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pigpio/x_pigpio.c

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/*
gcc -o x_pigpio x_pigpio.c -lpigpio -lrt -lpthread
sudo ./x_pigpio
*/
#include <stdio.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <string.h>
#include "pigpio.h"
#define USERDATA 18249013
#define GPIO 4
void CHECK(int t, int st, int got, int expect, int pc, char *desc)
{
if ((got >= (((1E2-pc)*expect)/1E2)) && (got <= (((1E2+pc)*expect)/1E2)))
{
printf("TEST %2d.%-2d PASS (%s: %d)\n", t, st, desc, expect);
}
else
{
fprintf(stderr,
"TEST %2d.%-2d FAILED got %d (%s: %d)\n",
t, st, got, desc, expect);
}
}
void t0()
{
printf("Version.\n");
printf("pigpio version %d.\n", gpioVersion());
printf("Hardware revision %d.\n", gpioHardwareRevision());
}
void t1()
{
int v;
printf("Mode/PUD/read/write tests.\n");
gpioSetMode(GPIO, PI_INPUT);
v = gpioGetMode(GPIO);
CHECK(1, 1, v, 0, 0, "set mode, get mode");
gpioSetPullUpDown(GPIO, PI_PUD_UP);
v = gpioRead(GPIO);
CHECK(1, 2, v, 1, 0, "set pull up down, read");
gpioSetPullUpDown(GPIO, PI_PUD_DOWN);
v = gpioRead(GPIO);
CHECK(1, 3, v, 0, 0, "set pull up down, read");
gpioWrite(GPIO, PI_LOW);
v = gpioGetMode(GPIO);
CHECK(1, 4, v, 1, 0, "write, get mode");
v = gpioRead(GPIO);
CHECK(1, 5, v, 0, 0, "read");
gpioWrite(GPIO, PI_HIGH);
v = gpioRead(GPIO);
CHECK(1, 6, v, 1, 0, "write, read");
}
int t2_count=0;
void t2cb(int gpio, int level, uint32_t tick)
{
t2_count++;
}
void t2()
{
int f, r, rr, oc;
printf("PWM dutycycle/range/frequency tests.\n");
gpioSetPWMrange(GPIO, 255);
gpioSetPWMfrequency(GPIO, 0);
f = gpioGetPWMfrequency(GPIO);
CHECK(2, 1, f, 10, 0, "set PWM range, set/get PWM frequency");
gpioSetAlertFunc(GPIO, t2cb);
gpioPWM(GPIO, 0);
time_sleep(0.5); /* allow old notifications to flush */
oc = t2_count;
time_sleep(2);
f = t2_count - oc;
CHECK(2, 2, f, 0, 0, "set PWM dutycycle, callback");
gpioPWM(GPIO, 128);
oc = t2_count;
time_sleep(2);
f = t2_count - oc;
CHECK(2, 3, f, 40, 5, "set PWM dutycycle, callback");
gpioSetPWMfrequency(GPIO, 100);
f = gpioGetPWMfrequency(GPIO);
CHECK(2, 4, f, 100, 0, "set/get PWM frequency");
oc = t2_count;
time_sleep(2);
f = t2_count - oc;
CHECK(2, 5, f, 400, 1, "callback");
gpioSetPWMfrequency(GPIO, 1000);
f = gpioGetPWMfrequency(GPIO);
CHECK(2, 6, f, 1000, 0, "set/get PWM frequency");
oc = t2_count;
time_sleep(2);
f = t2_count - oc;
CHECK(2, 7, f, 4000, 1, "callback");
r = gpioGetPWMrange(GPIO);
CHECK(2, 8, r, 255, 0, "get PWM range");
rr = gpioGetPWMrealRange(GPIO);
CHECK(2, 9, rr, 200, 0, "get PWM real range");
gpioSetPWMrange(GPIO, 2000);
r = gpioGetPWMrange(GPIO);
