agrobot_base/Exemplos/WitStandardModbus_WT901C485-main/Linux_C/modbus/main.c

#include "serial.h"
#include "wit_c_sdk.h"
#include "REG.h"
#include <stdint.h>
#include <wiringPi.h>
#include <wiringSerial.h>
#include <unistd.h>

#define ACC_UPDATE		0x01
#define GYRO_UPDATE		0x02
#define ANGLE_UPDATE	        0x04
#define MAG_UPDATE		0x08
#define READ_UPDATE		0x80

#define SWITCH_CTRL 29


static int fd, s_iCurBaud = 9600;
static volatile char s_cDataUpdate = 0 , s_cCmd = 0xff ;

const int c_uiBaud[] = {2400 , 4800 , 9600 , 19200 , 38400 , 57600 , 115200 , 230400 , 460800 , 921600};


static void AutoScanSensor(char* dev);
static void SensorDataUpdata(uint32_t uiReg, uint32_t uiRegNum);
static void SensorUartSend(uint8_t *p_data , uint32_t uiSize);
static void RS485_IO_Init(void);
static void Delayms(uint16_t ucMs);


int main(int argc,char* argv[]){
	
	if(argc < 2)
	{
		printf("please input dev name\n");
		return 0;
	}


        if((fd = serial_open(argv[1] , s_iCurBaud)<0))
	 {
	    printf("open %s fail\n", argv[1]);
	    return 0;
	 }
	else printf("open %s success\n", argv[1]);


	float fAcc[3], fGyro[3], fAngle[3];
	int i , ret;
	char cBuff[1];
	
	RS485_IO_Init();
	WitInit(WIT_PROTOCOL_MODBUS, 0xff);
	WitRegisterCallBack(SensorDataUpdata);
	WitSerialWriteRegister(SensorUartSend);
	printf("\r\n********************** wit-motion Modbus example  ************************\r\n");
	AutoScanSensor(argv[1]);
	
	while(1)
	{
		
	     WitReadReg(AX,12);
	     Delayms(500);    
	     
	     while(serial_read_data(fd, cBuff, 1))
	        {
		     WitSerialDataIn(cBuff[0]);
		}

                if(s_cDataUpdate)
		    {
			for(i = 0; i < 3; i++)
			{
				fAcc[i] = sReg[AX+i] / 32768.0f * 16.0f;
				fGyro[i] = sReg[GX+i] / 32768.0f * 2000.0f;
				fAngle[i] = sReg[Roll+i] / 32768.0f * 180.0f;
			}
			printf("\n");
			if(s_cDataUpdate & ACC_UPDATE)
			{
				printf("acc:%.3f %.3f %.3f\r\n", fAcc[0], fAcc[1], fAcc[2]);
				s_cDataUpdate &= ~ACC_UPDATE;
			}
			if(s_cDataUpdate & GYRO_UPDATE)
			{
				printf("gyro:%.3f %.3f %.3f\r\n", fGyro[0], fGyro[1], fGyro[2]);
				s_cDataUpdate &= ~GYRO_UPDATE;
			}
			if(s_cDataUpdate & ANGLE_UPDATE)
			{
				printf("angle:%.3f %.3f %.3f\r\n", fAngle[0], fAngle[1], fAngle[2]);
				s_cDataUpdate &= ~ANGLE_UPDATE;
			}
			if(s_cDataUpdate & MAG_UPDATE)
			{
				printf("mag:%d %d %d\r\n", sReg[HX], sReg[HY], sReg[HZ]);
				s_cDataUpdate &= ~MAG_UPDATE;
			}
			s_cDataUpdate = 0;
		     }
         }
    
        serial_close(fd);
	return 0;
}


static void SensorDataUpdata(uint32_t uiReg, uint32_t uiRegNum)
{
    int i;
    for(i = 0; i < uiRegNum; i++)
    {
        switch(uiReg)
        {
//            case AX:
//            case AY:
            case AZ:
				s_cDataUpdate |= ACC_UPDATE;
            break;
//            case GX:
//            case GY:
            case GZ:
				s_cDataUpdate |= GYRO_UPDATE;
            break;
//            case HX:
//            case HY:
            case HZ:
				s_cDataUpdate |= MAG_UPDATE;
            break;
//            case Roll:
//            case Pitch:
            case Yaw:
				s_cDataUpdate |= ANGLE_UPDATE;
            break;
            default:
				s_cDataUpdate |= READ_UPDATE;
			break;
        }
		uiReg++;
    }
}


static void Delayms(uint16_t ucMs)
{ 
     usleep(ucMs*1000);
}


static void RS485_IO_Init()
{
   int ret=wiringPiSetup();
   if(ret==-1){
         exit(-1);
   }
   
   pinMode(SWITCH_CTRL,OUTPUT);
   
   digitalWrite(SWITCH_CTRL,HIGH);
}


static void SensorUartSend(uint8_t *p_data , uint32_t uiSize)
{
	uint32_t uiDelayUs = 0;
	
	uiDelayUs = ( (1000000/(s_iCurBaud/10)) *  uiSize  )   +  300 ;
	
	digitalWrite(SWITCH_CTRL,HIGH);
	serial_write_data(fd,p_data,uiSize);
	
	usleep(uiDelayUs);
	
	digitalWrite(SWITCH_CTRL,LOW);
}


static void AutoScanSensor(char* dev)
{
	int i, iRetry;
	char cBuff[2];
	for(i = 0; i < 10; i++)
	{
		
		serial_close(fd);
		s_iCurBaud = c_uiBaud[i];
		fd = serial_open(dev , c_uiBaud[i]);
		iRetry = 2;
		s_cDataUpdate = 0;
		do
		{
			
			WitReadReg(AX, 3);
			Delayms(200);
			while(serial_read_data(fd, cBuff, 1))
			{
			   WitSerialDataIn(cBuff[0]);
			}
			
			if(s_cDataUpdate != 0)
			{
				printf("%d baud find sensor\r\n\r\n", c_uiBaud[i]);
				return ;
			}
			iRetry--;
		}while(iRetry);		
	}
	printf("can not find sensor\r\n");
	printf("please check your connection\r\n");
}