diff --git a/shredder/asterix-pp/.gitignore b/shredder/asterix-pp/.gitignore new file mode 100644 index 0000000..9fd7afe --- /dev/null +++ b/shredder/asterix-pp/.gitignore @@ -0,0 +1,3 @@ +src +node_modules +package-lock.json \ No newline at end of file diff --git a/shredder/asterix-pp/License.txt b/shredder/asterix-pp/License.txt new file mode 100644 index 0000000..4cb8437 --- /dev/null +++ b/shredder/asterix-pp/License.txt @@ -0,0 +1,199 @@ +CERN Open Hardware Licence Version 2 - Permissive + + +Preamble + +CERN has developed this licence to promote collaboration among +hardware designers and to provide a legal tool which supports the +freedom to use, study, modify, share and distribute hardware designs +and products based on those designs. Version 2 of the CERN Open +Hardware Licence comes in three variants: this licence, CERN-OHL-P +(permissive); and two reciprocal licences: CERN-OHL-W (weakly +reciprocal) and CERN-OHL-S (strongly reciprocal). + +The CERN-OHL-P is copyright CERN 2020. Anyone is welcome to use it, in +unmodified form only. + +Use of this Licence does not imply any endorsement by CERN of any +Licensor or their designs nor does it imply any involvement by CERN in +their development. + + +1 Definitions + + 1.1 'Licence' means this CERN-OHL-P. + + 1.2 'Source' means information such as design materials or digital + code which can be applied to Make or test a Product or to + prepare a Product for use, Conveyance or sale, regardless of its + medium or how it is expressed. It may include Notices. + + 1.3 'Covered Source' means Source that is explicitly made available + under this Licence. + + 1.4 'Product' means any device, component, work or physical object, + whether in finished or intermediate form, arising from the use, + application or processing of Covered Source. + + 1.5 'Make' means to create or configure something, whether by + manufacture, assembly, compiling, loading or applying Covered + Source or another Product or otherwise. + + 1.6 'Notice' means copyright, acknowledgement and trademark notices, + references to the location of any Notices, modification notices + (subsection 3.3(b)) and all notices that refer to this Licence + and to the disclaimer of warranties that are included in the + Covered Source. + + 1.7 'Licensee' or 'You' means any person exercising rights under + this Licence. + + 1.8 'Licensor' means a person who creates Source or modifies Covered + Source and subsequently Conveys the resulting Covered Source + under the terms and conditions of this Licence. A person may be + a Licensee and a Licensor at the same time. + + 1.9 'Convey' means to communicate to the public or distribute. + + +2 Applicability + + 2.1 This Licence governs the use, copying, modification, Conveying + of Covered Source and Products, and the Making of Products. By + exercising any right granted under this Licence, You irrevocably + accept these terms and conditions. + + 2.2 This Licence is granted by the Licensor directly to You, and + shall apply worldwide and without limitation in time. + + 2.3 You shall not attempt to restrict by contract or otherwise the + rights granted under this Licence to other Licensees. + + 2.4 This Licence is not intended to restrict fair use, fair dealing, + or any other similar right. + + +3 Copying, Modifying and Conveying Covered Source + + 3.1 You may copy and Convey verbatim copies of Covered Source, in + any medium, provided You retain all Notices. + + 3.2 You may modify Covered Source, other than Notices. + + You may only delete Notices if they are no longer applicable to + the corresponding Covered Source as modified by You and You may + add additional Notices applicable to Your modifications. + + 3.3 You may Convey modified Covered Source (with the effect that You + shall also become a Licensor) provided that You: + + a) retain Notices as required in subsection 3.2; and + + b) add a Notice to the modified Covered Source stating that You + have modified it, with the date and brief description of how + You have modified it. + + 3.4 You may Convey Covered Source or modified Covered Source under + licence terms which differ from the terms of this Licence + provided that: + + a) You comply at all times with subsection 3.3; and + + b) You provide a copy of this Licence to anyone to whom You + Convey Covered Source or modified Covered Source. + + +4 Making and Conveying Products + +You may Make Products, and/or Convey them, provided that You ensure +that the recipient of the Product has access to any Notices applicable +to the Product. + + +5 DISCLAIMER AND LIABILITY + + 5.1 DISCLAIMER OF WARRANTY -- The Covered Source and any Products + are provided 'as is' and any express or implied warranties, + including, but not limited to, implied warranties of + merchantability, of satisfactory quality, non-infringement of + third party rights, and fitness for a particular purpose or use + are disclaimed in respect of any Source or Product to the + maximum extent permitted by law. The Licensor makes no + representation that any Source or Product does not or will not + infringe any patent, copyright, trade secret or other + proprietary right. The entire risk as to the use, quality, and + performance of any Source or Product shall be with You and not + the Licensor. This disclaimer of warranty is an essential part + of this Licence and a condition for the grant of any rights + granted under this Licence. + + 5.2 