From 9e72562f27d7697831ff90c947f966289eceb202 Mon Sep 17 00:00:00 2001 From: Ksenia Balistreri Date: Wed, 8 Apr 2015 19:20:07 +0200 Subject: [PATCH] add EMBEDDED_IN_VM compilation flag to remove debugging and signal handling --- Makefile | 5 +- pigpio.c | 206 ++++++++++++++++++++++++++----------------------------- 2 files changed, 99 insertions(+), 112 deletions(-) diff --git a/Makefile b/Makefile index f7206a7..08856bd 100644 --- a/Makefile +++ b/Makefile @@ -4,7 +4,7 @@ AR = ar RANLIB = ranlib SIZE = size -CFLAGS = -O3 -Wall +CFLAGS += -O3 -Wall LIB1 = libpigpio.a OBJ1 = pigpio.o command.o @@ -40,7 +40,7 @@ pig2vcd: pig2vcd.o clean: rm -f *.o *.i *.s *~ $(ALL) -install: $(LIB) +install: $(LIB) sudo install -m 0755 -d /opt/pigpio/cgi sudo install -m 0755 -d /usr/local/include sudo install -m 0644 pigpio.h /usr/local/include @@ -89,4 +89,3 @@ pigpiod_if.o: pigpiod_if.c pigpio.h command.h pigpiod_if.h pigs.o: pigs.c pigpio.h command.h x_pigpio.o: x_pigpio.c pigpio.h x_pigpiod_if.o: x_pigpiod_if.c pigpiod_if.h pigpio.h - diff --git a/pigpio.c b/pigpio.c index 29bf97a..920cb2f 100644 --- a/pigpio.c +++ b/pigpio.c @@ -46,7 +46,7 @@ For more information, please refer to #include #include #include -#include +#include #include #include #include @@ -117,7 +117,7 @@ For more information, please refer to 5 TXFR_LEN DMA Channel 0 CB Word 3 (Transfer Length) 6 STRIDE DMA Channel 0 CB Word 4 (2D Stride) 7 NEXTCPI_ONBK DMA Channel 0 CB Word 5 (Next CB Address) -8 DEBUG DMA Channel 0 Debug +8 DEBUG DMA Channel 0 Debug */ /* @@ -127,24 +127,24 @@ bit 2 READ_ERROR Slave Read Response Error RW 0x0 - Set if the read operation returned an error value on - the read response bus. It can be cleared by writing + Set if the read operation returned an error value on + the read response bus. It can be cleared by writing a 1. bit 1 FIFO_ERROR Fifo Error RW 0x0 - Set if the optional read Fifo records an error + Set if the optional read Fifo records an error condition. It can be cleared by writing a 1. bit 0 READ_LAST_NOT_SET_ERROR Read Last Not Set Error RW 0x0 - If the AXI read last signal was not set when - expected, then this error bit will be set. It can be - cleared by writing a 1. + If the AXI read last signal was not set when + expected, then this error bit will be set. It can be + cleared by writing a 1. */ /* @@ -190,77 +190,65 @@ bit 0 READ_LAST_NOT_SET_ERROR #define BIT (1<<(gpio&0x1F)) -#define CHECK_INITED \ - do \ - { \ - if (!libInitialised) \ - { \ - fprintf(stderr, \ - "%s %s: pigpio uninitialised, call gpioInitialise()\n",\ - myTimeStamp(), __FUNCTION__); \ - return PI_NOT_INITIALISED; \ - } \ - } \ - while (0) +#ifndef EMBEDDED_IN_VM +#define DBG(level, format, arg...) DO_DBG(level, format, ## arg) +#else +#define DBG(level, format, arg...) +#endif -#define CHECK_INITED_RET_NULL_PTR \ - do \ - { \ - if (!libInitialised) \ - { \ - fprintf(stderr, \ - "%s %s: pigpio uninitialised, call gpioInitialise()\n",\ - myTimeStamp(), __FUNCTION__); \ - return (NULL); \ - } \ - } \ - while (0) - -#define CHECK_INITED_RET_NIL \ - do \ - { \ - if (!libInitialised) \ - { \ - fprintf(stderr, \ - "%s %s: pigpio uninitialised, call gpioInitialise()\n",\ - myTimeStamp(), __FUNCTION__); \ - } \ - } \ - while (0) - -#define CHECK_NOT_INITED \ - do \ - { \ - if (libInitialised) \ - { \ - fprintf(stderr, \ - "%s %s: pigpio initialised, call gpioTerminate()\n", \ - myTimeStamp(), __FUNCTION__); \ - return PI_INITIALISED; \ - } \ - } \ - while (0) - -#define DBG(level, format, arg...) \ - do \ +#define DO_DBG(level, format, arg...) \ { \ if (gpioCfg.dbgLevel >= level) \ fprintf(stderr, "%s %s: " format "\n" , \ myTimeStamp(), __FUNCTION__ , ## arg); \ + } + +#define CHECK_INITED \ + { \ + if (!libInitialised) \ + { \ + DBG(DBG_ALWAYS, \ + "pigpio uninitialised, call gpioInitialise()"); \ + return PI_NOT_INITIALISED; \ + } \ + } \ + +#define CHECK_INITED_RET_NULL_PTR \ + { \ + if (!libInitialised) \ + { \ + DBG(DBG_ALWAYS, \ + "pigpio uninitialised, call gpioInitialise()"); \ + return (NULL); \ + } \ + } \ + +#define CHECK_INITED_RET_NIL \ + { \ + if (!libInitialised) \ + { \ + DBG(DBG_ALWAYS, \ + "pigpio uninitialised, call gpioInitialise()"); \ + } \ + } \ + +#define CHECK_NOT_INITED \ + { \ + if (libInitialised) \ + { \ + DBG(DBG_ALWAYS, \ + "pigpio initialised, call gpioTerminate()"); \ + return PI_INITIALISED; \ + } \ } \ - while (0) #define SOFT_ERROR(x, format, arg...) \ - do \ { \ - fprintf(stderr, "%s %s: " format "\n", \ - myTimeStamp(), __FUNCTION__ , ## arg); \ + DBG(DBG_ALWAYS, format, ## arg); \ return x; \ } \ - while (0) #define TIMER_ADD(a, b, result) \ - do \ { \ (result)->tv_sec = (a)->tv_sec + (b)->tv_sec; \ (result)->tv_nsec = (a)->tv_nsec + (b)->tv_nsec; \ @@ -270,10 +258,8 @@ bit 0 READ_LAST_NOT_SET_ERROR (result)->tv_nsec -= BILLION; \ } \ } \ - while (0) #define TIMER_SUB(a, b, result) \ - do \ { \ (result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \ (result)->tv_nsec = (a)->tv_nsec - (b)->tv_nsec; \ @@ -283,7 +269,6 @@ bit 0 READ_LAST_NOT_SET_ERROR (result)->tv_nsec += BILLION; \ } \ } \ - while (0) #define PI_PERI_BUS 0x7E000000 @@ -1251,11 +1236,11 @@ static const clkCfg_t clkCfg[]= static const uint16_t pwmCycles[PWM_FREQS]= { 1, 2, 4, 5, 8, 10, 16, 20, 25, 32, 40, 50, 80, 100, 160, 200, 400, 800}; - + static const uint16_t pwmRealRange[PWM_FREQS]= { 25, 50, 100, 125, 200, 250, 400, 500, 625, 800, 1000, 1250, 2000, 2500, 4000, 5000, 10000, 20000}; - + /* prototype ----------------------------------------------------- */ static void intNotifyBits(void); @@ -1501,7 +1486,7 @@ static int myDoCommand(uint32_t *p, unsigned bufSize, char *buf) if ((mask | p[1]) != mask) { - DBG(DBG_USER, + DBG(DBG_USER, "gpioWrite_Bits_0_31_Clear: bad bits %08X (permissions %08X)", p[1], mask); res = PI_SOME_PERMITTED; @@ -1515,7 +1500,7 @@ static int myDoCommand(uint32_t *p, unsigned bufSize, char *buf) if ((mask | p[1]) != mask) { - DBG(DBG_USER, + DBG(DBG_USER, "gpioWrite_Bits_32_53_Clear: bad bits %08X (permissions %08X)", p[1], mask); res = PI_SOME_PERMITTED; @@ -1533,7 +1518,7 @@ static int myDoCommand(uint32_t *p, unsigned bufSize, char *buf) if ((mask | p[1]) != mask) { - DBG(DBG_USER, + DBG(DBG_USER, "gpioWrite_Bits_0_31_Set: bad bits %08X (permissions %08X)", p[1], mask); res = PI_SOME_PERMITTED; @@ -1547,7 +1532,7 @@ static int myDoCommand(uint32_t *p, unsigned bufSize, char *buf) if ((mask | p[1]) != mask) { - DBG(DBG_USER, + DBG(DBG_USER, "gpioWrite_Bits_32_53_Set: bad bits %08X (permissions %08X)", p[1], mask); res = PI_SOME_PERMITTED; @@ -1702,7 +1687,7 @@ static int myDoCommand(uint32_t *p, unsigned bufSize, char *buf) if (myPermit(p[1])) res = gpioSetPWMfrequency(p[1], p[2]); else { - DBG(DBG_USER, + DBG(DBG_USER, "gpioSetPWMfrequency: gpio %d, no permission to update", p[1]); res = PI_NOT_PERMITTED; } @@ -1734,7 +1719,7 @@ static int myDoCommand(uint32_t *p, unsigned bufSize, char *buf) if (myPermit(p[1])) res = gpioSetPWMrange(p[1], p[2]); else { - DBG(DBG_USER, + DBG(DBG_USER, "gpioSetPWMrange: gpio %d, no permission to update", p[1]); res = PI_NOT_PERMITTED; } @@ -1744,7 +1729,7 @@ static int myDoCommand(uint32_t *p, unsigned bufSize, char *buf) if (myPermit(p[1])) res = gpioSetPullUpDown(p[1], p[2]); else { - DBG(DBG_USER, + DBG(DBG_USER, "gpioSetPullUpDown: gpio %d, no permission to update", p[1]); res = PI_NOT_PERMITTED; } @@ -2728,7 +2713,7 @@ int rawWaveAddGeneric(unsigned numIn1, rawWave_t *in1) out = wf[1-wfcur]; tNow = 0; - + if (!numIn1) tNext1 = -1; else tNext1 = 0; if (!numIn2) tNext2 = -1; else tNext2 = 0; @@ -3228,7 +3213,7 @@ int i2cReadI2CBlockData( if (my_smbus_access( i2cInfo[handle].fd, PI_I2C_SMBUS_READ, reg, size, &data)) return PI_I2C_READ_FAILED; - else + else { if (data.block[0] <= PI_I2C_SMBUS_I2C_BLOCK_MAX) { @@ -3497,9 +3482,9 @@ static void spiACS(int channel, int on) switch (channel) { - case 0: gpio = PI_ASPI_CE0; break; - case 1: gpio = PI_ASPI_CE1; break; - default: gpio = PI_ASPI_CE2; break; + case 0: gpio = PI_ASPI_CE0; break; + case 1: gpio = PI_ASPI_CE1; break; + default: gpio = PI_ASPI_CE2; break; } myGpioWrite(gpio, on); } @@ -4474,7 +4459,7 @@ static uint32_t dmaCbAdr(int pos) /* ----------------------------------------------------------------------- */ static void dmaGpioOnCb(int b, int pos) -{ +{ rawCbs_t * p; p = dmaCB2adr(b); @@ -4489,7 +4474,7 @@ static void dmaGpioOnCb(int b, int pos) /* ----------------------------------------------------------------------- */ static void dmaTickCb(int b, int pos) -{ +{ rawCbs_t * p; p = dmaCB2adr(b); @@ -4779,7 +4764,7 @@ static void * pthAlertThread(void *x) numSamples++; } - + tick += gpioCfg.clockMicros; if (++pulse >= PULSE_PER_CYCLE) @@ -4791,7 +4776,7 @@ static void * pthAlertThread(void *x) cycle = 0; oldSlot = 0; } - + expected = tick; tick = myGetTick(cycle); @@ -5114,7 +5099,7 @@ static void * pthAlertThread(void *x) if (numSamples > gpioStats.maxSamples) gpioStats.maxSamples = numSamples; - + gpioStats.numSamples += numSamples; } @@ -5714,7 +5699,7 @@ static void * pthSocketThread(void *x) int fdC, c, *sock; struct sockaddr_in client; pthread_attr_t attr; - + if (pthread_attr_init(&attr)) SOFT_ERROR((void*)PI_INIT_FAILED, "pthread_attr_init failed (%m)"); @@ -5731,7 +5716,7 @@ static void * pthSocketThread(void *x) failure to bind as fatal. */ listen(fdSock, 100); - + c = sizeof(struct sockaddr_in); /* don't start until DMA started */ @@ -5746,13 +5731,13 @@ static void * pthSocketThread(void *x) sock = malloc(sizeof(int)); *sock = fdC; - + if (pthread_create (&thr, &attr, pthSocketThreadHandler, (void*) sock) < 0) SOFT_ERROR((void*)PI_INIT_FAILED, "socket pthread_create failed (%m)"); } - + if (fdC < 0) SOFT_ERROR((void*)PI_INIT_FAILED, "accept failed (%m)"); @@ -5770,15 +5755,15 @@ static int initGrabLockFile(void) /* try to grab the lock file */ fd = open(PI_LOCKFILE, O_WRONLY|O_CREAT|O_EXCL|O_TRUNC, 0644); - + if (fd != -1) { lockResult = flock(fd, LOCK_EX|LOCK_NB); - + if(lockResult == 0) { sprintf(pidStr, "%d\n", (int)getpid()); - + write(fd, pidStr, strlen(pidStr)); } else @@ -5809,13 +5794,13 @@ static int initCheckPermitted(void) if ((fdMem = open("/dev/mem", O_RDWR | O_SYNC) ) < 0) { - fprintf(stderr, + DBG(DBG_STARTUP, "\n" \ "+---------------------------------------------------------+\n" \ "|Sorry, you don't have permission to run this program. |\n" \ "|Try running as root, e.g. precede the command with sudo. |\n" \ "+---------------------------------------------------------+\n\n"); - exit(-1); + return -1; } return 0; } @@ -6168,7 +6153,7 @@ static int initAllocDMAMem(void) DBG(DBG_STARTUP, "gpioReg=%08X pwmReg=%08X pcmReg=%08X clkReg=%08X auxReg=%08X", (uint32_t)gpioReg, (uint32_t)pwmReg, - (uint32_t)pcmReg, (uint32_t)clkReg, (uint32_t)auxReg); + (uint32_t)pcmReg, (uint32_t)clkReg, (uint32_t)auxReg); for (i=0; iperiphData = 1; - + /* enable PWM DMA, raise panic and dreq thresholds to 15 */ pwmReg[PWM_DMAC] = PWM_DMAC_ENAB | @@ -6247,7 +6232,7 @@ static void initPCM(unsigned bits) pcmReg[PCM_GRAY] = 0; myGpioDelay(1000); - + pcmReg[PCM_MODE] = PCM_MODE_FLEN(bits-1); /* # bits in frame */ /* enable channel 1 with # bits width */ @@ -6685,7 +6670,9 @@ int initInitialise(void) gpioMaskSet = 1; } +#ifndef EMBEDDED_IN_VM sigSetHandler(); +#endif if (initPeripherals() < 0) return PI_INIT_FAILED; @@ -6734,7 +6721,7 @@ int initInitialise(void) if (fdSock == -1) SOFT_ERROR(PI_INIT_FAILED, "socket failed (%m)"); - + portStr = getenv(PI_ENVPORT); if (portStr) port = atoi(portStr); else port = gpioCfg.socketPort; @@ -6742,7 +6729,7 @@ int initInitialise(void) server.sin_family = AF_INET; server.sin_addr.s_addr = INADDR_ANY; server.sin_port = htons(port); - + if (bind(fdSock,(struct sockaddr *)&server , sizeof(server)) < 0) SOFT_ERROR(PI_INIT_FAILED, "bind to port %d failed (%m)", port); @@ -7003,6 +6990,7 @@ void gpioTerminate(void) dmaIn[DMA_CS] = DMA_CHANNEL_RESET; dmaOut[DMA_CS] = DMA_CHANNEL_RESET; +#ifndef EMBEDDED_IN_VM if (gpioCfg.showStats) { fprintf(stderr, @@ -7033,6 +7021,7 @@ void gpioTerminate(void) fprintf(stderr, "#####################################################\n"); } +#endif } initReleaseResources(); @@ -7166,7 +7155,7 @@ int gpioSetPullUpDown(unsigned gpio, unsigned pud) *(gpioReg + GPPUDCLK0 + BANK) = BIT; myGpioDelay(20); - + *(gpioReg + GPPUD) = 0; *(gpioReg + GPPUDCLK0 + BANK) = 0; @@ -7239,7 +7228,7 @@ int gpioPWM(unsigned gpio, unsigned val) if (gpio > PI_MAX_USER_GPIO) SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); - if (val > gpioInfo[gpio].range) + if (val > gpioInfo[gpio].range) SOFT_ERROR(PI_BAD_DUTYCYCLE, "gpio %d, bad dutycycle (%d)", gpio, val); if (gpioInfo[gpio].is != GPIO_PWM) @@ -7656,7 +7645,7 @@ int gpioWaveAddSerial for (i=0; i