apps/compass/compass_os5000.php

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<?php
/*!*******************************************************************************
*! FILE NAME  : compass.php
*! DESCRIPTION: Reads Heading, Roll, Pitch from the Honeywell HMR3000 compass
*!              module attached to the serial port of the Elphel model 353 camera
*!              Requires 10349/10369 boards with extra connection to +5V
*!              (on 10369 can use 4-pin RJ45 sync out as power).
*!              Needs system to be configured with the debug port disabled.
*! Copyright (C) 2008 Elphel, Inc
*! -----------------------------------------------------------------------------**
*!
*!  This program is free software: you can redistribute it and/or modify
*!  it under the terms of the GNU General Public License as published by
*!  the Free Software Foundation, either version 3 of the License, or
*!  (at your option) any later version.
*!
*!  This program is distributed in the hope that it will be useful,
*!  but WITHOUT ANY WARRANTY; without even the implied warranty of
*!  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
*!  GNU General Public License for more details.
*!
*!  You should have received a copy of the GNU General Public License
*!  along with this program.  If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*!
*!  $Log: compass_os5000.php,v $
*!  Revision 1.1  2008/04/07 09:17:01  elphel
*!  manual interface to compass modules
*!
*!  Revision 1.1  2008/03/23 20:13:47  elphel
*!  added support for the Honeywell HMR3000 compass module attached to the serial port.
*!
*!
*/
        // command code and value come with no spaces
        // example: "http://192.168.1.75/var/compass.php?*1", * - command, 1 - value
        $ser_port="/dev/ttyUSB0";

        $xml = new SimpleXMLElement("<?xml version='1.0'?><hpr/>");
        
        $s=str_split($_SERVER["QUERY_STRING"]);

        for ($i=1; $i<sizeof($s); $i++) {
                $s1.= $s[$i];
        }
        
        exec ("stty -F $ser_port onlcr -echo speed 19200");

        $sero=fopen($ser_port,"w");
        $seri=fopen($ser_port,"r");

        $n=fwrite($sero,chr(27).$s[0]."\n");// chr(27) - ESC character, $s[0] - command,"\n" - <enter> 
        $response=fgets($seri);             // here the compass writes "enter value or esc"
        $n=fwrite($sero,"$s1\n");           // command value is written

        for ($i=0; $i<3; $i++) {
                fgets($seri);
                $response.="; ".fgets($seri);
        }

        fclose ($sero);
        fclose ($seri);

  $xml->addChild ('raw',$response);
  
  $rslt=$xml->asXML();
  header("Content-Type: text/xml");
  header("Content-Length: ".strlen($rslt)."\n");
  header("Pragma: no-cache\n");
  printf($rslt);
?>
 

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