无线视频监控小车

//在micro2440上操作
[root&＃64;FriendlyARM plg]# ls
bin-song
bin-song.tgz
dc_motor_driver.ko
server
usb-wifi-kits-for-mini2440-linux-2.6.32.2-20100728.tar.gz
[root&＃64;FriendlyARM plg]#
[root&＃64;FriendlyARM plg]# scan-wifi //扫描无线路由器57% ChinaNet-TEXj(Security)57% iTV-TEXj(Security)56% ZXDSL531BII-53949091% MERCURY_C93C2E(Security)//找到了
(Security)39% ChinaNet-rwXE(Security)37% iTV-rwXE(Security)
7 Access Point Found
[root&＃64;FriendlyARM plg]# start-wifi wpa2 MERCURY_C93C2E qwertyuiop//连接至无线路由器&＃xff0c;密码是qwertyuiop
udhcpc (v1.13.3) started
Sending discover...
Sending discover...
Sending discover...
Sending discover...
cfg80211: Calling CRDA for country: US
Sending discover...
Sending select for 192.168.1.101...
Lease of 192.168.1.101 obtained, lease time 7200
deleting routers
route: SIOCDELRT: No such process
adding dns 192.168.1.109
[root&＃64;FriendlyARM bin-song]# ifconfig eth0 down //暂时禁用本地网卡[root&＃64;FriendlyARM plg]# insmod dc_motor_driver.ko //加载驱动
smart_car initialized
[root&＃64;FriendlyARM plg]# ./server &//启动服务器&＃xff0c;监听3333端口&＃xff0c;udp模式
[root&＃64;FriendlyARM plg]# DBG(/opt/FriendlyARM/mini2440/smart_car/dc_motor/dc_motor_driver.c, misc_open(), 146): open DBG(server.c, main(), 63): sock sucessfulDBG(server.c, main(), 78): bind sucess[root&＃64;FriendlyARM plg]# cd bin-song/
[root&＃64;FriendlyARM bin-song]# ./mjpg_streamer -i input_uvc.so -o "output_http.so -w ./www" //开启mjpg的web服务器&＃xff0c;8080端口//在虚拟机上操作
[root&＃64;localhost dc_motor]# ./client //此时按下上下左右键开始控制吧


源码&＃xff1a;

/*******************************dc_motor_driver.c**************/
//操作io口,使用8个点&＃xff0c;
//分配给每个L298N模块4个点
//如下#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include #define DEBUG
#ifdef DEBUG
#define DBG(...) printk(" DBG(%s, %s(), %d): ", __FILE__, __FUNCTION__, __LINE__); printk(__VA_ARGS__)
#else
#define DBG(...)
#endif #define DEVICE_NAME "smart_car"
#define delay_time_ms 1000 int ret;
unsigned long motor_table [] &＃61; { S3C2410_GPF(0),//EA S3C2410_GPF(2),//EB S3C2410_GPF(4),//EC S3C2410_GPF(6),//EDS3C2410_GPF(1),//IA,the back-right wheel ,1 on,0 backS3C2410_GPF(3),//IB,the front-right wheel ,1 on,0 backS3C2410_GPF(5),//IC,the back-left wheel ,1 on,0 backS3C2410_GPG(0),//ID,the back-right wheel ,1 on,0 back};
unsigned int motor_cfg_table [] &＃61; { S3C2410_GPIO_OUTPUT, S3C2410_GPIO_OUTPUT, S3C2410_GPIO_OUTPUT, S3C2410_GPIO_OUTPUT,S3C2410_GPIO_OUTPUT,S3C2410_GPIO_OUTPUT, S3C2410_GPIO_OUTPUT,S3C2410_GPIO_OUTPUT,
};
#define SET_EA_HIGH (s3c2410_gpio_setpin(motor_table[0],1))
#define SET_EA_LOW (s3c2410_gpio_setpin(motor_table[0],0)) #define SET_EB_HIGH (s3c2410_gpio_setpin(motor_table[1],1))
