public void tc(PigpiodIf pigpiodIf, CancellationToken ct)
{
int h, x, b, e;
byte[] buf = new byte[128];
Console.WriteLine("\r\nSPI tests.");
/* this test requires a MCP3202 on SPI1 channel 2 */
h = pigpiodIf.spi_open(2, 50000, 256 + 0);
CHECK(12, 1, h, 0, 0, "spi open", ct);
for (x = 0; x < 5; x++)
{
buf = new byte[] { 0x01, 0x80, 0x00 };
b = pigpiodIf.spi_xfer((UInt32)h, buf, buf);
CHECK(12, 2, b, 3, 0, "spi xfer", ct);
if (b == 3)
{
pigpiodIf.time_sleep(1.0);
Console.WriteLine("{0} ", ((buf[1] & 0x0F) * 256) | buf[2]);
}
}
e = pigpiodIf.spi_close((UInt32)h);
CHECK(12, 99, e, 0, 0, "spi close", ct);
}
public void t1(PigpiodIf pigpiodIf, CancellationToken ct)
{
int v;
Console.WriteLine("\r\nMode/PUD/read/write tests.");
pigpiodIf.set_mode(GPIO, PigpiodIf.PI_INPUT);
v = pigpiodIf.get_mode(GPIO);
CHECK(1, 1, v, 0, 0, "set mode, get mode", ct);
pigpiodIf.set_pull_up_down(GPIO, PigpiodIf.PI_PUD_UP);
v = pigpiodIf.gpio_read(GPIO);
CHECK(1, 2, v, 1, 0, "set pull up down, read", ct);
pigpiodIf.set_pull_up_down(GPIO, PigpiodIf.PI_PUD_DOWN);
v = pigpiodIf.gpio_read(GPIO);
CHECK(1, 3, v, 0, 0, "set pull up down, read", ct);
pigpiodIf.gpio_write(GPIO, PigpiodIf.PI_LOW);
v = pigpiodIf.get_mode(GPIO);
CHECK(1, 4, v, 1, 0, "write, get mode", ct);
v = pigpiodIf.gpio_read(GPIO);
CHECK(1, 5, v, 0, 0, "read", ct);
pigpiodIf.gpio_write(GPIO, PigpiodIf.PI_HIGH);
v = pigpiodIf.gpio_read(GPIO);
CHECK(1, 6, v, 1, 0, "write, read", ct);
}
public void t0(PigpiodIf pigpiodIf, CancellationToken ct)
{
Console.WriteLine("\r\nTesting pigpiod C# I/F");
Console.WriteLine("pigpio version {0}.", pigpiodIf.get_pigpio_version());
Console.WriteLine("Hardware revision {0}.", pigpiodIf.get_hardware_revision());
}
private void MainForm_Load(object sender, EventArgs e)
{
pigpiodIf = new PigpiodIf();
buttonClose.Enabled = false;
buttonOff.Enabled = false;
buttonCancel.Enabled = false;
}
private void Form1_Load(object sender, System.EventArgs e)
{
pigpiodIf = new PigpiodIf();
pigpiodIf.StreamConnected += (s, evt) =>
{
Invoke(new Action(() =>
{
panelOperation.Enabled = true;
checkBoxServo1_CheckedChanged(checkBoxServo1, new EventArgs());
checkBoxServo2_CheckedChanged(checkBoxServo2, new EventArgs());
}));
try
{
// CS2, 20MHz, Auxiliary SPI + Mode1
avalonMM.Stream = new SpiStream(pigpiodIf, 2, 20 * 1000000, 256 + 1);
avalonMM.WriteUInt32Packet(0x10, 1); // Start sequencer
}
catch (PigpiodIfException ex)
{
Console.WriteLine(ex.Message);
}
};
plotModel = new PlotModel();
series = new LineSeries[NUM_CHANNELS];
for (int ch = 0; ch < NUM_CHANNELS; ch++)
{
series[ch] = new LineSeries();
series[ch].Title = string.Format("CH{0}", ch);
plotModel.Series.Add(series[ch]);
}
double fullScale = 3.3;
double margin = fullScale * 0.05;
plotModel.Axes.Add(
new LinearAxis()
{
Position = AxisPosition.Left, Minimum = 0 - margin, Maximum = fullScale + margin
}
);
panelOperation.Enabled = false;
buttonClose.Enabled = false;
