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);
}
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);
}
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);
}
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;
}
}
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;
}
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;
}
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);
}
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);
}
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);
}