Exemple #1
0
void t7(int pi)
{
   int c, oc, id;

   printf("Watchdog tests.\n");

   /* type of edge shouldn't matter for watchdogs */
   id = callback(pi, GPIO, FALLING_EDGE, t7cbf);

   set_watchdog(pi, GPIO, 50); /* 50 ms, 20 per second */
   time_sleep(0.5);
   oc = t7_count;
   time_sleep(2);
   c = t7_count - oc;
   CHECK(7, 1, c, 39, 5, "set watchdog on count");

   set_watchdog(pi, GPIO, 0); /* 0 switches watchdog off */
   time_sleep(0.5);
   oc = t7_count;
   time_sleep(2);
   c = t7_count - oc;
   CHECK(7, 2, c, 0, 1, "set watchdog off count");

   callback_cancel(id);
}
Exemple #2
0
void t6(int pi)
{
   int tp, t, p, id;

   printf("Trigger tests.\n");

   gpio_write(pi, GPIO, PI_LOW);

   tp = 0;

   id = callback(pi, GPIO, EITHER_EDGE, t6cbf);

   time_sleep(0.2);

   for (t=0; t<5; t++)
   {
      time_sleep(0.1);
      p = 10 + (t*10);
      tp += p;
      gpio_trigger(pi, GPIO, p, 1);
   }

   time_sleep(0.5);

   CHECK(6, 1, t6_count, 5, 0, "gpio trigger count");

   CHECK(6, 2, t6_on, tp, 25, "gpio trigger pulse length");

   callback_cancel(id);
}
Exemple #3
0
void t3(int pi)
{
   int pw[3]={500, 1500, 2500};
   int dc[4]={20, 40, 60, 80};

   int f, rr, v;
   float on, off;

   int t, id;

   printf("PWM/Servo pulse accuracy tests.\n");

   id = callback(pi, GPIO, EITHER_EDGE, t3cbf);

   for (t=0; t<3; t++)
   {
      set_servo_pulsewidth(pi, GPIO, pw[t]);
      v = get_servo_pulsewidth(pi, GPIO);
      CHECK(3, t+t+1, v, pw[t], 0, "get servo pulsewidth");

      time_sleep(1);
      t3_reset = 1;
      time_sleep(4);
      on = t3_on;
      off = t3_off;
      CHECK(3, t+t+2, (1000.0*(on+off))/on, 20000000.0/pw[t], 1,
         "set servo pulsewidth");
   }

   set_servo_pulsewidth(pi, GPIO, 0);
   set_PWM_frequency(pi, GPIO, 1000);
   f = get_PWM_frequency(pi, GPIO);
   CHECK(3, 7, f, 1000, 0, "set/get PWM frequency");

   rr = set_PWM_range(pi, GPIO, 100);
   CHECK(3, 8, rr, 200, 0, "set PWM range");

   for (t=0; t<4; t++)
   {
      set_PWM_dutycycle(pi, GPIO, dc[t]);
      v = get_PWM_dutycycle(pi, GPIO);
      CHECK(3, t+t+9, v, dc[t], 0, "get PWM dutycycle");

      time_sleep(1);
      t3_reset = 1;
      time_sleep(2);
      on = t3_on;
      off = t3_off;
      CHECK(3, t+t+10, (1000.0*on)/(on+off), 10.0*dc[t], 1,
         "set PWM dutycycle");
   }

   set_PWM_dutycycle(pi, GPIO, 0);

   callback_cancel(id);
}
Exemple #4
0
static void servoInOnExit(void)
{
	printf("Disconnecting Servos Input ...\n");

	// cancel any registered callbacks
	for(uint32_t i = 0; i < gpioInputCount; i++)
	{
		callback_cancel(inputCallbackIds[i]);
	}

	if(isDaemonStarted)
	{
		// disconnect from the daemon if still running
    	pigpio_stop();
    	isDaemonStarted = false;
    }
}
Exemple #5
0
int wait_for_edge(unsigned user_gpio, unsigned edge, double timeout)
{
   int triggered = 0;
   int id;
   double due;

   if (timeout <= 0.0) return 0;

   due = time_time() + timeout;

   id = callback_ex(user_gpio, edge, _wfe, &triggered);

   while (!triggered && (time_time() < due)) time_sleep(0.1);

   callback_cancel(id);

   return triggered;
}
Exemple #6
0
int wait_for_edge(int pi, unsigned user_gpio, unsigned edge, double timeout)
{
   int triggered = 0;
   int id;
   double due;

   if ((pi < 0) || (pi >= MAX_PI) || !gPiInUse[pi])
      return pigif_unconnected_pi;

   if (timeout <= 0.0) return 0;