buttonStop.Enabled = false;
trackBarHor.Value = horizontal;
trackBarPos.Value = positionPct;
foreach (var s in series)
{
comboBoxSource.Items.Add(s.Title);
}
comboBoxSource.SelectedIndex = source;
comboBoxPol.SelectedIndex = polarity;
trackBarLevel.Value = levelPct;
}
public void t6(PigpiodIf pigpiodIf, CancellationToken ct)
{
PigpiodIf.Callback callback = null;
try
{
int tp, t, p;
Console.WriteLine("\r\nTrigger tests.");
pigpiodIf.gpio_write(GPIO, PigpiodIf.PI_LOW);
tp = 0;
int t6_count = 0;
int t6_on = 0;
UInt32 t6_on_tick = 0;
callback = pigpiodIf.callback(GPIO, PigpiodIf.EITHER_EDGE, (gpio, level, tick, user) =>
{
if (level == 1)
{
t6_on_tick = tick;
t6_count++;
}
else
{
if (t6_on_tick != 0)
{
t6_on += (int)(tick - t6_on_tick);
}
}
});
pigpiodIf.time_sleep(0.2);
for (t = 0; t < 5; t++)
{
pigpiodIf.time_sleep(0.1);
p = 10 + (t * 10);
tp += p;
pigpiodIf.gpio_trigger(GPIO, (UInt32)p, 1);
}
pigpiodIf.time_sleep(0.5);
CHECK(6, 1, t6_count, 5, 0, "gpio trigger count", ct);
CHECK(6, 2, t6_on, tp, 25, "gpio trigger pulse length", ct);
}
finally
{
pigpiodIf.callback_cancel(callback);
}
}
private void Form1_Load(object sender, EventArgs e)
{
pigpiodIf = new PigpiodIf();
pigpiodIf.StreamConnected += (s, evt) =>
{
Invoke(new Action(() =>
{
panelOperation.Enabled = true;
checkBoxServo1_CheckedChanged(checkBoxServo1, new EventArgs());
checkBoxServo2_CheckedChanged(checkBoxServo2, new EventArgs());
}));
};
rollPlotModel = new PlotModel();
rollSeries = new LineSeries[NUM_ROLL_CHANNELS];
for (int ch = 0; ch < NUM_ROLL_CHANNELS; ch++)
{
rollSeries[ch] = new LineSeries();
rollSeries[ch].Title = string.Format("CH{0}", ch);
rollPlotModel.Series.Add(rollSeries[ch]);
}
rollPlotModel.Axes.Add(
new LinearAxis()
{
Position = AxisPosition.Left, Minimum = 0 - 0.1, Maximum = 3.3 + 0.1
}
);
fastPlotModel = new PlotModel();
fastSeries = new LineSeries[NUM_FAST_CHANNELS];
for (int ch = 0; ch < NUM_FAST_CHANNELS; ch++)
{
fastSeries[ch] = new LineSeries();
fastSeries[ch].Title = string.Format("CH{0}", ch);
fastPlotModel.Series.Add(fastSeries[ch]);
}
fastPlotModel.Axes.Add(
new LinearAxis()
{
Position = AxisPosition.Left, Minimum = 0 - 0.1, Maximum = 3.3 + 0.1
}
);
panelOperation.Enabled = false;
buttonClose.Enabled = false;
buttonLedStop.Enabled = false;
buttonRollStop.Enabled = false;
buttonFastStop.Enabled = false;
}
public void t8(PigpiodIf pigpiodIf, CancellationToken ct)
{
int v;
Console.WriteLine("\r\nBank read/write tests.");
pigpiodIf.gpio_write(GPIO, 0);
v = (int)pigpiodIf.read_bank_1() & (1 << GPIO);
CHECK(8, 1, v, 0, 0, "read bank 1", ct);
pigpiodIf.gpio_write(GPIO, 1);
v = (int)pigpiodIf.read_bank_1() & (1 << GPIO);
CHECK(8, 2, v, (1 << GPIO), 0, "read bank 1", ct);
pigpiodIf.clear_bank_1(1 << GPIO);
v = pigpiodIf.gpio_read(GPIO);
CHECK(8, 3, v, 0, 0, "clear bank 1", ct);
pigpiodIf.set_bank_1(1 << GPIO);
v = pigpiodIf.gpio_read(GPIO);
