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https://github.com/RobotechLille/cdf2018-principal
synced 2024-11-14 04:16:05 +01:00
Misc
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1ef117c0ad
commit
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@ -5,7 +5,7 @@ CC=gcc
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# Bibliothèques
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LIBS=
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## Drapeaux pour le linker
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LDFLAGS_CUSTOM += -lpthread -lwiringPi
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LDFLAGS_CUSTOM += -lpthread -lwiringPi -lm
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## Drapeaux pour le compilateur
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CFLAGS_CUSTOM += -g
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## Générateurs de drapeaux pour les bibliothèques
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@ -10,7 +10,7 @@
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#define FPGA_PORTNAME "/dev/ttyUSB0"
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#define CF_BAUDRATE B115200
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// #define PRINTRAWDATA
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#define PRINTRAWDATA
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int fpga;
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pthread_mutex_t sSendCF;
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@ -26,7 +26,7 @@ int nextId()
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if (d) {
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while ((dir = readdir(d)) != NULL) {
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ret = sscanf(dir->d_name, "%d", &id);
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ret = sscanf(dir->d_name, "%06d", &id);
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if (ret == 1 && id > maxId) {
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maxId = id;
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}
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@ -101,7 +101,7 @@ void configureDebug()
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// Génération du nom de fichier
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char path[256];
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sprintf(path, "log/%d.csv", nextId());
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sprintf(path, "log/%06d.csv", nextId());
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// Open file
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debugFd = fopen(path, "w");
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@ -34,12 +34,11 @@ int setMoteurTension(float lVolt, float rVolt)
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msg.in = 0x00;
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// TODO Protections
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// Gauche
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bool lFor = lVolt < 0;
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lVolt = fabs(lVolt);
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if (lVolt > MOT_MAX_V) {
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lVolt = MOT_MAX_V;
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}
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msg.in |= 1 << (lFor ? IN1 : IN2);
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msg.ena = tensionToPWM(lVolt);
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@ -3,12 +3,14 @@
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*/
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#include <stdio.h>
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#include <math.h>
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#include "debug.h"
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#include "position.h"
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#include "dimensions.h"
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// Globales
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struct position actuel;
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struct position connu;
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struct F2CI_CODERs deltaCoders;
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pthread_mutex_t posPolling;
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pthread_t tPosition;
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@ -42,6 +44,15 @@ void* TaskPosition(void* pData)
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nbCalcPos++;
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lCodTot += deltaCoders.dL;
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rCodTot += deltaCoders.dR;
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float deltaO = atan2(deltaCoders.dR - deltaCoders.dL, DISTANCE_BETWEEN_WHEELS);
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float deltaD = (deltaCoders.dL + deltaCoders.dR) / 2;
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connu.o += deltaO;
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float deltaX = deltaD * cos(connu.o);
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float deltaY = deltaD * sin(connu.o);
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connu.x += deltaX;
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connu.y += deltaY;
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}
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return NULL;
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@ -58,6 +69,12 @@ void configurePosition()
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registerRxHandler(F2CI_CODER, onF2CI_CODER);
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registerDebugVar("lCodTot", ld, &lCodTot);
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registerDebugVar("rCodTot", ld, &rCodTot);
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connu.x = 0;
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connu.y = 0;
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connu.o = 0;
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registerDebugVar("xConnu", f, &connu.x);
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registerDebugVar("yConnu", f, &connu.y);
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registerDebugVar("oConnu", f, &connu.o);
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registerDebugVar("nbCalcPos", d, &nbCalcPos);
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pthread_create(&tPosition, NULL, TaskPosition, NULL);
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}
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@ -12,6 +12,8 @@
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#include "movement.h"
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#include "buttons.h"
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#define PATATE 3.3/2
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int main(int argc, char* argv[])
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{
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@ -29,22 +31,22 @@ int main(int argc, char* argv[])
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for (;;) {
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clearLCD();
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printToLCD(LCD_LINE_1, "Forward");
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changerMoteurs(3.3, 3.3);
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changerMoteurs(PATATE, PATATE);
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pressedButton(BUT_BLOCK);
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clearLCD();
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printToLCD(LCD_LINE_1, "Right");
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changerMoteurs(-3.3, 3.3);
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changerMoteurs(-PATATE, PATATE);
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pressedButton(BUT_BLOCK);
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clearLCD();
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printToLCD(LCD_LINE_1, "Left");
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changerMoteurs(-3.3, -3.3);
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changerMoteurs(-PATATE, -PATATE);
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pressedButton(BUT_BLOCK);
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clearLCD();
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printToLCD(LCD_LINE_1, "Backward");
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changerMoteurs(3.3, -3.3);
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changerMoteurs(PATATE, -PATATE);
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pressedButton(BUT_BLOCK);
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clearLCD();
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62
chef/src/testUpDown.c
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62
chef/src/testUpDown.c
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@ -0,0 +1,62 @@
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/* Teste si une broche est connecté à une autre */
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#include <stdint.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <wiringPi.h>
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#include <wiringPiI2C.h>
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#include "lcd.h"
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#include "CF.h"
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#include "movement.h"
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#include "buttons.h"
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#define UP_TIME 1000
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#define HIGH_TIME 3000
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#define DOWN_TIME 1000
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#define LOW_TIME 2000
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#define MAXI 3.3
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#define INTERVAL 10
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void changerMoteursWrapper(float l, float r) {
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/* clearLCD(); */
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printfToLCD(LCD_LINE_1, "L: %f", l);
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printfToLCD(LCD_LINE_2, "R: %f", r);
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changerMoteurs(l, r);
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}
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int main(int argc, char* argv[])
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{
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(void)argc;
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(void)argv;
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wiringPiSetup();
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initI2C();
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initLCD();
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configureCF();
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configureButtons();
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configureMovement();
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for (;;) {
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for (int i = 0; i < UP_TIME; i += INTERVAL) {
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float p = (float)i / (float)UP_TIME;
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changerMoteursWrapper(p * MOT_MAX_V, p * MOT_MAX_V);
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delay(INTERVAL);
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}
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changerMoteursWrapper(MOT_MAX_V, MOT_MAX_V);
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delay(HIGH_TIME);
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for (int i = 0; i < DOWN_TIME; i += INTERVAL) {
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float p = (float)i / (float)DOWN_TIME;
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p = 1 - p;
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changerMoteursWrapper(p * MOT_MAX_V, p * MOT_MAX_V);
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delay(INTERVAL);
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}
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changerMoteursWrapper(0, 0);
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delay(LOW_TIME);
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}
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}
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2
log/.gitignore
vendored
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2
log/.gitignore
vendored
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*
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!.gitignore
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@ -125,6 +125,10 @@ restart:
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ssh -F sshconf principal true
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ssh -F sshconf principal /etc/init.d/S50chef restart
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getlogs:
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ssh -F sshconf principal true
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rsync --rsh 'ssh -F sshconf' --archive principal:/opt/chef/log/* ../log/
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gdbcommands:
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echo "set sysroot $(TARGET_DIR)" > "$@"
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echo "exec-file $(TARGET_DIR)$(EXECDIR)$(EXECPATH)" >> "$@"
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@ -7,6 +7,7 @@ start() {
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printf "Starting Wi-Fi connection: "
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# modprobe brcmfmac
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modprobe r8188eu
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modprobe 8192cu
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ifup wlan0
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echo "OK"
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}
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stop() {
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printf "Stopping Wi-Fi connection: "
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ifdown wlan0
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# rmmod brcmfmac
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rmmod r8188eu
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echo "OK"
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}
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