+++ /dev/null
-/*
-This is free and unencumbered software released into the public domain.
-
-Anyone is free to copy, modify, publish, use, compile, sell, or
-distribute this software, either in source code form or as a compiled
-binary, for any purpose, commercial or non-commercial, and by any
-means.
-
-In jurisdictions that recognize copyright laws, the author or authors
-of this software dedicate any and all copyright interest in the
-software to the public domain. We make this dedication for the benefit
-of the public at large and to the detriment of our heirs and
-successors. We intend this dedication to be an overt act of
-relinquishment in perpetuity of all present and future rights to this
-software under copyright law.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
-MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
-IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
-OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
-OTHER DEALINGS IN THE SOFTWARE.
-
-For more information, please refer to <http://unlicense.org/>
-*/
-
-/*
-This version is for pigpio version 3+
-*/
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <sys/time.h>
-#include <time.h>
-
-#include "pigpio.h"
-
-#define GREENLED 16
-#define SDDET 47
-#define SDCLK 48
-
-int test =1;
-int passes=0;
-int expect=0;
-
-struct timeval libInitTime;
-
-int GPIO=4;
-
-unsigned inited, count, onMicros, offMicros;
-
-void tick(void)
-{
- /* count ticks
- */
-
- static struct timeval lastTime;
- struct tm tmp;
- struct timeval nowTime;
- char buf[32];
-
- gettimeofday(&nowTime, NULL);
-
- localtime_r(&nowTime.tv_sec, &tmp);
- strftime(buf, sizeof(buf), "%F@%T", &tmp);
-
- printf("%s.%03d\n", buf, (int)nowTime.tv_usec/1000);
-
- /*timersub(&nowTime, &lastTime, &diffTime);*/
-
- lastTime = nowTime;
-
- if (inited)
- {
- count++;
- }
- else
- {
- count = 1;
-
- gettimeofday(&lastTime, NULL);
-
- inited = 1;
- }
-}
-
-void tickEx(void * userdata)
-{
-}
-
-void alert(int gpio, int level, uint32_t tick)
-{
- /* accumulate number of level changes and average time gpio
- was on and off. Hopefully the ratio should reflect the
- selected pulsewidth.
- */
-
- static uint32_t lastTick;
-
- uint32_t diffTick;
-
- if (inited)
- {
- count++;
-
- diffTick = tick - lastTick;
-
- if (level == 0)
- {
- /* elapsed time was on */
- onMicros = onMicros + diffTick;
- }
- else
- {
- /* elapsed time was off */
- offMicros = offMicros + diffTick;
- }
- lastTick = tick;
- }
- else
- {
- count = 1;
- lastTick = tick;
- onMicros = 0;
- offMicros = 0;
- inited = 1;
- }
-}
-
-void alertEx(int gpio, int level, uint32_t tick, void * userdata)
-{
-}
-
-static void timerTest(unsigned waitfor, unsigned ms)
-{
- unsigned ep, ep1, ep2;
-
- ep= (waitfor*1000)/ms; ep1=ep-1; ep2=ep+1;
-
- printf("Timer ticktest (%d ms), wait %d seconds\n", ms, waitfor);
