#!/usr/sbin/blassic
'test direct control of Byvac 4213 stepper driver
' stepper_test.bas <full=0/half=1> <direction=0/1> <delay-0=fastest> <steps>
' e.g. -
' /home/graham/stepper_direct/stepper_test.bas 0 1 0 24 (= 1 turn)
' /home/graham/stepper_direct/stepper_test.bas 0 1 0 240 (= 10 turns)
' /home/graham/stepper_direct/stepper_test.bas 1 1 0 24 (= 1/2 turn)
' /home/graham/stepper_direct/stepper_test.bas 0 0 0 24 (= 1 turn, reverse)
' /home/graham/stepper_direct/stepper_test.bas 0 0 100 24 (= 1 turn, reverse, slower)

full = VAL(PROGRAMARG$(1))
direction = VAL(PROGRAMARG$(2))
delay = VAL(PROGRAMARG$(3))
steps = VAL(PROGRAMARG$(4))

LABEL StartHere

' line 0 must be low for the motor to receive power via the P channel MOSFET
' line 1 must be low to turn off the white LEDs when we have finished looking at the bees
' line 4 (value 16) used to pulse the motor - both transitions

byte_out_HI = 128 + full*64 +direction*32 + 16
byte_out_LO = 128 + full*64 +direction*32

byte_out_HI$ = STR$(byte_out_HI)
byte_out_LO$ = STR$(byte_out_LO)

PRINT byte_out_HI$, byte_out_LO$

FOR i=1 to steps ' switch line 4 HI and LO (motor steps on transition up or down)
FOR j = 1 to 24 ' each step is a full turn of the stepper
PRINT i
BV$ = BIN$ (VAL(PCF8574_inputs$)): PRINT BV$ ' see the line states
SHELL "PCF8574_addr_byteout 38 "+ byte_out_HI$ ' output 4 switched HI
PAUSE delay
SHELL "PCF8574_addr_byteout 38 "+ byte_out_LO$ ' output 4 switched LO
PAUSE delay
next j

' are we on the buffer?
SHELL "echo -n `PCF8574_addr_read_sweex_nowrite2 38`>/var/www/ramdisk/read_PCF8574_inputs.txt"
OPEN "/var/www/ramdisk/read_PCF8574_inputs.txt" FOR INPUT AS #1 : INPUT #1,PCF8574_inputs$ : CLOSE #1
IF VAL(PCF8574_inputs$) > 127 THEN GOTO EndStop
next i

'turn the LEDs and motor power off now the motor is not needed
SHELL "PCF8574_addr_byteout 38 2"

SYSTEM

LABEL EndStop
BV$ = BIN$ (VAL(PCF8574_inputs$)): PRINT BV$ ' see the line states
PRINT "you hit the buffers!"
if direction = 1 THEN direction = 0: GOTO CarryOn
direction = 1
LABEL CarryOn
steps = 48 ' back off the buffer by two turns

byte_out_HI = 128 + full*64 +direction*32 + 16
byte_out_LO = 128 + full*64 +direction*32
byte_out_HI$ = STR$(byte_out_HI)
byte_out_LO$ = STR$(byte_out_LO)

FOR i=1 to steps
PRINT i
BV$ = BIN$ (VAL(PCF8574_inputs$)): PRINT BV$ ' see the line states

SHELL "PCF8574_addr_byteout 38 "+ byte_out_HI$
PAUSE delay
SHELL "PCF8574_addr_byteout 38 "+ byte_out_LO$
PAUSE delay
next i

'turn the LEDs and motor power off
SHELL "PCF8574_addr_byteout 38 2"

SYSTEM

'switch full dirn HI/LO 3 2 1 0-used for <Motor_Power (ON = 0)>
' 1 1 1 1 0 0 0 0 = byte_out_HI
' 1 1 1 0 0 0 0 0 = byte_out_LO

' note if the main power is turned on but no control is received
' the motor power defaults to off - bit 0 HI- (P channel MOSFET gate HI)

/*
PCF8574_addr_read_sweex_nowrite2.c
-------------------
read the data on the 8 line port of an i2c bus PCF8574
------------------------------------------------------

1) set the i2c address of the PCF8574
2) send data 255 to turn off all 8 lines - make them inputs
3) read the data on the 8 port lines as a byte
usage :- type (without the < >)
<PCF8574_address_read_4> <space> <i2c_bus_address_of_PCF8574_as_decimal>
*/

#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <linux/i2c.h>

int i2c;
int buf[1];
int address; /* i2c bus address of the PCF8574 */
int byte; /* the 8 bit byte that represents the data present on the 8 wire port */

int main(int argc, char** argv)
{
if (argc != 2) /* report error if we are not getting just 1 input after the program name */

{

printf("Error. usage: %s i2c_chip_address\n", argv[0]);

}

address = atoi(argv[1]); /* address is the first number after the program name */

i2c = open("/dev/i2c/0",O_RDWR); /* open the i2c-bus number 0 */

ioctl(i2c,I2C_SLAVE, address); /* set the address of the chip we will talk to */

buf[0] = 255;

read(i2c,buf,1); /* now buf(0) contains the byte of data on the 8 port lines*/

byte = buf[0];

printf("%d", byte);
/* BYTE value is 0-256)*/

i2c = close(i2c);
}

/*
PCF8574_addr_read.c
-------------------
read the data on the 8 line port of an i2c bus PCF8574
------------------------------------------------------

1) set the i2c address of the PCF8574
2) send data 255 to turn off all 8 lines - make them inputs
3) read the data on the 8 port lines as a byte
usage :- type (without the < >)
<PCF8574_address_read_4> <space> <i2c_bus_address_of_PCF8574_as_decimal>
*/

#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <linux/i2c.h>

int i2c;
int buf[1];
int address; /* i2c bus address of the PCF8574 */
int byte; /* the 8 bit byte that represents the data present on the 8 wire port */

int main(int argc, char** argv)
{
if (argc != 2) /* report error if we are not getting just 1 input after the program name */

{
printf("Error. usage: %s i2c_chip_address\n", argv[0]);
}

address = atoi(argv[1]); /* address is the first number after the program name */

i2c = open("/dev/i2c/0",O_RDWR); /* open the i2c-bus number 0 */

ioctl(i2c,I2C_SLAVE, address); /* set the address of the chip we will talk to */

buf[0] = 255;

write(i2c,buf,1); /* we send 255 to make all lines go off, ready for input data */

read(i2c,buf,1); /* now buf(0) contains the byte of data on the 8 port lines*/

byte = buf[0];

printf("BYTE = %d \n", byte);
/* BYTE value is 0-256)*/

i2c = close(i2c);
}