First file for drinving pinobo

CMakeLists.txt

+# Copyright  ETIS — ENSEA, Université de Cergy-Pontoise, CNRS
+# Author: Arnaud Blanchard  (November 2016)
+# This software is governed by the CeCILL v2.1 license under French law and abiding by the rules of distribution of free software.
+# You can use, modify and/ or redistribute the software under the terms of the CeCILL v2.1 license as circulated by CEA, CNRS and INRIA at the following URL "http://www.cecill.info".
+# As a counterpart to the access to the source code and  rights to copy, modify and redistribute granted by the license,
+# users are provided only with a limited warranty and the software's author, the holder of the economic rights,  and the successive licensors have only limited liability.
+# In this respect, the user's attention is drawn to the risks associated with loading, using, modifying and/or developing or reproducing the software by the user in light of its specific status of free software,
+# that may mean  that it is complicated to manipulate, and that also therefore means that it is reserved for developers and experienced professionals having in-depth computer knowledge.
+# Users are therefore encouraged to load and test the software's suitability as regards their requirements in conditions enabling the security of their systems and/or data to be ensured  and, more generally, to use and operate it in the same conditions as regards security.
+# The fact that you are presently reading this means that you have had knowledge of the CeCILL v2.1 license and that you accept its terms. 
+
+cmake_minimum_required(VERSION 2.6)
+
+project(raspinobo)
+
+find_package(blc_channel REQUIRED)
+find_package(blc_program REQUIRED)
+
+add_definitions(${BL_DEFINITIONS} -std=c++14 -Wall -W -fdiagnostics-color=always -march=native)
+include_directories(${BL_INCLUDE_DIRS})
+add_executable(raspinobo raspinobo.cpp  bl_raspi.cpp)
+target_link_libraries(raspinobo ${BL_LIBRARIES})
+
+if (NOT APPLE)
+#Give the raw capbility to the target  /dev/mem
+add_custom_command(TARGET raspinobo POST_BUILD COMMAND sudo setcap "cap_dac_override+ep  cap_sys_rawio+ep cap_sys_nice=eip" $<TARGET_FILE:raspinobo>)
+endif()
+

bl_raspi.h

+#ifndef BL_RASPI_H
+#define BL_RASPI_H
+
+#include <stdint.h>
+
+extern uint32_t *bl_raspi_RC_inputs;
+extern uint32_t const *bl_raspi_volt_outputs;
+extern int bl_raspi_RC_inputs_nb;
+extern int bl_raspi_volt_outputs_nb;
+
+/** Number of iterations of the loop. Useful to check the rate of the refreshing loop */
+extern int bl_raspi_iterations_nb;
+
+void bl_raspi_add_RC_input(int pin, int us_tau, char const *filename);
+void bl_raspi_add_voltage_output(int pin, char const *filename, char const* filename_input);
+
+void bl_raspi_start_loop(uint32_t *RC_results, uint32_t const* voltage_commands);
+void bl_raspi_stop_loop();
+
+#endif

raspinobo.cpp

+#include <sys/ioctl.h> //ioctl
+#include <unistd.h> //read getpid
+#include <libgen.h> //basename
+#include <string.h>
+#include <pthread.h>
+#include <time.h>
+#include <math.h>
+#include <iostream>
+#include <fstream>
+#include <chrono>
+#include <thread>
+
+#include "blc_program.h"
+#include "blc_channel.h"
+#include "bl_raspi.h"
+
+static const int LEFT_POT_PIN=6;
+static const int RIGHT_POT_PIN=12;
+static const int LEFT_MOTOR_PIN=26;
+static const int RIGHT_MOTOR_PIN=20;
+
+blc_channel motor_channel, sensor_channel;
+
+using namespace std;
+
+int main(int argc, char **argv){
+    char const  *gpio_channel_name, *period_str, *default_output, *volts_channel_name;
+    int us_period, previous_iterations_nb;
+    char const *values_debug;
+
+    char const *commandFile = "command.bin";
+    char const *currentFile = "current.bin";
+    char const *forceFile = "force_file.bin";
+    
+    volts_channel_name="/toto";
+    SYSTEM_ERROR_CHECK(asprintf((char**)&default_output, "/%s%d", basename(argv[0]), getpid()), -1, "Generating default name"); //This will not be free but it is only allocate once
+    blc_program_set_description("Pinobo");
+    blc_program_add_option(&values_debug, 'd', "debug", NULL, "Crete a blc_channel '/o_raspi_gpio_values' too set the sent values", NULL);
+    blc_program_add_option(&period_str, 'p', "period", "integer", "refresh period in us", "10000"); //100Hz
+    blc_program_add_option(&gpio_channel_name, 'o', "output", "blc_channel-out", "Channel containing the values of the gpio.", default_output);
+  //  blc_program_add_parameter(&target_channel_name, "blc_channel-in", 1, "Channel defining the volts", NULL );
+    //    blc_program_add_parameter(&volts_channel_name, "blc_channel-in", 1, "Channel defining the volts", NULL );
+    blc_program_init(&argc, &argv, blc_quit);
+
+    SSCANF(1, period_str, "%d", &us_period);
+
+    if (gpio_channel_name==NULL) EXIT_ON_ERROR("The ouput channel (option -o) must not be null");
+    if (volts_channel_name) motor_channel.create_or_open(volts_channel_name, BLC_CHANNEL_WRITE, 'UI32', 'NDEF', 1, 2);
+   // target_channel.create_or_open(target_channel_name, BLC_CHANNEL_WRITE, 'FL32', 'NDEF', 1, 1);
+
+    bl_raspi_add_RC_input(LEFT_POT_PIN, 333, "left_pot_file.bin");
+    bl_raspi_add_RC_input(RIGHT_POT_PIN, 333, "right_pot_file.bin");
+
+    bl_raspi_add_voltage_output(LEFT_MOTOR_PIN, NULL, NULL);
+    bl_raspi_add_voltage_output(RIGHT_MOTOR_PIN, NULL, NULL);
+
+    sensor_channel.create_or_open(gpio_channel_name, BLC_CHANNEL_WRITE, 'UI32', 'NDEF', 1, bl_raspi_RC_inputs_nb);
+    sensor_channel.publish();
+
+    motor_channel.uints32[0]=0;
+    motor_channel.uints32[1]=0;
+    bl_raspi_start_loop(sensor_channel.uints32, motor_channel.uints32);
+
+    previous_iterations_nb=bl_raspi_iterations_nb;
+    BLC_COMMAND_LOOP(us_period){
+        if (blc_loop_iteration!=0) blc_eprint_cursor_up(1);
+        fprintf(stderr, "Freq:%fHz\n", (bl_raspi_iterations_nb-previous_iterations_nb)/((float)us_period/1000000.f));
+        previous_iterations_nb=bl_raspi_iterations_nb;
+    }
+    bl_raspi_stop_loop();
+    return EXIT_SUCCESS;
+}