CHECK(8, 4, v, 1, 0, "set bank 1", ct);
v = (int)pigpiodIf.read_bank_2();
if (v != 0)
{
v = 0;
}
else
{
v = 1;
}
CHECK(8, 5, v, 0, 0, "read bank 2", ct);
v = pigpiodIf.clear_bank_2(0);
CHECK(8, 6, v, 0, 0, "clear bank 2", ct);
v = pigpiodIf.clear_bank_2(0xffffff);
CHECK(8, 7, v, -42, 0, "clear bank 2", ct);
v = pigpiodIf.set_bank_2(0);
CHECK(8, 8, v, 0, 0, "set bank 2", ct);
v = pigpiodIf.set_bank_2(0xffffff);
CHECK(8, 9, v, -42, 0, "set bank 2", ct);
}
public SpiStream(PigpiodIf pigpiodIf, UInt32 channel, UInt32 speed, UInt32 flags)
{
this.pigpiodIf = pigpiodIf;
for (int i = 0; i < 3; i++)
{
handle = pigpiodIf.spi_open(channel, speed, flags);
//Console.WriteLine("spi_open: {0}", handle);
if (handle >= 0)
{
break;
}
System.Threading.Thread.Sleep(100);
}
if (handle < 0)
{
throw new PigpiodIfException(handle, "PigpiodIf: " + pigpiodIf.pigpio_error(handle));
}
}
public void t7(PigpiodIf pigpiodIf, CancellationToken ct)
{
PigpiodIf.Callback callback = null;
try
{
int c, oc;
Console.WriteLine("\r\nWatchdog tests.");
int t7_count = 0;
/* type of edge shouldn't matter for watchdogs */
callback = pigpiodIf.callback(GPIO, PigpiodIf.FALLING_EDGE, (gpio, level, tick, user) =>
{
if (level == PigpiodIf.PI_TIMEOUT)
{
t7_count++;
}
});
pigpiodIf.set_watchdog(GPIO, 50); /* 50 ms, 20 per second */
pigpiodIf.time_sleep(0.5);
oc = t7_count;
pigpiodIf.time_sleep(2);
c = t7_count - oc;
CHECK(7, 1, c, 39, 5, "set watchdog on count", ct);
pigpiodIf.set_watchdog(GPIO, 0); /* 0 switches watchdog off */
pigpiodIf.time_sleep(0.5);
oc = t7_count;
pigpiodIf.time_sleep(2);
c = t7_count - oc;
CHECK(7, 2, c, 0, 1, "set watchdog off count", ct);
}
finally
{
pigpiodIf.callback_cancel(callback);
}
}
public void tb(PigpiodIf pigpiodIf, CancellationToken ct)
{
int h, e, b;
string exp;
string buf;
byte[] bytes = new byte[128];
Console.WriteLine("\r\nSMBus / I2C tests.");
/* this test requires an ADXL345 on I2C bus 1 addr 0x53 */
h = pigpiodIf.i2c_open(1, 0x53, 0);
CHECK(11, 1, h, 0, 0, "i2c open", ct);
e = pigpiodIf.i2c_write_device((UInt32)h, new byte[] { 0x00 }); /* move to known register */
CHECK(11, 2, e, 0, 0, "i2c write device", ct);
bytes = new byte[1];
b = pigpiodIf.i2c_read_device((UInt32)h, bytes);
CHECK(11, 3, b, 1, 0, "i2c read device", ct);
CHECK(11, 4, bytes[0], 0xE5, 0, "i2c read device", ct);
b = pigpiodIf.i2c_read_byte((UInt32)h);
CHECK(11, 5, b, 0xE5, 0, "i2c read byte", ct);
b = pigpiodIf.i2c_read_byte_data((UInt32)h, 0);
CHECK(11, 6, b, 0xE5, 0, "i2c read byte data", ct);
b = pigpiodIf.i2c_read_byte_data((UInt32)h, 48);
CHECK(11, 7, b, 2, 0, "i2c read byte data", ct);
exp = "\x1D[aBcDeFgHjKM]";
bytes = System.Text.Encoding.UTF8.GetBytes(exp);
e = pigpiodIf.i2c_write_device((UInt32)h, bytes);
CHECK(11, 8, e, 0, 0, "i2c write device", ct);
e = pigpiodIf.i2c_write_device((UInt32)h, new byte[] { 0x1D });
bytes = new byte[bytes.Length - 1];
b = pigpiodIf.i2c_read_device((UInt32)h, bytes);
