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[no ci] Sigmastar: update motor_foscam sample (#1113)

pull/1115/head
viktorxda 2023-11-06 05:43:22 +01:00 committed by GitHub
parent 8a877a1f4a
commit cd0b448044
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 18 additions and 9 deletions
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27
general/package/sigmastar-motors/src/motor_foscam.c
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@ -26,13 +26,13 @@ static int sequence[][4] = {
{1, 0, 0, 0},
};
static int write_gpio(int pin, int value) {
static int write_gpio(int pin, int val) {
struct gpiohandle_request rq;
struct gpiohandle_data data;
int fd = open(DEV_NAME, O_RDONLY);
if (fd < 0) {
printf("Unabled to open chip: %s\n", strerror(errno));
printf("Unable to open chip: %s\n", strerror(errno));
return 1;
}
@ -41,15 +41,15 @@ static int write_gpio(int pin, int value) {
rq.lines = 1;
if (ioctl(fd, GPIO_GET_LINEHANDLE_IOCTL, &rq) < 0) {
printf("Unable to request gpio: %s\n", strerror(errno));
printf("Unable to request gpio %d: %s\n", pin, strerror(errno));
return 1;
}
close(fd);
data.values[0] = value;
data.values[0] = val;
if (ioctl(rq.fd, GPIOHANDLE_SET_LINE_VALUES_IOCTL, &data) < 0) {
printf("Unable to set value: %s\n", strerror(errno));
printf("Unable to set value %d: %s\n", val, strerror(errno));
return 1;
}
@ -69,10 +69,14 @@ static int motor_control(int dir, int step) {
return 0;
}
static void motor_reset(int dir) {
static int motor_check(int dir, int check) {
for (int i = 0; i < 4; i++) {
write_gpio(motor_gpio[dir][i], 0);
if (write_gpio(motor_gpio[dir][i], 0) && check) {
return 1;
}
}
return 0;
}
static void usage(const char *name) {
@ -120,6 +124,10 @@ int main(int argc, char **argv) {
cnt = -10;
}
if (motor_check(dir, 1)) {
return -1;
}
int c1 = (cnt < 0) ? cnt * 10 : 0;
int c2 = (cnt < 0) ? 0 : cnt * 10;
int d1 = (cnt < 0) ? 4 : 0;
@ -128,12 +136,13 @@ int main(int argc, char **argv) {
for (int i = c1; i < c2; i++) {
for (int j = d1; j < d2; j++) {
if (motor_control(dir, j)) {
return -1;
goto reset;
}
}
}
motor_reset(dir);
reset:
motor_check(dir, 0);
return 0;
}