fix small lrf bug, fix gpios

refs 7890

org.fortiss.af3.platform.raspberry/trunk/lib/Makedefs

@@ -19,8 +19,8 @@ ifndef CROSSLD
 endif
 
 # The flags which are passed to the compiler and the linker.
-CCFLAGS+=-std=gnu99 -Wall -pthread -pedantic -c ${patsubst %,-I%,${subst :, ,${IPATH}}}
-LDFLAGS+=-std=gnu99 -Wall -pthread -lpthread -pedantic
+CCFLAGS+=-std=gnu99 -Wall -pthread -lwiringPi -pedantic -c ${patsubst %,-I%,${subst :, ,${IPATH}}}
+LDFLAGS+=-std=gnu99 -Wall -pthread -lpthread -lwiringPi -pedantic
 
 # The default rules, i.e. the entry point.
 all: ${BPATH}

org.fortiss.af3.platform.raspberry/trunk/lib/inc/GPIO.h

 #ifndef __GPIO_H
 #define __GPIO_H
 
+#include <stdio.h>
 #include <wiringPi.h>
 #include "inc-gen/data_dictionary.h"
 

org.fortiss.af3.platform.raspberry/trunk/lib/src/GPIO.c

@@ -18,13 +18,13 @@ void gpio_init(GPIO_PIN_T pin) {
 
 void gpio_init_in(GPIO_PIN_T pin) {
     gpio_init(pin);
-    
+
     pinMode(pin, INPUT);
 }
 
 void gpio_init_out(GPIO_PIN_T pin) {
     gpio_init(pin);
-    
+
     pinMode(pin, OUTPUT);
 }
 

org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c

@@ -7,7 +7,7 @@ void lrf_init() {
     char port[100];
 
     //FILE* fp = popen("dmesg | grep -A 3 \"Arduino Uno\"  | grep -o \"ttyACM.\" | tail -n 1","r");
-    FILE* fp = popen("ls -d /dev/serial/by-id/* | grep \"Arduino\" | tr -d \"\n"\"", "r");
+    FILE* fp = popen("ls -d /dev/serial/by-id/* | grep \"Arduino\" | tr -d \"\n\"", "r");
     //fgets(port+5, sizeof(port)-6, fp);
     fgets(port, sizeof(port), fp);
     printf("lrf port=%s\n", port);

org.fortiss.af3.platform.raspberry/trunk/lib/src/PWM.c

@@ -55,6 +55,10 @@ void pwm_init(PWM_CHANNEL_T channel) {
         pwm_channel_values = calloc(sizeof(GEN_TYPE_int), PWM_MAX_NO_CHANNELS);
         pwm_channel_enabled = calloc(sizeof(GEN_TYPE_boolean), PWM_MAX_NO_CHANNELS);
 
+    	// start a pwm thread
+    	//pthread_t pt_pwm;
+    	//pthread_create(&pt_pwm, NULL, pwm_worker, NULL);
+
         pwm_initialized = true;
     }
 

org.fortiss.af3.platform.raspberry/trunk/lib/src/main.c

@@ -18,7 +18,7 @@ int main(int argc, char* argv[]) {
     pthread_t pt_gamepad;
     pthread_create(&pt_gamepad, NULL, gp_worker, NULL);
 
-    // start a rover thread
+    // start a pwm thread
     pthread_t pt_pwm;
     pthread_create(&pt_pwm, NULL, pwm_worker, NULL);