disable servo stuff, run I2C reader
haldean
4 years ago
| 30 | 30 | |
| 31 | 31 | static const int addr = 0x63; |
| 32 | 32 | |
| 33 | static bool | |
| 34 | register_write(int i2c, uint8_t *cmd, size_t len) | |
| 35 | { | |
| 36 | struct timespec ts; | |
| 37 | ||
| 38 | if (write(i2c, cmd, len) != len) | |
| 39 | { | |
| 40 | fprintf(stderr, "failed to send write to %02X register\n", | |
| 41 | cmd[0]); | |
| 42 | return false; | |
| 43 | } | |
| 44 | ||
| 45 | // clock_nanosleep( | |
| 46 | return true; | |
| 47 | } | |
| 48 | ||
| 49 | 33 | int t_lo = 800; |
| 50 | 34 | int t_hi = 2600; |
| 51 | 35 | int p_lo = 800; |
| 62 | 46 | |
| 63 | 47 | if (rc_initialize()) |
| 64 | 48 | { |
| 65 | fprintf(stderr,"ERROR: failed to initialize rc_initialize(), are you root?\n"); | |
| 49 | fprintf(stderr, "ERROR: rc_initialize failed, needs root\n"); | |
| 66 | 50 | return -1; |
| 67 | 51 | } |
| 68 | 52 | |
| 71 | 55 | rc_enable_servo_power_rail(); |
| 72 | 56 | rc_set_state(RUNNING); |
| 73 | 57 | |
| 58 | if (!rc_i2c_init(1, addr)) | |
| 59 | { | |
| 60 | fprintf(stderr, "ERROR: failed to initialize I2C\n"); | |
| 61 | return -1; | |
| 62 | } | |
| 63 | ||
| 74 | 64 | while (rc_get_state() != EXITING) |
| 75 | 65 | { |
| 66 | /* | |
| 76 | 67 | int iters = 1; |
| 77 | 68 | phi += (inc ? 1 : -1) * 5; |
| 78 | 69 | if (phi > p_hi || phi < p_lo) |
| 93 | 84 | rc_send_servo_pulse_us(2, phi); |
| 94 | 85 | usleep(period); |
| 95 | 86 | } |
| 87 | */ | |
| 88 | ||
| 89 | uint8_t status = 0xFF; | |
| 90 | rc_i2c_read_byte(1, STATUS, &status); | |
| 91 | printf("status: %02x\n"); | |
| 96 | 92 | |
| 97 | 93 | if (rc_get_state() == RUNNING) |
| 98 | 94 | { |