buf = System.Text.Encoding.UTF8.GetString(bytes);
CHECK(11, 9, b, buf.Length, 0, "i2c read device", ct);
CHECK(11, 10, string.Compare(buf, 0, exp, 1, buf.Length - 1), 0, 0, "i2c read device", ct);
if (string.Compare(buf, 0, exp, 1, buf.Length - 1) != 0)
{
Console.WriteLine("got [{0}] expected [{1}]", buf, exp.Substring(1));
}
e = pigpiodIf.i2c_write_byte_data((UInt32)h, 0x1d, 0xAA);
CHECK(11, 11, e, 0, 0, "i2c write byte data", ct);
b = pigpiodIf.i2c_read_byte_data((UInt32)h, 0x1d);
CHECK(11, 12, b, 0xAA, 0, "i2c read byte data", ct);
e = pigpiodIf.i2c_write_byte_data((UInt32)h, 0x1d, 0x55);
CHECK(11, 13, e, 0, 0, "i2c write byte data", ct);
b = pigpiodIf.i2c_read_byte_data((UInt32)h, 0x1d);
CHECK(11, 14, b, 0x55, 0, "i2c read byte data", ct);
exp = "[1234567890#]";
bytes = System.Text.Encoding.UTF8.GetBytes(exp);
e = pigpiodIf.i2c_write_block_data((UInt32)h, 0x1C, bytes);
CHECK(11, 15, e, 0, 0, "i2c write block data", ct);
e = pigpiodIf.i2c_write_device((UInt32)h, new byte[] { 0x1D });
b = pigpiodIf.i2c_read_device((UInt32)h, bytes);
buf = System.Text.Encoding.UTF8.GetString(bytes);
CHECK(11, 16, b, buf.Length, 0, "i2c read device", ct);
CHECK(11, 17, string.Compare(buf, 0, exp, 0, buf.Length), 0, 0, "i2c read device", ct);
if (string.Compare(buf, 0, exp, 0, buf.Length) != 0)
{
Console.WriteLine("got [{0}] expected [{1}]", buf, exp);
}
b = pigpiodIf.i2c_read_i2c_block_data((UInt32)h, 0x1D, bytes);
buf = System.Text.Encoding.UTF8.GetString(bytes);
CHECK(11, 18, b, buf.Length, 0, "i2c read i2c block data", ct);
CHECK(11, 19, string.Compare(buf, 0, exp, 0, buf.Length), 0, 0, "i2c read i2c block data", ct);
if (string.Compare(buf, 0, exp, 0, buf.Length) != 0)
{
Console.WriteLine("got [{0}] expected [{1}]", buf, exp);
}
exp = "(-+=;:,<>!%)";
bytes = System.Text.Encoding.UTF8.GetBytes(exp);
e = pigpiodIf.i2c_write_i2c_block_data((UInt32)h, 0x1D, bytes);
CHECK(11, 20, e, 0, 0, "i2c write i2c block data", ct);
b = pigpiodIf.i2c_read_i2c_block_data((UInt32)h, 0x1D, bytes);
buf = System.Text.Encoding.UTF8.GetString(bytes);
CHECK(11, 21, b, buf.Length, 0, "i2c read i2c block data", ct);
CHECK(11, 22, string.Compare(buf, 0, exp, 0, buf.Length), 0, 0, "i2c read i2c block data", ct);
if (string.Compare(buf, 0, exp, 0, buf.Length) != 0)
{
Console.WriteLine("got [{0}] expected [{1}]", buf, exp);
}
e = pigpiodIf.i2c_close((UInt32)h);
CHECK(11, 23, e, 0, 0, "i2c close", ct);
}
public void ta(PigpiodIf pigpiodIf, CancellationToken ct)
{
int h, b, e;
string TEXT;
byte[] recv = new byte[2048];
Console.WriteLine("\r\nSerial link tests.");
/* this test needs RXD and TXD to be connected */
h = pigpiodIf.serial_open("/dev/ttyAMA0", 57600, 0);
CHECK(10, 1, h, 0, 0, "serial open", ct);
pigpiodIf.time_sleep(0.1); /* allow time for transmission */
b = pigpiodIf.serial_read((UInt32)h, recv); /* flush buffer */
b = pigpiodIf.serial_data_available((UInt32)h);
