) {
+ var x = s.charCodeAt(i);
+ if (x > 255) {
+ throw base64.makeDOMException();
+ }
+ return x;
+}
+
+base64.encode = function(s) {
+ if (arguments.length !== 1) {
+ throw new SyntaxError("Not enough arguments");
+ }
+ var padchar = base64.PADCHAR;
+ var alpha = base64.ALPHA;
+ var getbyte = base64.getbyte;
+
+ var i, b10;
+ var x = [];
+
+ // convert to string
+ s = '' + s;
+
+ var imax = s.length - s.length % 3;
+
+ if (s.length === 0) {
+ return s;
+ }
+ for (i = 0; i < imax; i += 3) {
+ b10 = (getbyte(s,i) << 16) | (getbyte(s,i+1) << 8) | getbyte(s,i+2);
+ x.push(alpha.charAt(b10 >> 18));
+ x.push(alpha.charAt((b10 >> 12) & 0x3F));
+ x.push(alpha.charAt((b10 >> 6) & 0x3f));
+ x.push(alpha.charAt(b10 & 0x3f));
+ }
+ switch (s.length - imax) {
+ case 1:
+ b10 = getbyte(s,i) << 16;
+ x.push(alpha.charAt(b10 >> 18) + alpha.charAt((b10 >> 12) & 0x3F) +
+ padchar + padchar);
+ break;
+ case 2:
+ b10 = (getbyte(s,i) << 16) | (getbyte(s,i+1) << 8);
+ x.push(alpha.charAt(b10 >> 18) + alpha.charAt((b10 >> 12) & 0x3F) +
+ alpha.charAt((b10 >> 6) & 0x3f) + padchar);
+ break;
+ }
+ return x.join('');
+}
+
+
*/
mctx = {};
-//mctx.api = location.protocol + "/" + location.host + "/api/";
-mctx.api = "http://mctx.us.to:8080/api/";
+mctx.api = location.protocol + "//" + location.host + "/api/";
mctx.expected_api_version = 0;
+mctx.key = undefined;
+mctx.has_control = false;
+
+mctx.return_codes = {
+ "1" : "Ok",
+ "-1" : "General error",
+ "-2" : "Unauthorized",
+ "-3" : "Not running",
+ "-4" : "Already exists"
+};
+
mctx.sensors = {
0 : {name : "Strain gauge 1"},
1 : {name : "Strain gauge 2"},
3 : {name : "Pressure regulator"}
};
+mctx.strain_gauges = {};
+mctx.strain_gauges.ids = [0, 1, 2, 3];
+mctx.strain_gauges.time_limit = 20;
+
+/**
+ * Writes the current date to wherever it's called.
+ */
function getDate(){
document.write((new Date()).toDateString());
}
-/**
- * Populates the navigation bar
+/**
+ * Populates a submenu of the navigation bar
+ * @param {string} header The header
+ * @param {object} items An object representing the submenu items
+ * @param {function} translator A function that translates an object item
+ * into a text and href.