- printf("Expect %d to %d ticks\n", ep1, ep2);
-
- inited = 0;
- gpioSetTimerFunc(0, ms, tick);
- sleep(waitfor);
- gpioSetTimerFunc(0, ms, NULL);
-
- /* and the stats were? */
-
- printf("ticks=%d\n", count);
-
- if ((count>=ep1) && (count<=ep2))
- {
- printf("TEST %d: PASS\n\n", test);
- ++passes;
- }
- else
- {
- printf("TEST %d: FAILED\n\n", test);
- }
-
- ++test;
-}
-
-static void servoTest(unsigned waitfor, unsigned pulsewidth)
-{
- int ticks, on, off;
- unsigned expectedPulses, ep1, ep2;
- float expectedRatio, er1, er2;
- float ratio;
-
- expectedPulses=(500*waitfor)/10; ep1=(490*waitfor)/10; ep2=(510*waitfor)/10;
- expectedRatio = (float)(20000-pulsewidth)/(float)pulsewidth;
- er1=expectedRatio*0.9; er2=expectedRatio*1.1;
-
- printf("Servo pulse test (%d micros), wait %d seconds\n",
- pulsewidth, waitfor);
- printf("Expect %d pulses and an off/on ratio of %.1f\n",
- expectedPulses, expectedRatio);
-
- gpioServo(GPIO, pulsewidth);
-
- inited = 0;
- gpioSetAlertFunc(GPIO, alert);
- sleep(waitfor);
- gpioSetAlertFunc(GPIO, NULL);
-
- gpioServo(GPIO, 0);
-
- /* and the stats were? */
-
- ticks = count/2; on = onMicros/1000; off = offMicros/1000;
- ratio = (float)off/(float)on;
-
- printf("servo pulses=%d on ms=%d off ms=%d ratio=%.1f\n", ticks, on, off, ratio);
-
- if ( ((ticks>ep1) && (ticks<ep2)) && ((ratio>er1) && (ratio<er2)) )
- {
- printf("TEST %d: PASS\n\n", test);
- ++passes;
- }
- else
- {
- printf("TEST %d: FAILED\n\n", test);
- }
-
- ++test;
-}
-
-static void pwmTest(unsigned waitfor, unsigned pulsewidth)
-{
- int on, off;
- float expectedRatio, er1, er2;
- float ratio;
-
- expectedRatio = (float)(255-pulsewidth)/255.0;
- er1=expectedRatio*0.9; er2=expectedRatio*1.1;
-
- printf("PWM test (%d), wait %d seconds\n", pulsewidth, waitfor);
- printf("Expect an off/on ratio of %.3f\n", expectedRatio);
-
- inited = 0;
- gpioSetAlertFunc(GPIO, alert);
- gpioPWM(GPIO, pulsewidth);
- sleep(waitfor);
- gpioPWM(GPIO, 0);
- gpioSetAlertFunc(GPIO, NULL);
-
- /* and the stats were? */
-
- on = onMicros/1000; off = offMicros/1000;
- ratio = (float)off/((float)on+(float)off);
-
- printf("pwm on ms=%d off ms=%d ratio=%.3f\n", on, off, ratio);
-
- if ((ratio>er1) && (ratio<er2))
- {
- printf("TEST %d: PASS\n\n", test);
- ++passes;
- }
- else
- {
- printf("TEST %d: FAILED\n\n", test);
- }
-
- ++test;
-}
-
-void expectExpected(int expected)
-{
- if (expect==expected)
- {
- printf("TEST %d: PASS\n\n", test);
- ++passes;
- }
- else printf("TEST %d: FAILED\n\n", test);
-
- expect = 0;
-
- ++test;
-}
-
-void checkValidation(void)
-{
- int secs, micros;
-
- /* check function parameter validation */
-
- printf("Function parameter validation tests\n");
-
- printf("Expect ERROR messages\n\n");
-
- if (gpioSetMode(PI_MAX_GPIO+1, 0) == PI_BAD_GPIO) expect++;
- if (gpioSetMode(PI_MIN_GPIO-1, 0) == PI_BAD_GPIO) expect++;