#define SET_EB_LOW (s3c2410_gpio_setpin(motor_table[1],0)) #define SET_EC_HIGH (s3c2410_gpio_setpin(motor_table[2],1))
#define SET_EC_LOW (s3c2410_gpio_setpin(motor_table[2],0)) #define SET_ED_HIGH (s3c2410_gpio_setpin(motor_table[3],1))
#define SET_ED_LOW (s3c2410_gpio_setpin(motor_table[3],0)) #define SET_IA_HIGH (s3c2410_gpio_setpin(motor_table[4],1))
#define SET_IA_LOW (s3c2410_gpio_setpin(motor_table[4],0)) #define SET_IB_HIGH (s3c2410_gpio_setpin(motor_table[5],1))
#define SET_IB_LOW (s3c2410_gpio_setpin(motor_table[5],0)) #define SET_IC_HIGH (s3c2410_gpio_setpin(motor_table[6],1))
#define SET_IC_LOW (s3c2410_gpio_setpin(motor_table[6],0)) #define SET_ID_HIGH (s3c2410_gpio_setpin(motor_table[7],1))
#define SET_ID_LOW (s3c2410_gpio_setpin(motor_table[7],0)) #define UP 1
#define DOWN 6
#define RIGHT 3
#define LEFT 4
#define STOP 5ssize_t misc_write(struct file *filp, const char __user *buf, size_t count, loff_t *f_pos)
{
DBG("write \n"); int ret; char *commad&＃61;0; if (count &＃61;&＃61; 0) { return count; } commad&＃61;kmalloc(count&＃43;1,GFP_KERNEL);//need print it using %s, so plus 1 byte for &＃39;\0&＃39; ret &＃61; copy_from_user(commad, buf, count);//if success,ret&＃61;0 if (ret) { return ret; } commad[count]&＃61;&＃39;\0&＃39;; DBG("commad&＃61;%s\n",commad); DBG("ret&＃61;%d\n",ret); //to test the command "set to 1" or "clear to 0" if correct 代码做管脚测试用到 if(strncmp(commad,"SET_EA_HIGH",count)&＃61;&＃61;0) {SET_EA_HIGH;DBG("excuting SET_EN_HIGH succes !\n");} if(strncmp(commad,"SET_EA_LOW",count)&＃61;&＃61;0) {SET_EA_LOW;DBG("excuting SET_EN_LOW succes !\n");} if(strncmp(commad,"SET_EB_HIGH",count)&＃61;&＃61;0) {SET_EB_HIGH;DBG("excuting SET_EB_HIGH succes !\n");} if(strncmp(commad,"SET_EB_LOW",count)&＃61;&＃61;0) {SET_EB_LOW;DBG("excuting SET_EB_LOW succes !\n");} if(strncmp(commad,"SET_EC_HIGH",count)&＃61;&＃61;0) {SET_EC_HIGH;DBG("excuting SET_EC_HIGH succes !\n");} if(strncmp(commad,"SET_EC_LOW",count)&＃61;&＃61;0) {SET_EC_LOW;DBG("excuting SET_EC_LOW succes !\n");} if(strncmp(commad,"SET_ED_HIGH",count)&＃61;&＃61;0) {SET_ED_HIGH;DBG("excuting SET_ED_HIGH succes !\n");} if(strncmp(commad,"SET_ED_LOW",count)&＃61;&＃61;0) {SET_ED_LOW;DBG("excuting SET_ED_LOW succes !\n");} if(strncmp(commad,"SET_IA_HIGH",count)&＃61;&＃61;0) {SET_IA_HIGH;DBG("excuting SET_IA_HIGH succes !\n");} if(strncmp(commad,"SET_IA_LOW",count)&＃61;&＃61;0) {SET_IA_LOW;DBG("excuting SET_IA_LOW succes !\n");} if(strncmp(commad,"SET_IB_HIGH",count)&＃61;&＃61;0) {SET_IB_HIGH;DBG("excuting SET_IB_HIGH succes !\n");} if(strncmp(commad,"SET_IB_LOW",count)&＃61;&＃61;0) {SET_IB_LOW;DBG("excuting SET_IB_LOW succes !\n");} if(strncmp(commad,"SET_IC_HIGH",count)&＃61;&＃61;0) {SET_IC_HIGH;DBG("excuting SET_IC_HIGH succes !\n");} if(strncmp(commad,"SET_IC_LOW",count)&＃61;&＃61;0) {SET_IC_LOW;DBG("excuting SET_IC_LOW succes !\n");} if(strncmp(commad,"SET_ID_HIGH",count)&＃61;&＃61;0) {SET_ID_HIGH;DBG("excuting SET_ID_HIGH succes !\n");} if(strncmp(commad,"SET_ID_LOW",count)&＃61;&＃61;0) {SET_ID_LOW;DBG("excuting SET_ID_LOW succes !\n");} return ret ? ret : count;
