114 lines
2.2 KiB
C++
114 lines
2.2 KiB
C++
#include "adapter_ard.h"
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#include "HCSR04.h"
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#include <ctime>
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#include <time.h>
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#include <stdio.h>
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#include <math.h>
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#include <iostream>
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serial_c Serial;
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HCSR04_c HCSR04;
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struct timespec start, end;
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int pinState[16];
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double dists[2];
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int main(int argc, char** argv){
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clock_gettime(CLOCK_MONOTONIC_RAW, &start);
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setup();
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int c = '0';
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char cmd_buff[128];
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int cmd_buff_ind = 0;
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while(1){
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while((c = getchar()) != '@'){
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if(c == '$')
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cmd_buff_ind = 0;
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if(c == ';'){
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cmd_buff[cmd_buff_ind] = '\0';
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char* end_ptr;
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int pin = strtol(&cmd_buff[1], &end_ptr, 10);
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int level = strtol(&end_ptr[1], &end_ptr, 10);
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//printf("pin %d at %d\n", pin, level);
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if(pin >= 0)
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pinState[pin] = level;
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else dists[-pin-1] = level/10.0;
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cmd_buff_ind = 0;
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}
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cmd_buff[cmd_buff_ind++] = c;
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}
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printf("$dt,%ld;", micros());
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loop();
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printf("*");
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fflush(stdout);
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}
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}
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long millis(){
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clock_gettime(CLOCK_MONOTONIC_RAW, &end);
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uint64_t milli = (end.tv_sec - start.tv_sec) * 1000 + (end.tv_nsec - start.tv_nsec) / 1000000;
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return milli;
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}
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long micros(){
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clock_gettime(CLOCK_MONOTONIC_RAW, &end);
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uint64_t milli = (end.tv_sec - start.tv_sec) * 1000000 + (end.tv_nsec - start.tv_nsec) / 1000;
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return milli;
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}
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int abs(int in){
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return abs(in);
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}
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void pinMode(int pin, int mode){
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printf("$pm,%d,%d;",pin, mode);
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}
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int analogRead(int pin){
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return pinState[pin];
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}
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void digitalWrite(int pin, int level){
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printf("$dw,%d,%d;", pin, level);
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}
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void analogWrite(int pin, int dc){
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printf("$aw,%d,%d;", pin, dc);
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}
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void serial_c::begin(int br){
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printf("started serial at %d bps\n", br);
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}
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void serial_c::print(std::string txt){
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std::cout << "serial : " << txt;
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}
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void serial_c::println(std::string txt){
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this->print(txt);
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std::cout << std::endl;
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}
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void serial_c::print(int nb){
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printf("serial : %d", nb);
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}
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void serial_c::println(int nb){
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this->print(nb);
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printf("\n");
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}
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void HCSR04_c::begin(byte trig, byte* echos, byte ecnt){
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//printf("");
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}
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double* HCSR04_c::measureDistanceCm(){
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//printf("dists %f %f", dists[0], dists[1]);
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return dists;
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} |