/*

* rccar.c: lpt port control of a radio controlled car

*
* MORE INFO HERE: http://www.engr.uvic.ca/~sbowman/prog.php
*
* By: Shaun Bowman Sept. 2003, shaun_bowman@hotmail.com
*
* UPADATED: October 17 2009, many thanks to the posters at
www.linuxquestions.org who helped update the script for modern distro's
*
* Notes: This program is unlikely to be ready-2-port because of the ioctl
method
* of changing terminal settings. This program was written so i could
* control a tiny 10$ remote control car (and to procrastinate
homework).
* The lpt port pins (6,7,8,9) are used to control Forward, Reverse,
Left
* and Right in the controller. In addition to this program, I had to
build
* a simple circuit to bypass the buttons on the remote control. This
is
* because even in the low state, the Control and Ground pins still
form a
* complete circuit.
*
* Crude Diagram (1 for each button):
*
* GrndPin(18-25) PinX(5-9)
* | | T1: NPN transistor, i
used 2N222
* | |
* | L---R1--R2--R3 R1-R3: Resistors, i
didn't have
* | T1: | ones with high
enough
* |--------|\ | resistance, so i
had to use
* | | ------------------ 3. Total R ~=
100k ohm's
* | |---|/(<-collector pin)
* | |
* -ButtnLead +ButtnLead
*
* Compile with: gcc -O2 -o rccar rccar.c (must be root)
*
* Pin bits (numbered at female end)
* outb(8, x) = pin 5 UNUSED
* outb(16, x) = pin 6 Forward
* outb(32, x) = pin 7 Reverse
* outb(64, x) = pin 8 Left
* outb(128, x) = pin 9 Right
* outb(80, x) = pin 6 & 8 FORWARDLEFT
* outb(144, x) = pin 6 & 9 FORWARDRIGHT
* outb(96, x) = pin 7 & 8 REVERSELEFT
* outb(160, x) = pin 7 & 9 REVERSERIGHT
*/
#define outb(n, port) outportb(port, n)
#define inpb inportb

#include <sys/io.h>

#include <stdio.h>
#include <unistd.h>
/* #include <io.h> */
#include <string.h>
#include <libio.h>
#include <stdlib.h>

#include <sys/ioctl.h>
#include <termios.h>
#include <unistd.h>

#define LPT1PORT 0x378

/* lpt1 */

int main()
{

struct termios oldT, newT;

/* create our termios identifiers, uphere because C++ is retarted*/

void forward( char key ){

outb(16, LPT1PORT);
/* Set pin 9 to high */
usleep(10000);
/* Sleep for a while (100 ms) */
}

void reverse( char key ){

outb(32, LPT1PORT);
usleep(10000);
}

void left( char key ){

outb(64, LPT1PORT);
usleep(10000);
}

void right( char key ){

outb(128, LPT1PORT);
usleep(10000);
}

void forwardleft( char key ){

outb(80, LPT1PORT);
usleep(10000);
}

void forwardright( char key ){

outb(144, LPT1PORT);
usleep(10000);
}

void reverseleft( char key ){

 outb(96, LPT1PORT);
usleep(10000);
}

void reverseright( char key ){

outb(160, LPT1PORT);
usleep(10000);
}

void stop( char key ){

outb(0, LPT1PORT);
/* Set the data signals (D0-7) of the port to all low (0) */
usleep(10000);
}

void end () {
/* The Beggining of the end.... */
outb(0, LPT1PORT);
usleep(10000);
if (ioperm(LPT1PORT, 3, 0)) {perror("ioperm"); exit(1);}
/* We don't need the port anymore */
ioctl(0,TCSETS,&oldT);
/* Better set the terminal back to normal... :-) */
exit(0);
/* Buh bye */
}

if (ioperm(LPT1PORT, 3, 1)) {perror("ioperm"); exit(1);}

/* Get access to the ports */

ioctl(0,TCGETS,&oldT);
/* get current terminal mode */
newT=oldT;
/* copy it into our new structure */
newT.c_lflag &= ~ECHO;
/* toggle echo */
newT.c_lflag &= ~ICANON;
/* toggle no line delimination */
ioctl(0,TCSETS,"wT"); /
* initialize our new terminal mode */
char i[1];

while(1==1){

read(0,&i[0],1);
/* read one char from the buffer */
printf("\nu pressed %c\n", i[0]);
if (i[0] == '8') { forward(i[0]); }
if (i[0] == '2') { reverse(i[0]); }
if (i[0] == '4') { left(i[0]); }
if (i[0] == '6') { right(i[0]); }
if (i[0] == '7') { forwardleft(i[0]); }
if (i[0] == '9') { forwardright(i[0]); }
if (i[0] == '1') { reverseleft(i[0]); }
if (i[0] == '3') { reverseright(i[0]); }
 if (i[0] == '5') { stop(i[0]); }
if (i[0] == 'q') { end(); }

/* end of rccar.c */