kb_lrftest.c File Reference

This module provides useful basic examples to interface with the LedRangeFinder library for korebot. More...

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Defines

#define MAX_TIMEOUT_IN_MS   500

#define MAX_DATA_BYTES   246

#define PXA_INT0   8

#define OUT   0

#define device   "/dev/tts/2"

Functions

void clrscr (void)

void initTime (struct timeval *timestruct)

unsigned long deltaTime (struct timeval *timeS1)

int gpioinit (int argc, char *argv[], void *data)

int lrfon (int argc, char *argv[], void *data)

int lrfoff (int argc, char *argv[], void *data)

int setsn (int argc, char *argv[], void *data)

int zeroCnt (int argc, char *argv[], void *data)

char * lrfheader ()

int setfile (int argc, char *argv[], void *data)

int lrfinit (int argc, char *argv[], void *data)

int lrfmeasure (int argc, char *argv[], void *data)

int quit (int argc, char *argv[], void *data)

int emergencystop (int argc, char *argv[], void *data)

int help (int argc, char *argv[], void *data)

int main (int argc, char *argv[])

Variables

static int quitReq = 0

static int lrfHandle = 0x1234

static int gpioOKE = 0

static int lrfOKE = 0

static int snOKE = 0

static int measCnt = 0

static char * LRF_SN

static char * KBA_SN

static FILE * outfile

unsigned short DataDist [121]

fd_set fd_set1

static kb_command_t cmds []

static char buf [1024]

Detailed Description

This module provides useful basic examples to interface with the LedRangeFinder library for korebot.

simple led range finder test executable

Author:: Arnaud Maye (K-Team SA)

Note:: Copyright (C) 2005 K-TEAM SA

Bug:: none discovered.

Todo:

Definition in file kb_lrftest.c.

Define Documentation

#define device "/dev/tts/2"

Definition at line 42 of file kb_lrftest.c.

#define MAX_DATA_BYTES 246

Definition at line 36 of file kb_lrftest.c.

#define MAX_TIMEOUT_IN_MS 500

Definition at line 35 of file kb_lrftest.c.

#define OUT 0

Definition at line 40 of file kb_lrftest.c.

#define PXA_INT0 8

Definition at line 39 of file kb_lrftest.c.

Function Documentation

void clrscr ( void )

"clear" the console screen

Definition at line 48 of file kb_lrftest.c.

Referenced by lrfmeasure(), and main().

unsigned long deltaTime ( struct timeval * timeS1 )

Definition at line 61 of file kb_lrftest.c.

int emergencystop	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 328 of file kb_lrftest.c.

References gpioinit(), and lrfoff().

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int gpioinit	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 74 of file kb_lrftest.c.

References gpioOKE, kb_gpio_dir(), kb_gpio_function(), kb_gpio_init(), kb_init(), OUT, and PXA_INT0.

Referenced by emergencystop(), and lrfmeasure().

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int help	(	int	argc,
		char *	argv[],
		void *	data
	)

Display a list of available commands.

Definition at line 453 of file koala_GoAutomation.c.

void initTime ( struct timeval * timestruct )

Definition at line 56 of file kb_lrftest.c.

char* lrfheader ( )

Definition at line 161 of file kb_lrftest.c.

References KBA_SN, LRF_SN, and outfile.

Referenced by lrfmeasure().

int lrfinit	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 224 of file kb_lrftest.c.

References device, kb_lrf_Init(), and lrfHandle.

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int lrfmeasure	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 230 of file kb_lrftest.c.

References clrscr(), device, gpioinit(), kb_lrf_DistanceData, kb_lrf_GetDistances(), kb_lrf_Init(), lrfHandle, lrfheader(), lrfoff(), measCnt, and outfile.

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int lrfoff	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 118 of file kb_lrftest.c.

References gpioOKE, and kb_lrf_pwrOff().

Referenced by emergencystop(), and lrfmeasure().

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int lrfon	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 101 of file kb_lrftest.c.

References gpioOKE, and kb_lrf_pwrOn().

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int main	(	int	argc,
		char *	argv[]
	)

Definition at line 378 of file kb_lrftest.c.

References clrscr(), kb_init(), kb_parse_command(), kb_set_debug_level(), KBA_SN, LRF_SN, and quitReq.

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int quit	(	int	argc,
		char *	argv[],
		void *	data
	)

Quit the program.