CHECK(2, 10, r, 2000, 0, "set/get PWM range");
rr = gpioGetPWMrealRange(GPIO);
CHECK(2, 11, rr, 200, 0, "get PWM real range");
gpioPWM(GPIO, 0);
}
int t3_val = USERDATA;
int t3_reset=1;
int t3_count=0;
uint32_t t3_tick=0;
float t3_on=0.0;
float t3_off=0.0;
void t3cbf(int gpio, int level, uint32_t tick, void *userdata)
{
static int unreported = 1;
uint32_t td;
int *val;
val = userdata;
if (*val != USERDATA)
{
if (unreported)
{
fprintf
(
stderr,
"unexpected userdata %d (expected %d)\n",
*val, USERDATA
);
}
unreported = 0;
}
if (t3_reset)
{
t3_count = 0;
t3_on = 0.0;
t3_off = 0.0;
t3_reset = 0;
}
else
{
td = tick - t3_tick;
if (level == 0) t3_on += td;
else t3_off += td;
}
t3_count ++;
t3_tick = tick;
}
void t3()
{
int f, rr;
float on, off;
int t;
int pw[3]={500, 1500, 2500};
int dc[4]={20, 40, 60, 80};
printf("PWM/Servo pulse accuracy tests.\n");
gpioSetAlertFuncEx(GPIO, t3cbf, &t3_val); /* test extended alert */
for (t=0; t<3; t++)
{
gpioServo(GPIO, pw[t]);
time_sleep(1);
t3_reset = 1;
time_sleep(4);
on = t3_on;
off = t3_off;
CHECK(3, 1+t, (1E3*(on+off))/on, 2E7/pw[t], 1,
"set servo pulsewidth");
}
gpioServo(GPIO, 0);
gpioSetPWMfrequency(GPIO, 1000);
f = gpioGetPWMfrequency(GPIO);
CHECK(3, 4, f, 1000, 0, "set/get PWM frequency");
rr = gpioSetPWMrange(GPIO, 100);
CHECK(3, 5, rr, 200, 0, "set PWM range");
for (t=0; t<4; t++)
{
gpioPWM(GPIO, dc[t]);
time_sleep(1);
t3_reset = 1;
time_sleep(2);
on = t3_on;
off = t3_off;
CHECK(3, 6+t, (1E3*on)/(on+off), 1E1*dc[t], 1,
"set PWM dutycycle");
}
gpioPWM(GPIO, 0);
}
void t4()
{
int h, e, f, n, s, b, l, seq_ok, toggle_ok;
gpioReport_t r;
char p[32];
printf("Pipe notification tests.\n");
gpioSetPWMfrequency(GPIO, 0);
gpioPWM(GPIO, 0);
gpioSetPWMrange(GPIO, 100);
h = gpioNotifyOpen();
e = gpioNotifyBegin(h, (1<<4));
CHECK(4, 1, e, 0, 0, "notify open/begin");
time_sleep(1);
sprintf(p, "/dev/pigpio%d", h);
f = open(p, O_RDONLY);
gpioPWM(GPIO, 50);
time_sleep(4);
gpioPWM(GPIO, 0);
e = gpioNotifyPause(h);
CHECK(4, 2, e, 0, 0, "notify pause");
e = gpioNotifyClose(h);
CHECK(4, 3, e, 0, 0, "notify close");
n = 0;
s = 0;
l = 0;
seq_ok = 1;
toggle_ok = 1;
while (1)
{
b = read(f, &r, 12);
if (b == 12)
{
if (s != r.seqno) seq_ok = 0;
if (n) if (l != (r.level&(1<<4))) toggle_ok = 0;
if (r.level&(1<<4)) l = 0;
else l = (1<<4);
s++;
n++;
// printf("%d %d %d %X\n", r.seqno, r.flags, r.tick, r.level);
}
else break;
}
close(f);
CHECK(4, 4, seq_ok, 1, 0, "sequence numbers ok");
CHECK(4, 5, toggle_ok, 1, 0, "gpio toggled ok");
CHECK(4, 6, n, 80, 10, "number of notifications");
}
int t5_count = 0;
void t5cbf(int gpio, int level, uint32_t tick)
{
if (level == 0) t5_count++; /* falling edges */