CHECK(10, 2, b, 0, 0, "serial data available", ct);
TEXT = @"
To be, or not to be, that is the question -
Whether 'tis Nobler in the mind to suffer
The Slings and Arrows of outrageous Fortune,
Or to take Arms against a Sea of troubles,
";
var bytes = System.Text.Encoding.UTF8.GetBytes(TEXT);
e = pigpiodIf.serial_write((UInt32)h, bytes);
CHECK(10, 3, e, 0, 0, "serial write", ct);
e = pigpiodIf.serial_write_byte((UInt32)h, 0xAA);
e = pigpiodIf.serial_write_byte((UInt32)h, 0x55);
e = pigpiodIf.serial_write_byte((UInt32)h, 0x00);
e = pigpiodIf.serial_write_byte((UInt32)h, 0xFF);
CHECK(10, 4, e, 0, 0, "serial write byte", ct);
pigpiodIf.time_sleep(0.1); /* allow time for transmission */
b = pigpiodIf.serial_data_available((UInt32)h);
CHECK(10, 5, b, bytes.Length + 4, 0, "serial data available", ct);
recv = new byte[bytes.Length];
b = pigpiodIf.serial_read((UInt32)h, recv);
CHECK(10, 6, b, bytes.Length, 0, "serial read", ct);
recv = recv.Take(b).ToArray();
string text = System.Text.Encoding.UTF8.GetString(recv);
CHECK(10, 7, string.Compare(TEXT, text), 0, 0, "serial read", ct);
b = pigpiodIf.serial_read_byte((UInt32)h);
CHECK(10, 8, b, 0xAA, 0, "serial read byte", ct);
b = pigpiodIf.serial_read_byte((UInt32)h);
CHECK(10, 9, b, 0x55, 0, "serial read byte", ct);
b = pigpiodIf.serial_read_byte((UInt32)h);
CHECK(10, 10, b, 0x00, 0, "serial read byte", ct);
b = pigpiodIf.serial_read_byte((UInt32)h);
CHECK(10, 11, b, 0xFF, 0, "serial read byte", ct);
b = pigpiodIf.serial_data_available((UInt32)h);
CHECK(10, 12, b, 0, 0, "serial data availabe", ct);
e = pigpiodIf.serial_close((UInt32)h);
CHECK(10, 13, e, 0, 0, "serial close", ct);
}
public void t2(PigpiodIf pigpiodIf, CancellationToken ct)
{
PigpiodIf.Callback callback = null;
try
{
int dc, f, r, rr, oc;
Console.WriteLine("\r\nPWM dutycycle/range/frequency tests.");
pigpiodIf.set_PWM_range(GPIO, 255);
pigpiodIf.set_PWM_frequency(GPIO, 0);
f = pigpiodIf.get_PWM_frequency(GPIO);
CHECK(2, 1, f, 10, 0, "set PWM range, set/get PWM frequency", ct);
int t2_count = 0;
callback = pigpiodIf.callback(GPIO, PigpiodIf.EITHER_EDGE, (gpio, level, tick, user) =>
{
t2_count++;
});
pigpiodIf.set_PWM_dutycycle(GPIO, 0);
dc = pigpiodIf.get_PWM_dutycycle(GPIO);
CHECK(2, 2, dc, 0, 0, "get PWM dutycycle", ct);
pigpiodIf.time_sleep(0.5); /* allow old notifications to flush */
oc = t2_count;
pigpiodIf.time_sleep(2);
f = t2_count - oc;
CHECK(2, 3, f, 0, 0, "set PWM dutycycle, callback", ct);
pigpiodIf.set_PWM_dutycycle(GPIO, 128);
dc = pigpiodIf.get_PWM_dutycycle(GPIO);
CHECK(2, 4, dc, 128, 0, "get PWM dutycycle", ct);
pigpiodIf.time_sleep(0.2);
oc = t2_count;
pigpiodIf.time_sleep(2);
f = t2_count - oc;
CHECK(2, 5, f, 40, 5, "set PWM dutycycle, callback", ct);
pigpiodIf.set_PWM_frequency(GPIO, 100);
f = pigpiodIf.get_PWM_frequency(GPIO);
CHECK(2, 6, f, 100, 0, "set/get PWM frequency", ct);
pigpiodIf.time_sleep(0.2);
oc = t2_count;
pigpiodIf.time_sleep(2);