}
ssize_t misc_read(struct file *filp, char __user *buf, size_t count, loff_t *f_pos)
{
DBG("read \n");
return 0;
} static int misc_release(struct inode *inode, struct file *filp)
{
DBG("release \n");
return 0;
} static int misc_open(struct inode *inode, struct file *filp)
{
DBG("open \n");
return 0;
} static inline void go_on()
{SET_EA_HIGH;SET_IA_HIGH;SET_EB_HIGH;SET_IB_HIGH;SET_EC_HIGH;SET_IC_HIGH;SET_ED_HIGH;SET_ID_HIGH;}
static inline void go_back()
{SET_EA_HIGH;SET_IA_LOW;SET_EB_HIGH;SET_IB_LOW;SET_EC_HIGH;SET_IC_LOW;SET_ED_HIGH;SET_ID_LOW;}
static inline void go_right()
{SET_EA_LOW;SET_EB_HIGH;SET_IB_HIGH;SET_EC_LOW;SET_ED_HIGH;SET_ID_HIGH;
}static inline void go_left()
{SET_EA_HIGH;SET_IA_HIGH;SET_EB_LOW;SET_EC_HIGH; SET_IC_HIGH;SET_ED_LOW;
}
static inline void stop()
{SET_EA_LOW;SET_EB_LOW;SET_EC_LOW;SET_ED_LOW;
}static int misc_ioctl(struct inode *inode,struct file *file,unsigned int cmd,unsigned long arg)
{
int i&＃61;0;
DBG("cmd&＃61;%x\n",cmd);
DBG("arg&＃61;%x\n",arg);
if (cmd&＃61;&＃61;UP) // go on
{ go_on();
}else if(cmd&＃61;&＃61;DOWN){ //go backgo_back();
}else if(cmd&＃61;&＃61;RIGHT){ //go rightgo_right();
}else if(cmd&＃61;&＃61;LEFT){ //go leftgo_left();
}else if(cmd&＃61;&＃61;STOP){ //stopstop();
} return 0;} static struct file_operations dev_fops &＃61; {
.owner &＃61; THIS_MODULE,
.open &＃61; misc_open,
.read &＃61; misc_read,
.write &＃61; misc_write,
.release&＃61; misc_release,
.ioctl&＃61; misc_ioctl,
}; static struct miscdevice misc &＃61; {
.minor &＃61; MISC_DYNAMIC_MINOR,
.name &＃61; DEVICE_NAME,
.fops &＃61; &dev_fops,
}; static int __init dev_init(void)
{ int ret;
int i;
for (i &＃61; 0; i <8; i&＃43;&＃43;) {//配置管脚的out in 模式
s3c2410_gpio_cfgpin(motor_table[i], motor_cfg_table[i]);
s3c2410_gpio_setpin(motor_table[i], 0);
} ret &＃61; misc_register(&misc);
//InitRc522() ;//初始化
printk (DEVICE_NAME"\tinitialized\n");
//open_flag&＃61;0;
return ret; } static void __exit dev_exit(void)
{
DBG (DEVICE_NAME"\texit\n");
misc_deregister(&misc);
} module_init(dev_init);
module_exit(dev_exit);
MODULE_LICENSE("GPL");
MODULE_AUTHOR("Song.");

//server.c
//运行在micro2440,监听本地udp 3333端口
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include #define DEBUG
#ifdef DEBUG
#define DBG(...) fprintf(stderr, " DBG(%s, %s(), %d): ", __FILE__, __FUNCTION__, __LINE__); fprintf(stderr, __VA_ARGS__)
#else
#define DBG(...)