+ * @returns {$.fn} Itself
*/
-$.fn.populateNavbar = function () {
- var menu = $("<ul/>", {class : "menu"});
- var sensorEntry = $("<li/>").append($("<a/>", {text : "Sensor data", href : "#"}));
- var submenu = $("<ul/>", {class : "submenu"});
+$.fn.populateSubmenu = function(header, items, translator) {
+ var submenuHeader = $("<li/>").append($("<a/>", {text : header, href : "#"}));
+ var submenu = $("<ul/>", {"class" : "submenu"});
- for (sensor in mctx.sensors) {
- var href = mctx.api + "sensors?start_time=0&format=tsv&id=" + sensor;
+ for (var item in items) {
+ var info = translator(item, items);
submenu.append($("<li/>").append(
- $("<a/>", {text : mctx.sensors[sensor].name,
- href : href, target : "_blank"})
+ $("<a/>", {text : info.text,
+ href : info.href, target : "_blank"})
));
}
- menu.append(sensorEntry.append(submenu));
- var actuatorEntry = $("<li/>").append($("<a/>", {text : "Actuator data", href : "#"}));
- submenu = $("<ul/>", {class : "submenu"});
+ this.append(submenuHeader.append(submenu));
+ return this;
+};
+
+/**
+ * Populates the navigation bar
+ */
+$.fn.populateNavbar = function () {
+ var menu = $("<ul/>", {"class" : "menu"});
+ var sensorTranslator = function(item, items) {
+ var href = mctx.api + "sensors?start_time=0&format=tsv&id=" + item;
+ return {text : items[item].name, href : href};
+ };
+ var actuatorTranslator = function(item, items) {
+ var href = mctx.api + "actuators?start_time=0&format=tsv&id=" + item;
+ return {text : items[item].name, href : href};
+ };
- for (actuator in mctx.actuators) {
- var href = mctx.api + "actuators?start_time=0&format=tsv&id=" + actuator;
- submenu.append($("<li/>").append(
- $("<a/>", {text : mctx.actuators[actuator].name,
- href : href, target : "_blank"})
- ));
- }
- menu.append(actuatorEntry.append(submenu));
+ menu.populateSubmenu("Sensor data dump", mctx.sensors, sensorTranslator);
+ menu.populateSubmenu("Actuator data dump", mctx.actuators, actuatorTranslator);
menu.appendTo(this);
+ return this;
}
/**
* @returns {$.fn}
*/
$.fn.setCamera = function () {
- var loc = mctx.api + "image";
+ var url = mctx.api + "image"; //http://beaglebone/api/image
var update = true;
+ //Stop updating if we can't retrieve an image!
this.error(function() {
update = false;
});
return;
}
- parent.attr("src", loc + "#" + (new Date()).getTime());
+ parent.attr("src", url + "#" + (new Date()).getTime());
- setTimeout(updater, 500);
+ setTimeout(updater, 1000);
};
updater();
return this;
+};
+
+$.fn.setStrainGraphs = function () {
+ var sensor_url = mctx.api + "sensors";
+ var graphdiv = this;
+
+ var updater = function () {
+ var time_limit = mctx.strain_gauges.time_limit;
+ var responses = new Array(mctx.strain_gauges.ids.length);
+
+ for (var i = 0; i < mctx.strain_gauges.ids.length; i++) {
+ var parameters = {id : i, start_time: -time_limit};
+ responses[i] = $.ajax({url : sensor_url, data : parameters});
+ }
+
+ $.when.apply(this, responses).then(function () {
+ var data = new Array(arguments.length);
+ for (var i = 0; i < arguments.length; i++) {
+ var raw_data = arguments[i][0].data;
+ var pruned_data = [];
+ var step = ~~(raw_data.length/100);
+ for (var j = 0; j < raw_data.length; j += step)
+ pruned_data.push(raw_data[j]);
+ data[i] = pruned_data;
+ }
+ $.plot(graphdiv, data);
+ setTimeout(updater, 500);
+ }, function () {alert("It crashed");});
+ };
+
+ updater();
+ return this;
+};
+
+$.fn.login = function () {
+ var username = this.find("input[name='username']").val();
+ var password = this.find("input[name='pass']").val();
+ var force = this.find("input[name='force']").is(":checked");
+ var url = mctx.api + "control";
+
+ var authFunc = function(xhr) {
+ xhr.setRequestHeader("Authorization",
+ "Basic " + base64.encode(username + ":" + password));
+ };
+
+ $.ajax({
+ url : url,
+ data : {action : "lock", force : (force ? true : undefined)},
+ beforeSend : authFunc
+ }).done(function (data) {
+ mctx.key = data.key;
+ if (data.status < 0) {
+ alert("no - " + data.description);
+ } else {
+ mctx.has_control = true;
+ alert("yes - " + mctx.key);
+ }
+ }).fail(function (jqXHR) {
+ mctx.key = undefined;
+ mctx.has_control = false;
+ alert("no");
+ });
+};
+
+$.fn.setErrorLog = function () {
+ var url = mctx.api + "errorlog";
+ var outdiv = this;
+
+ var updater = function () {
+ $.ajax({url : url}).done(function (data) {
+ outdiv.text(data);
+ setTimeout(updater, 1000);
+ }).fail(function (jqXHR) {
+ outdiv.text("Failed to retrieve the error log.");
+ });
+ };
+
+ updater();
};
\ No newline at end of file
--- /dev/null
+/**
+ * mctx.pintest: Pin test stuff.