f = t2_count - oc;
CHECK(2, 7, f, 400, 1, "callback", ct);
pigpiodIf.set_PWM_frequency(GPIO, 1000);
f = pigpiodIf.get_PWM_frequency(GPIO);
CHECK(2, 8, f, 1000, 0, "set/get PWM frequency", ct);
pigpiodIf.time_sleep(0.2);
oc = t2_count;
pigpiodIf.time_sleep(2);
f = t2_count - oc;
CHECK(2, 9, f, 4000, 1, "callback", ct);
r = pigpiodIf.get_PWM_range(GPIO);
CHECK(2, 10, r, 255, 0, "get PWM range", ct);
rr = pigpiodIf.get_PWM_real_range(GPIO);
CHECK(2, 11, rr, 200, 0, "get PWM real range", ct);
pigpiodIf.set_PWM_range(GPIO, 2000);
r = pigpiodIf.get_PWM_range(GPIO);
CHECK(2, 12, r, 2000, 0, "set/get PWM range", ct);
rr = pigpiodIf.get_PWM_real_range(GPIO);
CHECK(2, 13, rr, 200, 0, "get PWM real range", ct);
}
finally
{
pigpiodIf.set_PWM_dutycycle(GPIO, 0);
pigpiodIf.callback_cancel(callback);
}
}
public void t9(PigpiodIf pigpiodIf, CancellationToken ct)
{
PigpiodIf.Callback callback = null;
try
{
int s, oc, c, e;
UInt32[] p = new UInt32[10];
Console.WriteLine("\r\nScript store/run/status/stop/delete tests.");
pigpiodIf.gpio_write(GPIO, 0); /* need known state */
/*
* 100 loops per second
* p0 number of loops
* p1 GPIO
*/
string script = @"
ld p9 p0
tag 0
w p1 1
mils 5
w p1 0
mils 5
dcr p9
jp 0";
int t9_count = 0;
callback = pigpiodIf.callback(GPIO, PigpiodIf.RISING_EDGE, (gpio, level, tick, user) =>
{
t9_count++;
});
var bytes = System.Text.Encoding.UTF8.GetBytes(script);
s = pigpiodIf.store_script(bytes);
/* Wait for script to finish initing. */
while (true)
{
pigpiodIf.time_sleep(0.1);
e = pigpiodIf.script_status((UInt32)s, p);
if (e != PigpiodIf.PI_SCRIPT_INITING)
{
break;
}
}
oc = t9_count;
pigpiodIf.run_script((UInt32)s, new UInt32[] { 99, GPIO });
pigpiodIf.time_sleep(2);
c = t9_count - oc;
CHECK(9, 1, c, 100, 0, "store/run script", ct);
oc = t9_count;
pigpiodIf.run_script((UInt32)s, new UInt32[] { 200, GPIO });
while (true)
{
pigpiodIf.time_sleep(0.1);
e = pigpiodIf.script_status((UInt32)s, p);
if (e != PigpiodIf.PI_SCRIPT_RUNNING)
{
break;
}
}
c = t9_count - oc;
pigpiodIf.time_sleep(0.1);
CHECK(9, 2, c, 201, 0, "run script/script status", ct);
oc = t9_count;
pigpiodIf.run_script((UInt32)s, new UInt32[] { 2000, GPIO });
while (true)
{
pigpiodIf.time_sleep(0.1);
e = pigpiodIf.script_status((UInt32)s, p);
if (e != PigpiodIf.PI_SCRIPT_RUNNING)
{
break;
}
if (p[9] < 1600)
{
pigpiodIf.stop_script((UInt32)s);
}
}
c = t9_count - oc;
pigpiodIf.time_sleep(0.1);
CHECK(9, 3, c, 410, 10, "run/stop script/script status", ct);
e = pigpiodIf.delete_script((UInt32)s);
CHECK(9, 4, e, 0, 0, "delete script", ct);
}
finally
{
pigpiodIf.callback_cancel(callback);
}
}
public void t5(PigpiodIf pigpiodIf, CancellationToken ct)
{
PigpiodIf.Callback callback = null;
try
{
int BAUD = 4800;
string TEXT = @"
Now is the winter of our discontent
Made glorious summer by this sun of York;
And all the clouds that lour'd upon our house
In the deep bosom of the ocean buried.