- if (gpioSetMode(PI_MIN_GPIO, PI_ALT3+1) == PI_BAD_MODE) expect++;
- if (gpioSetMode(PI_MAX_GPIO, PI_INPUT-1) == PI_BAD_MODE) expect++;
-
- expectExpected(4);
-
- if (gpioGetMode(PI_MAX_GPIO+1) == PI_BAD_GPIO) expect++;
- if (gpioGetMode(PI_MIN_GPIO-1) == PI_BAD_GPIO) expect++;
-
- expectExpected(2);
-
- if (gpioSetPullUpDown(PI_MAX_GPIO+1, 0) == PI_BAD_GPIO) expect++;
- if (gpioSetPullUpDown(PI_MIN_GPIO-1, 0) == PI_BAD_GPIO) expect++;
- if (gpioSetPullUpDown(PI_MIN_GPIO, PI_PUD_UP+1) == PI_BAD_PUD) expect++;
- if (gpioSetPullUpDown(PI_MAX_GPIO, PI_PUD_OFF-1) == PI_BAD_PUD) expect++;
-
- expectExpected(4);
-
- if (gpioRead(PI_MIN_GPIO-1) == PI_BAD_GPIO) expect++;
- if (gpioRead(PI_MAX_GPIO+1) == PI_BAD_GPIO) expect++;
-
- expectExpected(2);
-
- if (gpioWrite(PI_MAX_GPIO+1, 0) == PI_BAD_GPIO) expect++;
- if (gpioWrite(PI_MIN_GPIO-1, 0) == PI_BAD_GPIO) expect++;
- if (gpioWrite(PI_MIN_GPIO, PI_ON+1) == PI_BAD_LEVEL) expect++;
- if (gpioWrite(PI_MAX_GPIO, PI_OFF-1) == PI_BAD_LEVEL) expect++;
-
- expectExpected(4);
-
- if (gpioPWM(PI_MAX_USER_GPIO+1, 0) == PI_BAD_USER_GPIO) expect++;
- if (gpioPWM(PI_MIN_GPIO-1, 0) == PI_BAD_USER_GPIO) expect++;
- if (gpioPWM(PI_MIN_GPIO, PI_DEFAULT_DUTYCYCLE_RANGE+1) ==
- PI_BAD_DUTYCYCLE) expect++;
- if (gpioPWM(PI_MAX_USER_GPIO, -1) == PI_BAD_DUTYCYCLE) expect++;
-
- expectExpected(4);
-
- if (gpioSetPWMrange(PI_MAX_USER_GPIO+1, 0) == PI_BAD_USER_GPIO) expect++;
- if (gpioSetPWMrange(PI_MIN_GPIO-1, 0) == PI_BAD_USER_GPIO) expect++;
- if (gpioSetPWMrange(GPIO, 24) == PI_BAD_DUTY_RANGE) expect++;
- if (gpioSetPWMrange(GPIO, 40001) == PI_BAD_DUTY_RANGE) expect++;
-
- expectExpected(4);
-
- if (gpioGetPWMrange(PI_MAX_USER_GPIO+1) == PI_BAD_USER_GPIO) expect++;
- if (gpioGetPWMrange(PI_MIN_GPIO-1) == PI_BAD_USER_GPIO) expect++;
-
- expectExpected(2);
-
- if (gpioGetPWMrealRange(PI_MAX_USER_GPIO+1) == PI_BAD_USER_GPIO) expect++;
- if (gpioGetPWMrealRange(PI_MIN_GPIO-1) == PI_BAD_USER_GPIO) expect++;
-
- expectExpected(2);
-
- if (gpioSetPWMfrequency(PI_MAX_USER_GPIO+1, 0) == PI_BAD_USER_GPIO) expect++;
- if (gpioSetPWMfrequency(PI_MIN_GPIO-1, 0) == PI_BAD_USER_GPIO) expect++;
-
- expectExpected(2);
-
- if (gpioGetPWMfrequency(PI_MAX_USER_GPIO+1) == PI_BAD_USER_GPIO) expect++;
- if (gpioGetPWMfrequency(PI_MIN_GPIO-1) == PI_BAD_USER_GPIO) expect++;
-
- expectExpected(2);
-
- if (gpioServo(PI_MAX_USER_GPIO+1, 0) == PI_BAD_USER_GPIO) expect++;
- if (gpioServo(PI_MIN_GPIO-1, 0) == PI_BAD_USER_GPIO) expect++;
- if (gpioServo(GPIO, 1) == PI_BAD_PULSEWIDTH) expect++;
- if (gpioServo(GPIO,-1) == PI_BAD_PULSEWIDTH) expect++;
- if (gpioServo(GPIO, 499) == PI_BAD_PULSEWIDTH) expect++;
- if (gpioServo(GPIO, 2501) == PI_BAD_PULSEWIDTH) expect++;
-
- expectExpected(6);
-
- if (gpioSetAlertFunc(PI_MAX_USER_GPIO+1, alert) == PI_BAD_USER_GPIO) expect++;
