Linux driver for tagtagtag ears
Creates /dev/ear0 (left) and /dev/ear1 (right) to drive tagtagtag ears.
make
sudo make install
This adds:
dtoverlay=tagtagtag-ears
to /boot/config.txt
reboot
A single process can open /dev/ear0 (resp. /dev/ear1). Any further access will fail with EBUSY.
The following commands are accepted:
'.'NOP'+' <count>Move ear steps forwards (count from 0 to 255)
Example:
echo -n -e '+\x03' > /dev/ear0
will move the ear 3 steps forward
'-' <count>Move ear steps backwards (count from 0 to 255)
Example:
echo -n -e '-\x03' > /dev/ear0
will move the ear 3 steps backward
'>' <position>Move ear forward until % 17 is reached. If position > 17, perform additional turns. If position is unknown, perform a detection running forward.
Example:
echo -n -e '>\x03' > /dev/ear0
will move the ear forward to position "3" (3 steps after missing hole).
'<' <position>Move ear backward until % 17 is reached. If position > 17, perform additional turns. If position is unknown, perform a detection running backward.
Example:
echo -n -e '<\x03' > /dev/ear0
will move the ear forward to position "3" (3 steps after missing hole).
'?'Get position or -1 if unknown (to be read from device)
Example:
echo -n -e '>\x03?' > /dev/ear0 && dd if=/dev/ear0 of=/dev/stdout count=1 bs=1
will output '\x03' after ear has been moved to position 3.
'!'Get position, running a position detection if required.
Detecting user moves is achieved by reading /dev/ear*. Read blocks until ear is moved (it will then return 'm') or a get position command is invoked.
Once a 'm' is read, it will block until an additional movement occurs. Any command clears the buffer.
Writing will block if the ear is not idle. Most command will set the ear in a non-idle state, thus '.' can be used to block until the command ends. Compare:
echo -n -e '+\x0A' > /dev/ear0
with:
echo -n -e '+\x0A.' > /dev/ear0
The first line returns immediatly. The second line blocks until the ear moved the requested steps.
Ears are tested on start-up (ears perform a full turn which is also used to determine ear position). If, at any time, no rising GPIO interrupt is received within 3 seconds, the ear is considered broken. Any further write will fail. Reading will return EOF.