Now are our brows bound with victorious wreaths;
Our bruised arms hung up for monuments;
Our stern alarums changed to merry meetings,
Our dreadful marches to delightful measures.
Grim - visaged war hath smooth'd his wrinkled front;
And now, instead of mounting barded steeds
To fright the souls of fearful adversaries,
He capers nimbly in a lady's chamber
To the lascivious pleasing of a lute.
";
TEXT = TEXT.Replace("\r\n", "\n");
PigpiodIf.GpioPulse[] wf = new PigpiodIf.GpioPulse[]
{
new PigpiodIf.GpioPulse()
{
gpioOn = 1 << GPIO, gpioOff = 0, usDelay = 10000
},
new PigpiodIf.GpioPulse()
{
gpioOn = 0, gpioOff = 1 << GPIO, usDelay = 30000
},
new PigpiodIf.GpioPulse()
{
gpioOn = 1 << GPIO, gpioOff = 0, usDelay = 60000
},
new PigpiodIf.GpioPulse()
{
gpioOn = 0, gpioOff = 1 << GPIO, usDelay = 100000
},
};
int e, oc, c, wid;
byte[] recv = new byte[2048];
Console.WriteLine("\r\nWaveforms & serial read/write tests.");
int t5_count = 0;
callback = pigpiodIf.callback(GPIO, PigpiodIf.FALLING_EDGE, (gpio, level, tick, user) =>
{
t5_count++;
});
pigpiodIf.set_mode(GPIO, PigpiodIf.PI_OUTPUT);
e = pigpiodIf.wave_clear();
CHECK(5, 1, e, 0, 0, "callback, set mode, wave clear", ct);
e = pigpiodIf.wave_add_generic(wf);
CHECK(5, 2, e, 4, 0, "pulse, wave add generic", ct);
wid = pigpiodIf.wave_create();
e = pigpiodIf.wave_send_repeat((UInt32)wid);
if (e < 14)
{
CHECK(5, 3, e, 9, 0, "wave tx repeat", ct);
}
else
{
CHECK(5, 3, e, 19, 0, "wave tx repeat", ct);
}
oc = t5_count;
pigpiodIf.time_sleep(5.05);
c = t5_count - oc;
CHECK(5, 4, c, 50, 2, "callback", ct);
e = pigpiodIf.wave_tx_stop();
CHECK(5, 5, e, 0, 0, "wave tx stop", ct);
e = pigpiodIf.bb_serial_read_open(GPIO, (UInt32)BAUD, 8);
CHECK(5, 6, e, 0, 0, "serial read open", ct);
pigpiodIf.wave_clear();
var bytes = System.Text.Encoding.UTF8.GetBytes(TEXT);
e = pigpiodIf.wave_add_serial(GPIO, (UInt32)BAUD, 8, 2, 5000000, bytes);
CHECK(5, 7, e, 3405, 0, "wave clear, wave add serial", ct);
wid = pigpiodIf.wave_create();
e = pigpiodIf.wave_send_once((UInt32)wid);
if (e < 6964)
{
CHECK(5, 8, e, 6811, 0, "wave tx start", ct);
}
else
{
CHECK(5, 8, e, 7116, 0, "wave tx start", ct);
}
oc = t5_count;
pigpiodIf.time_sleep(3);
c = t5_count - oc;
CHECK(5, 9, c, 0, 0, "callback", ct);
oc = t5_count;
while (pigpiodIf.wave_tx_busy() != 0)
{
pigpiodIf.time_sleep(0.1);
}
pigpiodIf.time_sleep(0.1);
c = t5_count - oc;
CHECK(5, 10, c, 1702, 0, "wave tx busy, callback", ct);
c = pigpiodIf.bb_serial_read(GPIO, recv);
recv = recv.Take(c).ToArray();
string text = System.Text.Encoding.UTF8.GetString(recv);
CHECK(5, 11, string.Compare(TEXT, text), 0, 0, "wave tx busy, serial read", ct);
e = pigpiodIf.bb_serial_read_close(GPIO);
CHECK(5, 12, e, 0, 0, "serial read close", ct);
c = pigpiodIf.wave_get_micros();
CHECK(5, 13, c, 6158148, 0, "wave get micros", ct);