   due = time_time() + timeout;

   id = callback_ex(pi, user_gpio, edge, _wfe, &triggered);

   while (!triggered && (time_time() < due)) time_sleep(0.05);

   callback_cancel(id);

   return triggered;
}
Exemple #7
0
void t2(int pi)
{
   int dc, f, r, rr, oc, id;

   printf("PWM dutycycle/range/frequency tests.\n");

   set_PWM_range(pi, GPIO, 255);
   set_PWM_frequency(pi, GPIO, 0);
   f = get_PWM_frequency(pi, GPIO);
   CHECK(2, 1, f, 10, 0, "set PWM range, set/get PWM frequency");

   id = callback(pi, GPIO, EITHER_EDGE, t2cb);

   set_PWM_dutycycle(pi, GPIO, 0);
   dc = get_PWM_dutycycle(pi, GPIO);
   CHECK(2, 2, dc, 0, 0, "get PWM dutycycle");

   time_sleep(0.5); /* allow old notifications to flush */
   oc = t2_count;
   time_sleep(2);
   f = t2_count - oc;
   CHECK(2, 3, f, 0, 0, "set PWM dutycycle, callback");

   set_PWM_dutycycle(pi, GPIO, 128);
   dc = get_PWM_dutycycle(pi, GPIO);
   CHECK(2, 4, dc, 128, 0, "get PWM dutycycle");

   time_sleep(0.2);
   oc = t2_count;
   time_sleep(2);
   f = t2_count - oc;
   CHECK(2, 5, f, 40, 5, "set PWM dutycycle, callback");

   set_PWM_frequency(pi, GPIO, 100);
   f = get_PWM_frequency(pi, GPIO);
   CHECK(2, 6, f, 100, 0, "set/get PWM frequency");

   time_sleep(0.2);
   oc = t2_count;
   time_sleep(2);
   f = t2_count - oc;
   CHECK(2, 7, f, 400, 1, "callback");

   set_PWM_frequency(pi, GPIO, 1000);
   f = get_PWM_frequency(pi, GPIO);
   CHECK(2, 8, f, 1000, 0, "set/get PWM frequency");

   time_sleep(0.2);
   oc = t2_count;
   time_sleep(2);
   f = t2_count - oc;
   CHECK(2, 9, f, 4000, 1, "callback");

   r = get_PWM_range(pi, GPIO);
   CHECK(2, 10, r, 255, 0, "get PWM range");

   rr = get_PWM_real_range(pi, GPIO);
   CHECK(2, 11, rr, 200, 0, "get PWM real range");

   set_PWM_range(pi, GPIO, 2000);
   r = get_PWM_range(pi, GPIO);
   CHECK(2, 12, r, 2000, 0, "set/get PWM range");

   rr = get_PWM_real_range(pi, GPIO);
   CHECK(2, 13, rr, 200, 0, "get PWM real range");

   set_PWM_dutycycle(pi, GPIO, 0);

   callback_cancel(id);
}
Exemple #8
0
void t9(int pi)
{
   int s, oc, c, e, id;
   uint32_t p[10];

   printf("Script store/run/status/stop/delete tests.\n");

   gpio_write(pi, GPIO, 0); /* need known state */

   /*
   100 loops per second
   p0 number of loops
   p1 GPIO
   */
   char *script="\
   ld p9 p0\
   tag 0\
   w p1 1\
   mils 5\
   w p1 0\
   mils 5\
   dcr p9\
   jp 0";

   id = callback(pi, GPIO, RISING_EDGE, t9cbf);

   s = store_script(pi, script);

   /* Wait for script to finish initing. */
   while (1)
   {
      time_sleep(0.1);
      e = script_status(pi, s, p);
      if (e != PI_SCRIPT_INITING) break;
   }

   oc = t9_count;
   p[0] = 99;
   p[1] = GPIO;
   run_script(pi, s, 2, p);
   time_sleep(2);
   c = t9_count - oc;
   CHECK(9, 1, c, 100, 0, "store/run script");

   oc = t9_count;
   p[0] = 200;
   p[1] = GPIO;
   run_script(pi, s, 2, p);
   while (1)
   {
      time_sleep(0.1);
      e = script_status(pi, s, p);
      if (e != PI_SCRIPT_RUNNING) break;
   }
   c = t9_count - oc;
   time_sleep(0.1);
   CHECK(9, 2, c, 201, 0, "run script/script status");

   oc = t9_count;
   p[0] = 2000;
   p[1] = GPIO;
   run_script(pi, s, 2, p);
   while (1)
   {
      time_sleep(0.1);
      e = script_status(pi, s, p);
      if (e != PI_SCRIPT_RUNNING) break;
      if (p[9] < 1600) stop_script(pi, s);
   }
   c = t9_count - oc;
   time_sleep(0.1);
   CHECK(9, 3, c, 410, 10, "run/stop script/script status");