- if (gpioSetAlertFunc(PI_MIN_GPIO-1, alert) == PI_BAD_USER_GPIO) expect++;
-
- expectExpected(2);
-
- if (gpioSetAlertFuncEx(PI_MAX_USER_GPIO+1, alertEx, 0) == PI_BAD_USER_GPIO) expect++;
- if (gpioSetAlertFuncEx(PI_MIN_GPIO-1, alertEx, 0) == PI_BAD_USER_GPIO) expect++;
-
- expectExpected(2);
-
- if (gpioSetWatchdog(PI_MAX_USER_GPIO+1, 0) == PI_BAD_USER_GPIO) expect++;
- if (gpioSetWatchdog(PI_MIN_GPIO-1, 0) == PI_BAD_USER_GPIO) expect++;
- if (gpioSetWatchdog(GPIO, 60001) == PI_BAD_WDOG_TIMEOUT) expect++;
- if (gpioSetWatchdog(GPIO, -1) == PI_BAD_WDOG_TIMEOUT) expect++;
- if (gpioSetWatchdog(GPIO, 0) == 0) expect++;
-
- expectExpected(5);
-
- if (gpioSetTimerFunc(10, 20, tick) == PI_BAD_TIMER) expect++;
- if (gpioSetTimerFunc(-1, 20, tick) == PI_BAD_TIMER) expect++;
- if (gpioSetTimerFunc(0, 9, tick) == PI_BAD_MS) expect++;
- if (gpioSetTimerFunc(0, 60001, tick) == PI_BAD_MS) expect++;
-
- expectExpected(4);
-
- if (gpioSetTimerFuncEx(10, 20, tickEx, 0) == PI_BAD_TIMER) expect++;
- if (gpioSetTimerFuncEx(-1, 20, tickEx, 0) == PI_BAD_TIMER) expect++;
- if (gpioSetTimerFuncEx(0, 9, tickEx, 0) == PI_BAD_MS) expect++;
- if (gpioSetTimerFuncEx(0, 60001, tickEx, 0) == PI_BAD_MS) expect++;
-
- expectExpected(4);
-
- if (gpioTime(-1, &secs, µs) == PI_BAD_TIMETYPE) expect++;
- if (gpioTime(2, &secs, µs) == PI_BAD_TIMETYPE) expect++;
-
- expectExpected(2);
-
- if (gpioSleep(-1, 1, 0) == PI_BAD_TIMETYPE) expect++;
- if (gpioSleep(2, 1, 0) == PI_BAD_TIMETYPE) expect++;
- if (gpioSleep(PI_TIME_ABSOLUTE, -1, 0) == PI_BAD_SECONDS) expect++;
- if (gpioSleep(PI_TIME_ABSOLUTE, 0, -1) == PI_BAD_MICROS) expect++;
- if (gpioSleep(PI_TIME_ABSOLUTE, 0, 1000000) == PI_BAD_MICROS) expect++;
- if (gpioSleep(PI_TIME_RELATIVE, -1, 0) == PI_BAD_SECONDS) expect++;
- if (gpioSleep(PI_TIME_RELATIVE, 0, -1) == PI_BAD_MICROS) expect++;
- if (gpioSleep(PI_TIME_RELATIVE, 0, 1000000) == PI_BAD_MICROS) expect++;
-
- expectExpected(8);
-}
-
-void checkGpioTime(void)
-{
- struct timeval nowA, nowR, tvR, tvA, diffR, diffA;
- int diffMicrosA, diffMicrosR;
- int i, ok;
-
- int secR, micR, secA, micA;
-
- printf("Library timer tests.\n");
-
- ok = 0;
-
- for (i=0; i<10; i++)
- {
- gettimeofday(&nowA, NULL); /* reference absolute time */
-
- gpioTime(PI_TIME_ABSOLUTE, &secA, &micA); /* absolute library time */
- gpioTime(PI_TIME_RELATIVE, &secR, &micR); /* relative library time */
-
- timersub(&nowA, &libInitTime, &nowR); /* reference relative time */
-
- tvA.tv_sec = secA; tvA.tv_usec = micA;
- tvR.tv_sec = secR; tvR.tv_usec = micR;
-
- /* difference between reference and library absolute time */
- timersub(&tvA, &nowA, &diffA);
-
- /* difference between reference and library relative time */
- timersub(&tvR, &nowR, &diffR);
-
-
- diffMicrosA = (diffA.tv_sec*1000000)+diffA.tv_usec;
-
- diffMicrosR = (diffR.tv_sec*1000000)+diffR.tv_usec;
