int main(int argc, char *argv[])
{
int i, rest, g, wave_id, mode;
gpioPulse_t pulse[2];
int count[MAX_GPIOS];
/* command line parameters */
rest = initOpts(argc, argv);
/* get the gpios to monitor */
g_num_gpios = 0;
for (i=rest; i<argc; i++)
{
g = atoi(argv[i]);
if ((g>=0) && (g<32))
{
g_gpio[g_num_gpios++] = g;
g_mask |= (1<<g);
}
else fatal(1, "%d is not a valid g_gpio number\n", g);
}
if (!g_num_gpios) fatal(1, "At least one gpio must be specified");
printf("Monitoring gpios");
for (i=0; i<g_num_gpios; i++) printf(" %d", g_gpio[i]);
printf("\nSample rate %d micros, refresh rate %d deciseconds\n",
g_opt_s, g_opt_r);
gpioCfgClock(g_opt_s, 1, 1);
if (gpioInitialise()<0) return 1;
gpioWaveClear();
pulse[0].gpioOn = g_mask;
pulse[0].gpioOff = 0;
pulse[0].usDelay = g_opt_p;
pulse[1].gpioOn = 0;
pulse[1].gpioOff = g_mask;
pulse[1].usDelay = g_opt_p;
gpioWaveAddGeneric(2, pulse);
wave_id = gpioWaveCreate();
/* monitor g_gpio level changes */
gpioSetGetSamplesFunc(samples, g_mask);
mode = PI_INPUT;
if (g_opt_t)
{
gpioWaveTxSend(wave_id, PI_WAVE_MODE_REPEAT);
mode = PI_OUTPUT;
}
for (i=0; i<g_num_gpios; i++) gpioSetMode(g_gpio[i], mode);
while (1)
{
for (i=0; i<g_num_gpios; i++) count[i] = g_pulse_count[i];
g_reset_counts = 1;
for (i=0; i<g_num_gpios; i++)
{
printf(" %d=%d", g_gpio[i], count[i]);
}
printf("\n");
gpioDelay(g_opt_r * 100000);
}
gpioTerminate();
}
int main(int argc, char **argv)
{
pid_t pid;
int flags;
/* check command line parameters */
initOpts(argc, argv);
if (!foreground) {
/* Fork off the parent process */
pid = fork();
if (pid < 0) { exit(EXIT_FAILURE); }
/* If we got a good PID, then we can exit the parent process. */
if (pid > 0) { exit(EXIT_SUCCESS); }
/* Change the file mode mask */
umask(0);
/* Open any logs here */
/* NONE */
/* Create a new SID for the child process */
if (setsid() < 0) fatal("setsid failed (%m)");
/* Change the current working directory */
if ((chdir("/")) < 0) fatal("chdir failed (%m)");
/* Close out the standard file descriptors */
fclose(stdin);
fclose(stdout);
}
/* configure library */
gpioCfgBufferSize(bufferSizeMilliseconds);
gpioCfgClock(clockMicros, clockPeripheral, 0);
gpioCfgInterfaces(ifFlags);
gpioCfgDMAchannels(DMAprimaryChannel, DMAsecondaryChannel);
gpioCfgSocketPort(socketPort);
gpioCfgMemAlloc(memAllocMode);
if (updateMaskSet) gpioCfgPermissions(updateMask);
gpioCfgNetAddr(numSockNetAddr, sockNetAddr);
gpioCfgSetInternals(cfgInternals);
/* start library */
if (gpioInitialise()< 0) fatal("Can't initialise pigpio library");
/* create pipe for error reporting */
unlink(PI_ERRFIFO);
mkfifo(PI_ERRFIFO, 0664);
if (chmod(PI_ERRFIFO, 0664) < 0)
fatal("chmod %s failed (%m)", PI_ERRFIFO);
errFifo = freopen(PI_ERRFIFO, "w+", stderr);
if (errFifo)
{
/* set stderr non-blocking */
flags = fcntl(fileno(errFifo), F_GETFL, 0);
fcntl(fileno(errFifo), F_SETFL, flags | O_NONBLOCK);
/* request SIGHUP/SIGTERM from libarary for termination */
gpioSetSignalFunc(SIGHUP, terminate);
gpioSetSignalFunc(SIGTERM, terminate);
/* sleep forever */
while (1)
{
/* cat /dev/pigerr to view daemon errors */
sleep(5);
fflush(errFifo);
}
}
else
{
fprintf(stderr, "freopen failed (%m)");
gpioTerminate();
}
return 0;
}
int main(int argc, char *argv[])
{
char str[256];
if (argc > 1) micros = atoi(argv[1]);
if (argc > 2) millis = atoi(argv[2]);
putTTY("\033c"); /* clear console */
gpioCfgBufferSize(millis);
gpioCfgClock(micros, PI_CLOCK_PCM, PI_CLOCK_PLLD);
/* before using the library you must call gpioInitialise */
version = gpioInitialise();
if (version >= 0)
{
/* initialise pins, only gpio numbers are supported */
gpioSetMode(SERVO1, PI_OUTPUT);
gpioSetMode(SERVO2, PI_OUTPUT);
gpioSetMode(SERVO3, PI_OUTPUT);
gpioSetMode(LASER, PI_OUTPUT);
gpioSetMode(LED1, PI_OUTPUT);
gpioSetMode(LED2, PI_OUTPUT);
gpioSetMode(LED3, PI_OUTPUT);
gpioSetMode(MOTOR_A_IN1, PI_OUTPUT);
gpioSetMode(MOTOR_A_IN2, PI_OUTPUT);
gpioSetMode(MOTOR_B_IN1, PI_OUTPUT);
gpioSetMode(MOTOR_B_IN2, PI_OUTPUT);
gpioSetMode(SONAR_TRIGGER, PI_OUTPUT);
gpioWrite (SONAR_TRIGGER, PI_OFF);
gpioSetMode(SONAR_ECHO, PI_INPUT);
gpioSetMode(LAUNCHPAD, PI_INPUT);
gpioSetMode(LDR, PI_INPUT);
/* update i2c fifty times a second, timer #0 */
gpioSetTimerFunc(0, 20, i2cTick);
//gpioSetTimerFunc(0, 1000, servoTick);
/* update LEDs and laser once a second, timer #1 */
gpioSetTimerFunc(1, 1000, LEDlaserTick);
/* update motors every three seconds, timer #2 */
gpioSetTimerFunc(2, 3000, motorTick);
/* update sonar/LDR 10 times a second, timer #3 */
gpioSetTimerFunc(3, 100, sonarLDRtick);
/* an attachecd TI launchpad is transmitting high pulses of
15, 35, 55, 75, ..., 975, 995 microseconds repeating with 50
microseconds off between each pulse */
gpioSetAlertFunc(LAUNCHPAD, launchpadAlert);
/* monitor sonar echos */
gpioSetAlertFunc(SONAR_ECHO, sonarAlert);
/* monitor LDR level changes */
gpioSetAlertFunc(LDR, LDRalert);
while (1)
{
sleep(1);
sprintf(str, "TI pulses %8ld", launchpadPulses);
putTTYstr(9, 1, str);
sprintf(str, "+/-5 %8ld", launchpad5);
putTTYstr(10, 6, str);
sprintf(str, "+/-10 %8ld", launchpad10);
putTTYstr(11, 5, str);
sprintf(str, "+/-15 %8ld", launchpad15);
putTTYstr(12, 5, str);
sprintf(str, "Others %8ld (last %d) ",
launchpadOutRange, launchpadErr);
putTTYstr(13, 4, str);
}
}
gpioTerminate();
return 0;
}