c = pigpiodIf.wave_get_high_micros();
if (c > 6158148)
{
c = 6158148;
}
CHECK(5, 14, c, 6158148, 0, "wave get high micros", ct);
c = pigpiodIf.wave_get_max_micros();
CHECK(5, 15, c, 1800000000, 0, "wave get max micros", ct);
c = pigpiodIf.wave_get_pulses();
CHECK(5, 16, c, 3405, 0, "wave get pulses", ct);
c = pigpiodIf.wave_get_high_pulses();
CHECK(5, 17, c, 3405, 0, "wave get high pulses", ct);
c = pigpiodIf.wave_get_max_pulses();
CHECK(5, 18, c, 12000, 0, "wave get max pulses", ct);
c = pigpiodIf.wave_get_cbs();
if (c < 6963)
{
CHECK(5, 19, c, 6810, 0, "wave get cbs", ct);
}
else
{
CHECK(5, 19, c, 7115, 0, "wave get cbs", ct);
}
c = pigpiodIf.wave_get_high_cbs();
if (c < 6963)
{
CHECK(5, 20, c, 6810, 0, "wave get high cbs", ct);
}
else
{
CHECK(5, 20, c, 7115, 0, "wave get high cbs", ct);
}
c = pigpiodIf.wave_get_max_cbs();
CHECK(5, 21, c, 25016, 0, "wave get max cbs", ct);
}
finally
{
pigpiodIf.callback_cancel(callback);
}
}
public void t3(PigpiodIf pigpiodIf, CancellationToken ct)
{
PigpiodIf.Callback callback = null;
try
{
int[] pw = new int[] { 500, 1500, 2500 };
int[] dc = new int[] { 20, 40, 60, 80 };
int f, rr, v;
float on, off;
int t;
Console.WriteLine("\r\nPWM/Servo pulse accuracy tests.");
int t3_reset = 1;
int t3_count = 0;
UInt32 t3_tick = 0;
float t3_on = 0.0f;
float t3_off = 0.0f;
callback = pigpiodIf.callback(GPIO, PigpiodIf.EITHER_EDGE, (gpio, level, tick, user) =>
{
UInt32 td;
//Console.WriteLine("pi={0} g{1} l={2} t={3}", pi, gpio, level, tick);
if (t3_reset != 0)
{
t3_count = 0;
t3_on = 0.0f;
t3_off = 0.0f;
t3_reset = 0;
}
else
{
td = tick - t3_tick;
if (level == 0)
{
t3_on += td;
}
else
{
t3_off += td;
}
}
t3_count++;
t3_tick = tick;
});
for (t = 0; t < 3; t++)
{
pigpiodIf.set_servo_pulsewidth(GPIO, (UInt32)pw[t]);
v = pigpiodIf.get_servo_pulsewidth(GPIO);
CHECK(3, t + t + 1, v, pw[t], 0, "get servo pulsewidth", ct);
pigpiodIf.time_sleep(1);
t3_reset = 1;
pigpiodIf.time_sleep(4);
on = t3_on;
off = t3_off;
CHECK(3, t + t + 2, (int)((1000.0 * (on + off)) / on), (int)(20000000.0 / pw[t]), 1,
"set servo pulsewidth", ct);
}
pigpiodIf.set_servo_pulsewidth(GPIO, 0);
pigpiodIf.set_PWM_frequency(GPIO, 1000);
f = pigpiodIf.get_PWM_frequency(GPIO);
CHECK(3, 7, f, 1000, 0, "set/get PWM frequency", ct);
rr = pigpiodIf.set_PWM_range(GPIO, 100);
CHECK(3, 8, rr, 200, 0, "set PWM range", ct);
for (t = 0; t < 4; t++)
{
pigpiodIf.set_PWM_dutycycle(GPIO, (UInt32)dc[t]);
v = pigpiodIf.get_PWM_dutycycle(GPIO);
CHECK(3, t + t + 9, v, dc[t], 0, "get PWM dutycycle", ct);
pigpiodIf.time_sleep(1);
t3_reset = 1;
pigpiodIf.time_sleep(2);
on = t3_on;
off = t3_off;
CHECK(3, t + t + 10, (int)((1000.0 * on) / (on + off)), (int)(10.0 * dc[t]), 1,
"set PWM dutycycle", ct);
}
}
finally
{
pigpiodIf.set_PWM_dutycycle(GPIO, 0);
pigpiodIf.callback_cancel(callback);
}
}
