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feat: 增加蜂鸣器和灯条接口

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This commit is contained in:
bmy
2024-06-02 18:24:01 +08:00
parent 07a32a247e
commit 5f6c342b86
3 changed files with 71 additions and 11 deletions
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47
by_cmd.c
View File

@@ -21,6 +21,7 @@ pthread_mutex_t lock = PTHREAD_MUTEX_INITIALIZER;
int by_cmd_init(void)
{
log_set_level(LOG_INFO);
log_debug("by_cmd init");
return (by_frame_init());
}
@@ -61,6 +62,7 @@ int by_cmd_reg_listerning(uint8_t cmd, int timeout)
// log_debug("received done! using %fSEC", (float)timeout_cnt * 0.00005);
listerning_cmd = 0;
received_flag = 0;
log_info("get callback done");
return 0;
}
usleep(10);
@@ -69,7 +71,7 @@ int by_cmd_reg_listerning(uint8_t cmd, int timeout)
listerning_cmd = 0;
received_flag = 0;
log_warn("get cmd time out");
log_warn("get callback time out");
return -1;
}
@@ -434,4 +436,47 @@ int by_cmd_recv_ranging_data(float *distance)
} else {
return -1;
}
}
/**
* @brief 发送灯指令
*
* @param status 0-关闭 其他 - 开启
* @return int
*/
int by_cmd_send_light(uint8_t status)
{
LOCKAPI();
log_info("set light %s", (status ? "on" : "off"));
int ret = 0;
uint8_t buff[4] = {0};
buff[0] = status;
by_frame_send(0x61, buff, 4);
ret = by_cmd_reg_listerning(0x61, 1000);
UNLOCKAPI();
return (ret);
}
/**
* @brief 发送蜂鸣器指令
*
* @param status 0-关闭 其他 - 开启
* @return int
*/
int by_cmd_send_beep(uint8_t status)
{
LOCKAPI();
log_info("set beep %s", (status ? "on" : "off"));
int ret = 0;
uint8_t buff[4] = {0};
buff[0] = status;
by_frame_send(0x62, buff, 4);
ret = by_cmd_reg_listerning(0x62, 1000);
UNLOCKAPI();
return (ret);
}

3
by_cmd.h
View File

@@ -33,4 +33,7 @@ int by_cmd_send_angle_storage(float angle);
int by_cmd_send_ranging_start(void);
int by_cmd_recv_ranging_data(float *distance);
int by_cmd_send_light(uint8_t status);
int by_cmd_send_beep(uint8_t status);
#endif

32
test.c
View File

@@ -22,17 +22,29 @@ int main(int argc, char **argv)
return -1;
}
by_cmd_send_distance_x(12, 100);
by_cmd_send_angle_camera(20.0);
by_cmd_send_position_axis_z(0x11, 100);
by_cmd_send_distance_axis_z(10, 20);
by_cmd_send_distance_axis_x(4, 100);
by_cmd_send_position_axis_x(4, 0);
by_cmd_send_angle_claw_arm(34);
by_cmd_send_angle_claw_arm(220);
by_cmd_send_angle_claw(27);
// by_cmd_send_distance_x(12, 100);
// by_cmd_send_angle_camera(20.0);
// by_cmd_send_position_axis_z(0x11, 100);
// by_cmd_send_distance_axis_z(15, 20);
// by_cmd_send_distance_axis_x(4, 100);
// by_cmd_send_position_axis_x(4, 0);
// by_cmd_send_angle_claw_arm(34);
// by_cmd_send_angle_claw_arm(220);
// by_cmd_send_angle_claw(27);
// sleep(1);
// by_cmd_send_distance_axis_x(4, -60);
by_cmd_send_light(1);
by_cmd_send_beep(1);
sleep(0.5);
by_cmd_send_light(0);
by_cmd_send_beep(0);
sleep(1);
by_cmd_send_light(1);
by_cmd_send_beep(1);
sleep(0.5);
by_cmd_send_light(0);
by_cmd_send_beep(0);
sleep(1);
by_cmd_send_distance_axis_x(4, -60);
return 0;
}