   e = delete_script(pi, s);
   CHECK(9, 4, e, 0, 0, "delete script");

   callback_cancel(id);
}
Exemple #9
0
void t5(int pi)
{
   int BAUD=4800;

   char *TEXT=
"\n\
Now is the winter of our discontent\n\
Made glorious summer by this sun of York;\n\
And all the clouds that lour'd upon our house\n\
In the deep bosom of the ocean buried.\n\
Now are our brows bound with victorious wreaths;\n\
Our bruised arms hung up for monuments;\n\
Our stern alarums changed to merry meetings,\n\
Our dreadful marches to delightful measures.\n\
Grim-visaged war hath smooth'd his wrinkled front;\n\
And now, instead of mounting barded steeds\n\
To fright the souls of fearful adversaries,\n\
He capers nimbly in a lady's chamber\n\
To the lascivious pleasing of a lute.\n\
";

   gpioPulse_t wf[] =
   {
      {1<<GPIO, 0,  10000},
      {0, 1<<GPIO,  30000},
      {1<<GPIO, 0,  60000},
      {0, 1<<GPIO, 100000},
   };

   int e, oc, c, wid, id;

   char text[2048];

   printf("Waveforms & serial read/write tests.\n");

   id = callback(pi, GPIO, FALLING_EDGE, t5cbf);

   set_mode(pi, GPIO, PI_OUTPUT);

   e = wave_clear(pi);
   CHECK(5, 1, e, 0, 0, "callback, set mode, wave clear");

   e = wave_add_generic(pi, 4, wf);
   CHECK(5, 2, e, 4, 0, "pulse, wave add generic");

   wid = wave_create(pi);
   e = wave_send_repeat(pi, wid);
   CHECK(5, 3, e, 9, 0, "wave tx repeat");

   oc = t5_count;
   time_sleep(5.05);
   c = t5_count - oc;
   CHECK(5, 4, c, 50, 2, "callback");

   e = wave_tx_stop(pi);
   CHECK(5, 5, e, 0, 0, "wave tx stop");

   e = bb_serial_read_open(pi, GPIO, BAUD, 8);
   CHECK(5, 6, e, 0, 0, "serial read open");

   wave_clear(pi);
   e = wave_add_serial(pi, GPIO, BAUD, 8, 2, 5000000, strlen(TEXT), TEXT);
   CHECK(5, 7, e, 3405, 0, "wave clear, wave add serial");

   wid = wave_create(pi);
   e = wave_send_once(pi, wid);
   CHECK(5, 8, e, 6811, 0, "wave tx start");

   oc = t5_count;
   time_sleep(3);
   c = t5_count - oc;
   CHECK(5, 9, c, 0, 0, "callback");

   oc = t5_count;
   while (wave_tx_busy(pi)) time_sleep(0.1);
   time_sleep(0.1);
   c = t5_count - oc;
   CHECK(5, 10, c, 1702, 0, "wave tx busy, callback");

   c = bb_serial_read(pi, GPIO, text, sizeof(text)-1);
   if (c > 0) text[c] = 0; /* null terminate string */
   CHECK(5, 11, strcmp(TEXT, text), 0, 0, "wave tx busy, serial read");

   e = bb_serial_read_close(pi, GPIO);
   CHECK(5, 12, e, 0, 0, "serial read close");

   c = wave_get_micros(pi);
   CHECK(5, 13, c, 6158148, 0, "wave get micros");

   c = wave_get_high_micros(pi);
   if (c > 6158148) c = 6158148;
   CHECK(5, 14, c, 6158148, 0, "wave get high micros");

   c = wave_get_max_micros(pi);
   CHECK(5, 15, c, 1800000000, 0, "wave get max micros");

   c = wave_get_pulses(pi);
   CHECK(5, 16, c, 3405, 0, "wave get pulses");

   c = wave_get_high_pulses(pi);
   CHECK(5, 17, c, 3405, 0, "wave get high pulses");

   c = wave_get_max_pulses(pi);
   CHECK(5, 18, c, 12000, 0, "wave get max pulses");

   c = wave_get_cbs(pi);
   CHECK(5, 19, c, 6810, 0, "wave get cbs");

   c = wave_get_high_cbs(pi);
   CHECK(5, 20, c, 6810, 0, "wave get high cbs");

   c = wave_get_max_cbs(pi);
   CHECK(5, 21, c, 25016, 0, "wave get max cbs");

   callback_cancel(id);
}