+ * Must be included after mctx.gui.js
+ */
+
+
+mctx.pintest = {};
+mctx.pintest.gpios = [
+ 4, 5, 8, 9, 10, 11, 14, 15, 26, 27, 30, 31, 44, 45,
+ 46, 47, 48, 49, 60, 61, 65, 66, 67, 68, 69, 70, 71, 72,
+ 73, 74, 75, 76, 77, 78, 79, 80, 81, 86, 87, 88, 89, 112, 115
+ ];
+mctx.pintest.pwms = [0, 1, 2, 3, 4, 5, 6, 7];
+mctx.pintest.refreshRate = 750;
+
+
+function unexport (type, number, container, menu) {
+ var url = mctx.api + "pin";
+
+ $.ajax({url : url, data : {type : type, num : number, export : -1}})
+ .fail(function () {
+ switch(type) {
+ case "adc" :
+ var text = container.find("input[type='text'][name='" + number + "']");
+ var check = container.find("input[type='checkbox'][name='unexport']");
+ text.empty();
+ check.attr("checked", true);
+ break;
+ case "gpi": case "gpo" :
+ container.remove();
+ menu.append($("<option />").val(number).text("GPIO " + number));
+ break;
+ case "pwm":
+ container.remove();
+ menu.append($("<option />").val(number).text("PWM " + number));
+ break;
+ }
+ })
+ .done(function () {
+
+ });
+}
+
+$.fn.populateDropdown = function(items, pretext) {
+ var options = this;
+ $.each(items, function(index, value) {
+ options.append($("<option />").val(value).text(pretext + value));
+ });
+};
+
+$.fn.exportGPIO = function(menu) {
+ var number = menu.val();
+ var url = mctx.api + "pin";
+ var container = this;
+
+ $.ajax({url : url, data : {type : "gpi", num : number, export : 1}})
+ .fail(function () {
+ var form = $("<form/>", {"class" : "controls", action : "#", id : "gpio-" + number});
+ var title = $("<div/>", {"class" : "centre bold", text : "GPIO " + number});
+ var table = $("<table/>", {"class" : "centre"});
+ var header = $("<tr/>");
+ var controls = $("<tr/>");
+
+ header.append($("<th/>", {text : "Direction"}))
+ .append($("<th/>", {text : "Set"}))
+ .append($("<th/>", {text : "Result"}))
+ .append($("<th/>", {text : "Unexport"}));
+
+ controls.append($("<td/>").append(
+ $("<input/>", {type : "button", value : "In", name : "dir"})))
+ .append($("<td/>").append(
+ $("<input/>", {type : "button", value : "Off", name : "set", disabled : true})))
+ .append($("<td/>").append(
+ $("<input/>", {type : "text", readonly : "", name : "result"})))
+ .append($("<td/>").append(
+ $("<input/>", {type : "checkbox", name : "unexport", value : number})));
+
+ form.append(title);
+ table.append(header).append(controls);
+ form.append(table);
+ form.setGPIOControl(number, menu);
+ container.append(form);
+ menu.find("option[value='" + number+"']").remove();
+ })
+ .done(function (jqXHR) {
+ alert("Failed to export GPIO " + number + ". Is the server running?\n" +
+ "Error code: " + jqXHR.status);
+ });
+};
+
+$.fn.exportPWM = function(menu) {
+ var number = menu.val();
+ var url = mctx.api + "pin";
+ var container = this;
+
+ $.ajax({url : url, data : {type : "pwm", num : number, export : "1"}})
+ .fail(function () {
+ var form = $("<form/>", {"class" : "controls", action : "#", id : "pwm-" + number});
+ var title = $("<div/>", {"class" : "centre bold", text : "PWM " + number});