-
- if (diffMicrosA < 0) diffMicrosA = -diffMicrosA;
- if (diffMicrosR < 0) diffMicrosR = -diffMicrosR;
-
- if ((diffMicrosA < 10) && (diffMicrosR < 500)) ok++;
-
- printf("ABS time diff=%d, REL time diff=%d\n",
- diffMicrosA, diffMicrosR);
- }
-
- if (ok == 10)
- {
- printf("TEST %d: PASS\n\n", test);
- ++passes;
- }
- else printf("TEST %d: FAILED\n\n", test);
-
- ++test;
-}
-
-void checkGpioSleep(unsigned timetype)
-{
- struct timeval t1, t2, tD;
- int i, ok, secs, micros, diffMicros, expMicros, errMicros;
-
- if (timetype == PI_TIME_ABSOLUTE)
- printf("Library gpioSleep ABSOLUTE tests.\n");
- else
- printf("Library gpioSleep RELATIVE tests.\n");
-
- ok = 0;
-
- for (i=15; i>0; i--)
- {
- expMicros = i * 100000;
-
- if (timetype == PI_TIME_ABSOLUTE)
- {
- gpioTime(PI_TIME_ABSOLUTE, &secs, µs);
-
- secs += (i / 10);
- micros += (i % 10) * 100000;
-
- if (micros > 999999) { secs++; micros -= 1000000; }
- }
- else
- {
- secs = (i / 10);
- micros = (i % 10) * 100000;
- }
-
- gettimeofday(&t1, NULL);
-
- gpioSleep(timetype, secs, micros);
-
- gettimeofday(&t2, NULL);
-
- timersub(&t2, &t1, &tD);
-
- diffMicros = (tD.tv_sec*1000000)+tD.tv_usec;
-
- errMicros = diffMicros - expMicros;
-
- if (errMicros < 500) ok++;
-
- printf("secs=%d micros=%d err=%d\n", secs, micros, errMicros);
- }
-
- if (ok == 15)
- {
- printf("TEST %d: PASS\n\n", test);
- ++passes;
- }
- else printf("TEST %d: FAILED\n\n", test);
-
- ++test;
-}
-
-int countBank2PinChanges(int pin, int loops)
-{
- static uint32_t old=0;
-
- uint32_t new, changes;
- int i, count;
-
- count = 0;
-
- for (i=0;i<loops;i++)
- {
- new = gpioRead_Bits_32_53();
-
- changes = new ^ old;
-
- if (changes & (1<<(pin-32))) count++;
- }
- return count;
-}
-
-void checkReadWriteBits(void)
-{
- uint32_t bank1, bank2;
-
- int i, ok, count1, count2;
-
- printf("Library gpioRead/Write_Bits_x_x_Set/Clear Tests\n");
- printf("Expect 0 for pin 47 and >200000 for pin 48.\n");
- printf("Expect the green LED to flash.\n\n");
-
- ok = 0;
-
- for (i=0; i<20; i++)
- {
- gpioWrite_Bits_0_31_Set(1<<GREENLED);
-
- count1 = countBank2PinChanges(SDDET, 1000000);
-
- gpioWrite_Bits_0_31_Clear(1<<GREENLED);
-
- count2 = countBank2PinChanges(SDCLK, 1000000);
-
- bank1 = gpioRead_Bits_0_31();
- bank2 = gpioRead_Bits_32_53();
-
- printf("bank1=%08X, bank2=%08X, 47=%d 48=%d\n",
- bank1, bank2, count1, count2);
-
- if ((count1 == 0) && (count2 > 200000)) ok++;
- }
-
- if (ok == 20)
- {
- printf("TEST %d: PASS\n\n", test);
- ++passes;
- }
- else printf("TEST %d: FAILED\n\n", test);
-
- ++test;
-}
-
-void checkGpioTick(void)
-{
- uint32_t startTick, endTick;
- int diffTick;
-
- printf("Library gpioTick Test\n");
- printf("Expect approximately 2 million ticks to have elapsed.\n\n");
-
- startTick = gpioTick();
- sleep(2); /* 2 seconds being 2 million ticks */
- endTick = gpioTick();