}
void t5()
{
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;
char text[2048];
printf("Waveforms & serial read/write tests.\n");
gpioSetAlertFunc(GPIO, t5cbf);
gpioSetMode(GPIO, PI_OUTPUT);
e = gpioWaveClear();
CHECK(5, 1, e, 0, 0, "callback, set mode, wave clear");
e = gpioWaveAddGeneric(4, wf);
CHECK(5, 2, e, 4, 0, "pulse, wave add generic");
e = gpioWaveTxStart(PI_WAVE_MODE_REPEAT);
CHECK(5, 3, e, 9, 0, "wave tx repeat");
oc = t5_count;
time_sleep(5);
c = t5_count - oc;
CHECK(5, 4, c, 50, 1, "callback");
e = gpioWaveTxStop();
CHECK(5, 5, e, 0, 0, "wave tx stop");
/* gpioSerialReadOpen changes the alert function */
e = gpioSerialReadOpen(GPIO, BAUD);
CHECK(5, 6, e, 0, 0, "serial read open");
gpioWaveClear();
e = gpioWaveAddSerial(GPIO, BAUD, 5000000, strlen(TEXT), TEXT);
CHECK(5, 7, e, 3405, 0, "wave clear, wave add serial");
e = gpioWaveTxStart(PI_WAVE_MODE_ONE_SHOT);
CHECK(5, 8, e, 6811, 0, "wave tx start");
CHECK(5, 9, 0, 0, 0, "NOT APPLICABLE");
CHECK(5, 10, 0, 0, 0, "NOT APPLICABLE");
while (gpioWaveTxBusy()) time_sleep(0.1);
time_sleep(0.1);
c = gpioSerialRead(GPIO, text, sizeof(text)-1);
if (c > 0) text[c] = 0;
CHECK(5, 11, strcmp(TEXT, text), 0, 0, "wave tx busy, serial read");
e = gpioSerialReadClose(GPIO);
CHECK(5, 12, e, 0, 0, "serial read close");
c = gpioWaveGetMicros();
CHECK(5, 13, c, 6158704, 0, "wave get micros");
c = gpioWaveGetHighMicros();
CHECK(5, 14, c, 6158704, 0, "wave get high micros");
c = gpioWaveGetMaxMicros();
CHECK(5, 15, c, 1800000000, 0, "wave get max micros");
c = gpioWaveGetPulses();
CHECK(5, 16, c, 3405, 0, "wave get pulses");
c = gpioWaveGetHighPulses();
CHECK(5, 17, c, 3405, 0, "wave get high pulses");
c = gpioWaveGetMaxPulses();
CHECK(5, 18, c, 12000, 0, "wave get max pulses");
c = gpioWaveGetCbs();
CHECK(5, 19, c, 6810, 0, "wave get cbs");
c = gpioWaveGetHighCbs();
CHECK(5, 20, c, 6810, 0, "wave get high cbs");
c = gpioWaveGetMaxCbs();
CHECK(5, 21, c, 25016, 0, "wave get max cbs");
}
int t6_count=0;
int t6_on=0;
uint32_t t6_on_tick=0;
void t6cbf(int gpio, int level, uint32_t tick)
{
if (level == 1)
{
t6_on_tick = tick;
t6_count++;
}
else
{
if (t6_on_tick) t6_on += (tick - t6_on_tick);
}
}
void t6()
{
int tp, t, p;
printf("Trigger tests\n");
gpioWrite(GPIO, PI_LOW);
tp = 0;
gpioSetAlertFunc(GPIO, t6cbf);
for (t=0; t<10; t++)
{
time_sleep(0.1);
p = 10 + (t*10);
tp += p;
gpioTrigger(4, p, 1);
}
time_sleep(0.2);
CHECK(6, 1, t6_count, 10, 0, "gpio trigger count");
CHECK(6, 2, t6_on, tp, 25, "gpio trigger pulse length");
}
int t7_count=0;
void t7cbf(int gpio, int level, uint32_t tick)
{
if (level == PI_TIMEOUT) t7_count++;