+ var table = $("<table/>", {"class" : "centre"});
+ var header = $("<tr/>");
+ var controls = $("<tr/>");
+
+ header.append($("<th/>", {text : "Frequency (Hz)"}))
+ .append($("<th/>", {text : "Duty cycle"}))
+ .append($("<th/>", {text : "Polarity"}))
+ .append($("<th/>", {text : "Set"}))
+ .append($("<th/>", {text : "Result"}))
+ .append($("<th/>", {text : "Unexport"}));
+
+ controls.append($("<td/>").append(
+ $("<input/>", {type : "text", name : "freq"})))
+ .append($("<td/>").append(
+ $("<input/>", {type : "text", name : "duty"})))
+ .append($("<td/>").append(
+ $("<input/>", {type : "checkbox", name : "pol"})))
+ .append($("<td/>").append(
+ $("<input/>", {type : "button", value: "Go", name : "set"})))
+ .append($("<td/>").append(
+ $("<input/>", {type : "text", readonly : "", name : "result"})))
+ .append($("<td/>").append(
+ $("<input/>", {type : "checkbox", name : "unexport", value :umber})
+ .click(function () {
+ unexport("pwm", number, form, menu);
+ return false;
+ })));
+
+ form.append(title);
+ table.append(header).append(controls);
+ form.append(table);
+ container.append(form);
+ menu.find("option[value='" + number+"']").remove();
+ })
+ .done(function (jqXHR) {
+ alert("Failed to export PWM " + number + ". Is the server running?\n" +
+ "Error code: " + jqXHR.status);
+ });
+};
+
+$.fn.setGPIOControl = function (number, menu) {
+ var container = this;
+ var dir = this.find("input[name='dir']");
+ var set = this.find("input[name='set']");
+ var result = this.find("input[name='result']");
+ var unexport = this.find("input[name='unexport']");
+ var update = true;
+ var updater = function() {
+ if (update) {
+ $.ajax({url : mctx.api + "pin", data : {type : "gpi", num : number}})
+ .done(function (data) {
+ result.val(data);
+ })
+ .fail(function () {
+ update = false;
+ result.val("GPIO retrieve failed.");
+ });
+ }
+ setTimeout(updater, mctx.pintest.refreshRate);
+ };
+
+ dir.click(function () {
+ dir.attr('disabled', true);
+ var setOut = dir.val() === "In";
+ if (setOut) {
+ update = false;
+ set.attr('disabled', false);
+ result.empty();
+ dir.val("Out");
+ } else {
+ update = true;
+ set.attr('disabled', true);
+ result.empty();
+ dir.val("In");
+ }
+ dir.attr('disabled', false);
+ });
+
+ set.click(function () {
+ dir.attr("disabled", true);
+ var val = (set.val() === "Off") ? 1 : 0;
+ $.ajax({url : mctx.api + "pin", data : {type : "gpo", num : number, set : val}})
+ .done(function (data) {
+ result.text(data);
+ if (val === 0)
+ set.val("Off");
+ else
+ set.val("On");
+ })
+ .fail(function () {
+ result.val("fail");
+ })
+ .always(function () {
+ dir.attr("disabled", false);
+ });
+ });
+
+ unexport.click(function () {
+ update = false;
+ $.ajax({url : mctx.api + "pin", data : {type : "gpi", num : number, export : -1}})
+ container.remove();
+ menu.append($("<option />").val(number).text("GPIO " + number));
+ return false;
+ });
+
+ updater();
+};
+
+/*
+ * GPIO template
+ <form class="controls" action="#">
+ <div class="centre bold">GPIO 20</div>
