mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-05-21 22:26:13 +02:00
32 lines
795 B
C
32 lines
795 B
C
#ifndef __AC_H_
|
|
#define __AC_H_
|
|
|
|
#include <sys/ioctl.h>
|
|
#include <pthread.h>
|
|
#include <termios.h> // baudrates
|
|
#include <stdbool.h>
|
|
|
|
#include "ACsignals.h"
|
|
|
|
#define ARDUINO_PORTNAME "/dev/ttyACM0"
|
|
#define CA_BAUDRATE B9600
|
|
// #define PRINTRAWDATA
|
|
|
|
int arduino;
|
|
pthread_mutex_t sSendCA;
|
|
pthread_t tReaderAC;
|
|
|
|
typedef void (*rxHandler)(void);
|
|
rxHandler rxHandlersAC[256];
|
|
bool pret;
|
|
|
|
void registerRxHandler(unsigned char code, rxHandler handler); // À utiliser après configureCA();
|
|
void sendByteCA(unsigned char data); // Privé
|
|
void sendCA(unsigned char code, void* data, size_t size);
|
|
unsigned char readByteCA(); // À utiliser uniquement depuis un rxHandler
|
|
void readCA(void* data, size_t size); // À utiliser uniquement depuis un rxHandler
|
|
void configureCA();
|
|
void deconfigureCA();
|
|
|
|
#endif
|