}
void t7()
{
int c, oc;
printf("Watchdog tests.\n");
/* type of edge shouldn't matter for watchdogs */
gpioSetAlertFunc(GPIO, t7cbf);
gpioSetWatchdog(GPIO, 10); /* 10 ms, 100 per second */
time_sleep(0.5);
oc = t7_count;
time_sleep(2);
c = t7_count - oc;
CHECK(7, 1, c, 200, 1, "set watchdog on count");
gpioSetWatchdog(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");
}
void t8()
{
int v, t, i;
printf("Bank read/write tests.\n");
gpioWrite(GPIO, 0);
v = gpioRead_Bits_0_31() & (1<<GPIO);
CHECK(8, 1, v, 0, 0, "read bank 1");
gpioWrite(GPIO, 1);
v = gpioRead_Bits_0_31() & (1<<GPIO);
CHECK(8, 2, v, (1<<GPIO), 0, "read bank 1");
gpioWrite_Bits_0_31_Clear(1<<GPIO);
v = gpioRead(GPIO);
CHECK(8, 3, v, 0, 0, "clear bank 1");
gpioWrite_Bits_0_31_Set(1<<GPIO);
v = gpioRead(GPIO);
CHECK(8, 4, v, 1, 0, "set bank 1");
t = 0;
v = (1<<16);
for (i=0; i<100; i++)
{
if (gpioRead_Bits_32_53() & v) t++;
};
CHECK(8, 5, t, 60, 75, "read bank 2");
v = gpioWrite_Bits_32_53_Clear(0);
CHECK(8, 6, v, 0, 0, "clear bank 2");
CHECK(8, 7, 0, 0, 0, "NOT APPLICABLE");
v = gpioWrite_Bits_32_53_Set(0);
CHECK(8, 8, v, 0, 0, "set bank 2");
CHECK(8, 9, 0, 0, 0, "NOT APPLICABLE");
}
int t9_count = 0;
void t9cbf(int gpio, int level, uint32_t tick)
{
if (level == 1) t9_count++;
}
void t9()
{
int s, oc, c, e;
uint32_t p[10];
/*
100 loops per second
p0 number of loops
p1 GPIO
*/
char *script="\
ldap 0\
ldva 0\
label 0\
w p1 1\
milli 5\
w p1 0\
milli 5\
dcrv 0\
ldav 0\
ldpa 9\
jp 0";
printf("Script store/run/status/stop/delete tests.\n");
gpioWrite(GPIO, 0); /* need known state */
gpioSetAlertFunc(GPIO, t9cbf);
s = gpioStoreScript(script);
time_sleep(0.1);
oc = t9_count;
p[0] = 99;
p[1] = GPIO;
gpioRunScript(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;
gpioRunScript(s, 2, p);
time_sleep(0.1);
while (1)
{
e = gpioScriptStatus(s, p);
if (e != PI_SCRIPT_RUNNING) break;
time_sleep(0.5);
}
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;
gpioRunScript(s, 2, p);
time_sleep(0.1);
while (1)
{
e = gpioScriptStatus(s, p);
if (e != PI_SCRIPT_RUNNING) break;
if (p[9] < 1900) gpioStopScript(s);
time_sleep(0.1);
}
c = t9_count - oc;
time_sleep(0.1);
CHECK(9, 3, c, 110, 10, "run/stop script/script status");
e = gpioDeleteScript(s);
CHECK(9, 4, e, 0, 0, "delete script");
}
int main(int argc, char *argv[])
{
int t, status;
void (*test[])(void) = {t0, t1, t2, t3, t4, t5, t6, t7, t8, t9};
status = gpioInitialise();
if (status < 0)
{
fprintf(stderr, "pigpio initialisation failed.\n");
return 1;
}
for (t=0; t<10; t++) test[t]();
gpioTerminate();
return 0;
}
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