+
+ <table class="centre">
+ <tr>
+ <th>Direction</th><th>Set</th><th>Result</th><th>Unexport</th>
+ </tr>
+ <tr>
+ <td><input type="button" value="Out"></td>
+ <td><input type="button" value="On"></td>
+ <td><input type="text" readonly></td>
+ <td><input type="checkbox"></td>
+ </tr>
+ </table>
+ </form>
+ */
+
+/*
+ * PWM template
+ <form class="controls" action="#">
+ <table class="centre">
+ <tr>
+ <th>Frequency (Hz)</th><th>Duty cycle</th>
+ <th>Polarity</th><th>Set</th>
+ <th>Result</th><th>Unexport</th>
+ </tr>
+ <tr>
+ <td><input type="text"></td>
+ <td><input type="text"></td>
+ <td><input type="checkbox"></td>
+ <td><input type="button" value="Go"></td>
+ <td><input type="text" readonly></td>
+ <td><input type="checkbox"></td>
+ </tr>
+ </table>
+ </form>
+ */
\ No newline at end of file
hr {
border: 0;
- border-bottom: 1px dashed gray;
+ border-bottom: 1px solid gray;
+}
+
+form.controls {
+ background-color: #F9F9F9;
+ border: 1px solid #808080;
+ padding: 1em;
+ margin: 1em auto;
+}
+
+div.centre {
+ text-align: center;
+}
+
+.bold {
+ font-weight: bold;
}
table {
table.centre {
margin: auto;
+ text-align: center;
}
table.status, table.status tr, table.status td {
padding: 0.2em 0.75em;
}
+td {
+ padding: 0 0.5em;
+}
+
th {
padding: inherit;
border-bottom: 1px solid gray;
margin: auto;
}
-input[type="button"] {
+input[type="button"], input[type="submit"] {
background-color: #F5F5F5;
border: 1px solid #A2A2A2;
border-radius: 3px;
box-shadow: 1px 1px 1px #BBBBBB;
transition: all 0.13s ease 0s;
+ padding: 0 0.5em;
+ min-width: 55px;
+ margin: 0.4em 0.1em;
}
-input[type="button"]:active {
+input[type="button"]:active, input[type="submit"]:active {
background-color: #E8E8E8;
}
#sidebar{
float: right;
- min-width: 22%;
+ max-width: 26%;
}
#sidebar .title {
margin-bottom: 0.5em;
}
+#main .sub-title {
+ font-size: 18px;
+ font-weight: bold;
+ margin-bottom: 0.25em;
+}
+
+.graph {
+ width: 100%;
+ height: 200px;
+}
+
.widget {
background-color: #ffffff;
margin: 0.25em 0.25em 1.5em;
/** Hack **/
.clear {
clear: both;
+}
+
+#errorlog {
+ overflow: auto;
+ max-width: 100%;
+ width: 100%;
+ height: 6em;
}
\ No newline at end of file
g_numSensors = 1
g_storeTime = []
g_key = null
+ g_led = 1
+
+ $.fn.ledFlash = function()
+ {
+ //alert("Flash LED");
+ if (g_led == 0)
+ {
+ $.ajax({url : "api/actuators", data : {id : 0, set : 1}})
+ g_led = 1
+ $("#led").html("LED On");
+ }
+ else
+ {
+ $.ajax({url : "api/actuators", data : {id : 0, set : 0}})
+ g_led = 0
+ $("#led").html("LED Off");
+ }
+ }
$.fn.pruneSensorData = function(id)
{
$("#plots").html(plotsHTML)
controlHTML = "<h2 id=control0>Controls</h2>\n"
- controlHTML += "<p> Pressure: <input type=text id=control0_value value=\"100\"/>"
- controlHTML += "<button id=actuator0 onclick=\"$(document).setPressure()\">SET</button> </p>"
+ controlHTML += "<button id=led onclick=\"$(document).ledFlash()\">LED On</button>"
$("#controls").html(controlHTML)
git.ucc.asn.au / matches / MCTX3420.git / commitdiff
UCC git Repository :: git.ucc.asn.au