-
- diffTick = endTick - startTick;
-
- printf("%d ticks have elapsed\n", diffTick);
-
- if ((diffTick >= 1990000) && (diffTick <= 2010000))
- {
- printf("TEST %d: PASS\n\n", test);
- ++passes;
- }
- else printf("TEST %d: FAILED\n\n", test);
-
- ++test;
-}
-
-int main(int argc, char *argv[])
-{
-
- int waitfor;
-
- int version, micros=5, millis=100;
-
- if (argc > 1) GPIO = atoi(argv[1]);
-
- fprintf(stderr,
-"*****************************************************************\n"\
-"* WARNING: This program sends pulses to gpio #%02d *\n"\
-"* Make sure that nothing which could be damaged is *\n"\
-"* connected to this gpio. A LED or similar should be OK *\n"\
-"* although nothing needs to be connected. *\n"\
-"* *\n"\
-"* NOTE: many of the tests are statistical in nature, assuming *\n"\
-"* that events of a short nature will on average be detected *\n"\
-"* by sampling. Don't fret if a particular test fails, try *\n"\
-"* running the tests again. *\n"\
-"* *\n"\
-"* You may choose another gpio by specifying its number on *\n"\
-"* the command line, e.g. sudo ./checklib 17 will use gpio 17. *\n"\
-"* *\n"\
-"* Press y (RETURN) to continue, any other character to cancel. *\n"\
-"*****************************************************************\n", GPIO);
-
- if (getchar() != 'y') return 0;
-
- printf("Initialisation test\n");
-
- if (argc > 2) micros = atoi(argv[2]);
-
- if (argc > 3) millis = atoi(argv[3]);
-
- gpioCfgBufferSize(millis);
-
- gpioCfgClock(micros, PI_CLOCK_PCM, PI_CLOCK_PLLD);
-
- gettimeofday(&libInitTime, NULL);
-
- version = gpioInitialise();
-
- if (version<0)
- {
- printf("TEST %d: FAILED\nFATAL ERROR\n", test);
- return 1;
- }
- else
- {
- printf("TEST %d: PASS, pigpio version is %d\n\n", test, version);
- ++passes;
- }
-
- ++test;
-
- waitfor = 2;
-
- printf("Alert function test, wait %d seconds\n", waitfor);
- printf("No detected events on gpio 4 expected\n");
-
- inited = 0;
- gpioSetAlertFunc(GPIO, alert);
- sleep(waitfor);
- gpioSetAlertFunc(GPIO, NULL);
-
- printf("Events=%d\n", count);
-
- if (count) printf("TEST %d: FAILED\n\n", test);
- else
- {
- printf("TEST %d: PASS\n\n", test);
- ++passes;
- }
-
- ++test;
-
- servoTest(10, 500);
- servoTest(10, 1500);
- servoTest(10, 2500);
-
- pwmTest(5, 50);
- pwmTest(5, 100);
- pwmTest(5, 150);
- pwmTest(5, 200);
-
- timerTest(5, 100);
- timerTest(5, 250);
- timerTest(5, 333);
- timerTest(5, 1000);
-
- checkValidation();
-
- checkGpioTime();
-
- checkGpioSleep(PI_TIME_RELATIVE);
-
- checkGpioSleep(PI_TIME_ABSOLUTE);
-
- checkReadWriteBits();
-
- checkGpioTick();
-
- printf("Hardware revision is %d\n\n", gpioHardwareRevision());
-
- printf("Summary: %d tests, %d passes\n", test-1, passes);
-
- gpioTerminate(); /* stop DMA and free memory */
-
- return (passes - (test-1));
-}
-
projects / pigpio.git / commitdiff