Definition at line 323 of file kb_lrftest.c.

References quitReq.

int setfile	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 209 of file kb_lrftest.c.

References outfile.

int setsn	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 132 of file kb_lrftest.c.

References KBA_SN, LRF_SN, and snOKE.

int zeroCnt	(	int	argc,
		char *	argv[],
		void *	data
	)

Definition at line 154 of file kb_lrftest.c.

References measCnt.

Variable Documentation

char buf[1024] [static]

Main program to process the command line.

Definition at line 376 of file kb_lrftest.c.

kb_command_t cmds[] [static]

Initial value:

 {
  { "quit"            , 0 , 0 , quit } ,
  { "exit"            , 0 , 0 , quit } ,
  { "bye"             , 0 , 0 , quit } ,
  { "emstop"          , 0,  0 , emergencystop },
  { "zeromeasure"     , 0 , 0 , zeroCnt },
  { "setserialnum"    , 2 , 2 , setsn },
  { "setfile"         , 1 , 1 , setfile },
  { "gpioinit"        , 0 , 0 , gpioinit },
  { "lrfinit"        , 0 , 0 , lrfinit },
  { "lrfon"           , 0 , 0 , lrfon },
  { "lrfoff"          , 0 , 0 , lrfoff },
  { "lrfmeasure"      , 0 , 1 , lrfmeasure },
  { "help"            , 0 , 0 , help } ,
  { NULL              , 0 , 0 , NULL }
}

The command table contains: command name : min number of args : max number of args : the function to call

Definition at line 341 of file kb_lrftest.c.

unsigned short DataDist[121]

Definition at line 30 of file kb_lrftest.c.

fd_set fd_set1

Definition at line 32 of file kb_lrftest.c.

Referenced by kb_lrf_FlushSerPort(), and kb_lrf_SendCommand().

int gpioOKE = 0 [static]

Definition at line 22 of file kb_lrftest.c.

Referenced by gpioinit(), lrfoff(), and lrfon().

char* KBA_SN [static]

Definition at line 27 of file kb_lrftest.c.

Referenced by lrfheader(), main(), and setsn().

char* LRF_SN [static]

Definition at line 26 of file kb_lrftest.c.

Referenced by lrfheader(), main(), and setsn().

int lrfHandle = 0x1234 [static]

Definition at line 21 of file kb_lrftest.c.

Referenced by lrfinit(), and lrfmeasure().

int lrfOKE = 0 [static]

Definition at line 23 of file kb_lrftest.c.

int measCnt = 0 [static]

Definition at line 25 of file kb_lrftest.c.

Referenced by lrfmeasure(), and zeroCnt().

FILE* outfile [static]

Definition at line 28 of file kb_lrftest.c.

Referenced by lrfheader(), lrfmeasure(), and setfile().

int quitReq = 0 [static]

Definition at line 20 of file kb_lrftest.c.

int snOKE = 0 [static]

Definition at line 24 of file kb_lrftest.c.

Referenced by setsn().


Defines
#define	MAX_TIMEOUT_IN_MS 500
#define	MAX_DATA_BYTES 246
#define	PXA_INT0 8
#define	OUT 0
#define	device "/dev/tts/2"
Functions
void	clrscr (void)
void	initTime (struct timeval *timestruct)
unsigned long	deltaTime (struct timeval *timeS1)
int	gpioinit (int argc, char argv[], void data)
int	lrfon (int argc, char argv[], void data)
int	lrfoff (int argc, char argv[], void data)
int	setsn (int argc, char argv[], void data)
int	zeroCnt (int argc, char argv[], void data)
char *	lrfheader ()
int	setfile (int argc, char argv[], void data)
int	lrfinit (int argc, char argv[], void data)
int	lrfmeasure (int argc, char argv[], void data)
int	quit (int argc, char argv[], void data)
int	emergencystop (int argc, char argv[], void data)
int	help (int argc, char argv[], void data)
int	main (int argc, char *argv[])
Variables
static int	quitReq = 0
static int	lrfHandle = 0x1234
static int	gpioOKE = 0
static int	lrfOKE = 0
static int	snOKE = 0
static int	measCnt = 0
static char *	LRF_SN
static char *	KBA_SN
static FILE *	outfile
unsigned short	DataDist [121]
fd_set	fd_set1
static kb_command_t	cmds []
static char	buf [1024]