#endif #define SERV_PORT 3333#define UP_KEY 0x41
#define DOWN_KEY 0x42
#define RIGHT_KEY 0x43
#define LEFT_KEY 0x44
#define STOP_KEY 0x20#define UP 1
#define DOWN 6
#define RIGHT 3
#define LEFT 4
#define STOP 5int main(int argc,char* argv[]){
//open the deviceint fd &＃61; open("/dev/smart_car", O_RDWR|O_CREAT,00100); if (fd <0) { perror("open file "); return 1; } int sock_fd; //套接子描述符号if(argc&＃61;&＃61;1){//for the socketint recv_num;int send_num;int client_len;char recv_buf[1];struct sockaddr_in addr_serv;struct sockaddr_in addr_client;//服务器和客户端地址sock_fd &＃61; socket(AF_INET,SOCK_DGRAM,0);if(sock_fd <0){DBG("socket");exit(1);} else{DBG("sock sucessful\n");}//初始化服务器断地址memset(&addr_serv,0,sizeof(struct sockaddr_in));addr_serv.sin_family &＃61; AF_INET;//协议族addr_serv.sin_port &＃61; htons(SERV_PORT);addr_serv.sin_addr.s_addr &＃61; htonl(INADDR_ANY);client_len &＃61; sizeof(struct sockaddr_in);/*绑定套接子*/if(bind(sock_fd,(struct sockaddr *)&addr_serv,sizeof(struct sockaddr_in))<0 ){DBG("bind");exit(1);} else{DBG("bind sucess\n");}//monitor the socketwhile(1){recv_num &＃61; recvfrom(sock_fd,recv_buf,sizeof(recv_buf),0,(struct sockaddr *)&addr_client,&client_len);if(recv_num <0){DBG("bad\n");DBG("again recvfrom");exit(1);} else{DBG("recv sucess:%x\n",recv_buf[0]);switch(recv_buf[0]){case UP_KEY:{ioctl(fd,UP);DBG("UP\n");break;}case DOWN_KEY:{ioctl(fd,DOWN);DBG("DOWN\n");break;}case RIGHT_KEY:{ioctl(fd,RIGHT);DBG("RIGHT\n");break;}case LEFT_KEY:{ioctl(fd,LEFT);DBG("LEFT\n");break;}case STOP_KEY:{ioctl(fd,STOP);DBG("STOP\n");break;}}}}}else if(argc&＃61;&＃61;2)//to test{int len&＃61;write(fd,argv[1],strlen(argv[1]));if (len > 0) { DBG("len&＃61; %d\n",len); DBG("%s,%d\n",argv[1],strlen(argv[1])); } else { DBG("error:"); return 1; } }
//close socketclose(sock_fd);
//clode deviceclose(fd); return 0;}

//client.c
//运行在主机&＃xff0c;向micro2440的udp 3333端口发送控制数据
#include
#include
#include
#include
#include#include
#include
#include#define DEBUG
#ifdef DEBUG
#define DBG(...) fprintf(stderr, " DBG(%s, %s(), %d): ", __FILE__, __FUNCTION__, __LINE__); fprintf(stderr, __VA_ARGS__)
#else
#define DBG(...)
#endif #define DEST_PORT 3333
#define DSET_IP_ADDRESS "192.168.1.101"#include static struct termios stored_settings;void set_keypress(void)
{struct termios new_settings;tcgetattr(0,&stored_settings);new_settings &＃61; stored_settings;/* Disable canonical mode, and set buffer size to 1 byte */new_settings.c_lflag &&＃61; (~ICANON);new_settings.c_cc[VTIME] &＃61; 0;new_settings.c_cc[VMIN] &＃61; 1;tcsetattr(0,TCSANOW,&new_settings);return;
}void reset_keypress(void)
{tcsetattr(0,TCSANOW,&stored_settings);return;
}int main()
{int sock_fd;/*套接字文件描述符*/int send_num;int recv_num;int dest_len;char send_buf[1];struct sockaddr_in addr_serv;/*服务端地址&＃xff0c;客户端地址*/set_keypress();sock_fd &＃61; socket(AF_INET,SOCK_DGRAM,0);//创建套接子//初始化服务器端地址memset(&addr_serv,0,sizeof(addr_serv));addr_serv.sin_family &＃61; AF_INET;addr_serv.sin_addr.s_addr &＃61; inet_addr(DSET_IP_ADDRESS);addr_serv.sin_port &＃61; htons(DEST_PORT);dest_len &＃61; sizeof(struct sockaddr_in);//response for keychar ch;while(1)//may use ctrl&＃43;c to kill{ch&＃61;getchar();DBG("ch&＃61;%x\n",ch);send_num &＃61; sendto(sock_fd,&ch,sizeof(ch),0,(struct sockaddr *)&addr_serv,dest_len);if(send_num <0){DBG("sendto");exit(1);} else{DBG("send sucessful\n");}}close(sock_fd);reset_keypress();return 0;}