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Delete lib/pibot directory

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Xuan Sang LE 2021-01-31 18:04:56 +01:00 committed by GitHub
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commit 36f4dd0941
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6
lib/pibot/Makefile
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@ -1,6 +0,0 @@
include ../../../../var.mk
LIB_NAME=pibot.$(LIB_EXT)
LIB_OBJ= pibot.o
include ../../lib.mk

260
lib/pibot/pibot.c
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@ -1,260 +0,0 @@
#include "../lualib.h"
#include "../../lua-api.h"
#include "utils.h"
#include <stdint.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <getopt.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <linux/types.h>
#include <linux/spi/spidev.h>
#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
static const char *device = "/dev/spidev0.0";
static uint8_t mode;
static uint8_t bits = 8;
static uint32_t speed = 500000;
static uint16_t delay = 110;
static int fd_spi = -1;
int spi_open()
{
int ret;
int fd = open(device, O_RDWR);
if (fd < 0)
{
perror("can't open device \n");
return -1;
}
/*
* spi mode
*/
ret = ioctl(fd, SPI_IOC_WR_MODE, &mode);
if (ret == -1)
{
perror("can't set spi mode \n");
return -1;
}
ret = ioctl(fd, SPI_IOC_RD_MODE, &mode);
if (ret == -1)
{
perror("can't get spi mode \n");
return -1;
}
/*
* bits per word
*/
ret = ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
if (ret == -1)
{
perror("can't set bits per word \n");
return -1;
}
ret = ioctl(fd, SPI_IOC_RD_BITS_PER_WORD, &bits);
if (ret == -1)
{
perror("can't get bits per word");
return -1;
}
/*
* max speed hz
*/
ret = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if (ret == -1)
{
perror("can't set max speed hz");
return -1;
}
ret = ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
if (ret == -1)
{
perror("can't get max speed hz");
return -1;
}
printf("spi mode: %d\n", mode);
printf("bits per word: %d\n", bits);
printf("max speed: %d Hz (%d KHz)\n", speed, speed/1000);
return fd;
}
int spi_send_cmd(int fd, uint8_t cmd, uint8_t idx, uint8_t value)
{
int ret;
uint8_t tx[3];
uint8_t rx[3] = {0, };
struct spi_ioc_transfer tr = {
.tx_buf = (unsigned long)tx,
.rx_buf = (unsigned long)rx,
.len = 3,
.delay_usecs = delay,
.speed_hz = speed,
.bits_per_word = bits
};
tx[0] = cmd;
tx[1] = idx;
tx[2] = value;
ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
if (ret < 1)
{
perror("can't send spi message");
return -1;
}
//if(cmd == 255)
// printf("RX %d %d %d \n", rx[0], rx[1], rx[2]);
return (int) rx[0];
}
int spi_set(int fd,uint8_t idx, uint8_t v)
{
return spi_send_cmd(fd,1, idx, v);
}
int spi_get(int fd,uint8_t idx)
{
// send command
int ret;
ret = spi_send_cmd(fd,0,idx,0);
if(ret == -1) return -1;
// read back
return spi_send_cmd(fd,255,255,255);
}
void spi_read_buff(int fd,uint8_t* buf, int size)
{
int ret;
uint8_t tx[size];
struct spi_ioc_transfer tr = {
.tx_buf = (unsigned long)tx,
.rx_buf = (unsigned long)buf,
.len = size,
.delay_usecs = delay,
.speed_hz = speed,
.bits_per_word = bits
};
spi_send_cmd(fd,2,0,size);
ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
if (ret < 1)
{
perror("can't send spi message");
return;
}
}
void spi_write_buff(int fd, uint8_t* buf, int size)
{
int i;
for(i=0; i < size; i++)
spi_set(fd,i,buf[i]);
}
static int l_init(lua_State* L)
{
fd_spi = spi_open();
if(fd_spi == -1)
lua_pushboolean(L,0);
else
lua_pushboolean(L,1);
return 1;
}
static int l_release(lua_State* L)
{
if(fd_spi > 0)
close(fd_spi);
fd_spi = -1;
lua_pushboolean(L,1);
return 1;
}
static int l_read(lua_State* L)
{
int size = luaL_checknumber(L,1);
unsigned char data_buf[size];
if(fd_spi == -1)
{
lua_pushnil(L);
return 1;
}
// request data
spi_read_buff(fd_spi,data_buf,size);
lua_newtable(L);
int i;
for(i =0; i < size; i++)
{
lua_pushnumber(L,i);
lua_pushnumber(L,data_buf[i]);
lua_settable(L,-3);
}
return 1;
}
static int l_write(lua_State* L)
{
/* 1st argument must be a table (t) */
byte_array_t* data_buf = l_check_barray(L, 1);
if(fd_spi == -1)
{
lua_pushboolean(L,0);
return 1;
}
spi_write_buff(fd_spi,data_buf->data, data_buf->size);
lua_pushboolean(L,1);
return 1;
}
static int l_set(lua_State* L)
{
int idx = luaL_checknumber(L,1);
int val = luaL_checknumber(L,2);
if(fd_spi == -1)
{
lua_pushboolean(L,0);
return 1;
}
spi_set(fd_spi,idx,val);
lua_pushboolean(L,1);
return 1;
}
static int l_get(lua_State* L)
{
int idx = luaL_checknumber(L,1);
if(fd_spi == -1)
{
lua_pushboolean(L,0);
return 1;
}
spi_get(fd_spi,idx);
lua_pushboolean(L,1);
return 1;
}
static const struct luaL_Reg _lib [] = {
{"init", l_init},
{"release",l_release},
{"read",l_read},
{"write",l_write},
{"set",l_set},
{"get",l_get},
{NULL,NULL}
};
int luaopen_pibot(lua_State *L)
{
luaL_newlib(L, _lib);
return 1;
}