EXCLUSION AND LIMITATION OF LIABILITY -- The Licensor shall, to + the maximum extent permitted by law, have no liability for + direct, indirect, special, incidental, consequential, exemplary, + punitive or other damages of any character including, without + limitation, procurement of substitute goods or services, loss of + use, data or profits, or business interruption, however caused + and on any theory of contract, warranty, tort (including + negligence), product liability or otherwise, arising in any way + in relation to the Covered Source, modified Covered Source + and/or the Making or Conveyance of a Product, even if advised of + the possibility of such damages, and You shall hold the + Licensor(s) free and harmless from any liability, costs, + damages, fees and expenses, including claims by third parties, + in relation to such use. + + +6 Patents + + 6.1 Subject to the terms and conditions of this Licence, each + Licensor hereby grants to You a perpetual, worldwide, + non-exclusive, no-charge, royalty-free, irrevocable (except as + stated in this section 6, or where terminated by the Licensor + for cause) patent license to Make, have Made, use, offer to + sell, sell, import, and otherwise transfer the Covered Source + and Products, where such licence applies only to those patent + claims licensable by such Licensor that are necessarily + infringed by exercising rights under the Covered Source as + Conveyed by that Licensor. + + 6.2 If You institute patent litigation against any entity (including + a cross-claim or counterclaim in a lawsuit) alleging that the + Covered Source or a Product constitutes direct or contributory + patent infringement, or You seek any declaration that a patent + licensed to You under this Licence is invalid or unenforceable + then any rights granted to You under this Licence shall + terminate as of the date such process is initiated. + + +7 General + + 7.1 If any provisions of this Licence are or subsequently become + invalid or unenforceable for any reason, the remaining + provisions shall remain effective. + + 7.2 You shall not use any of the name (including acronyms and + abbreviations), image, or logo by which the Licensor or CERN is + known, except where needed to comply with section 3, or where + the use is otherwise allowed by law. Any such permitted use + shall be factual and shall not be made so as to suggest any kind + of endorsement or implication of involvement by the Licensor or + its personnel. + + 7.3 CERN may publish updated versions and variants of this Licence + which it considers to be in the spirit of this version, but may + differ in detail to address new problems or concerns. New + versions will be published with a unique version number and a + variant identifier specifying the variant. If the Licensor has + specified that a given variant applies to the Covered Source + without specifying a version, You may treat that Covered Source + as being released under any version of the CERN-OHL with that + variant. If no variant is specified, the Covered Source shall be + treated as being released under CERN-OHL-S. The Licensor may + also specify that the Covered Source is subject to a specific + version of the CERN-OHL or any later version in which case You + may apply this or any later version of CERN-OHL with the same + variant identifier published by CERN. + + 7.4 This Licence shall not be enforceable except by a Licensor + acting as such, and third party beneficiary rights are + specifically excluded. diff --git a/shredder/asterix-pp/cad/AsterixGlobal.jpg b/shredder/asterix-pp/cad/AsterixGlobal.jpg new file mode 100644 index 0000000..6978bbe --- /dev/null +++ b/shredder/asterix-pp/cad/AsterixGlobal.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bb5599d39699896ae6ae6d42b6ec7505bc57077c91da545ec386f2223a7a856 +size 856314 diff --git a/shredder/asterix-pp/cad/AsterixGlobal.pdf b/shredder/asterix-pp/cad/AsterixGlobal.pdf new file mode 100644 index 0000000..136e2fe --- /dev/null +++ b/shredder/asterix-pp/cad/AsterixGlobal.pdf @@ -0,0 +1,3 @@ +version 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/dev/null +++ b/shredder/asterix-pp/cad_last/table/600_Fence.pdf @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eaf8da2a0273ba08f1f224ff528ce09d476802c0813b0a741217654a17ca8272 +size 228460 diff --git a/shredder/asterix-pp/cad_last/table/600_Fence.step b/shredder/asterix-pp/cad_last/table/600_Fence.step new file mode 100644 index 0000000..97881d5 --- /dev/null +++ b/shredder/asterix-pp/cad_last/table/600_Fence.step @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:205f7f9782f5598ecb2bfa321660f8921f23c85144a460a1c007a77101f11fbd +size 45930 diff --git a/shredder/asterix-pp/config.yaml b/shredder/asterix-pp/config.yaml new file mode 100644 index 0000000..dccf470 --- /dev/null +++ b/shredder/asterix-pp/config.yaml @@ -0,0 +1,8 @@ +product_id: asterix-pp +preview: ${product_preview} +_buy: "mailto:sales@plastic-hub.com?subject=Inquiry%20-%20${slug}" +teaser: "Autonomous Vending Bottle Shredder" +products: false +overview_drawing: true +featuresText: true +hide: true diff --git a/shredder/asterix-pp/firmware/.gitignore b/shredder/asterix-pp/firmware/.gitignore new file mode 100644 index 0000000..5b8b417 --- /dev/null +++ b/shredder/asterix-pp/firmware/.gitignore @@ -0,0 +1,5 @@ +Debug +src +__vm +.vs +node_modules diff --git a/shredder/asterix-pp/firmware/AccelStepper.cpp b/shredder/asterix-pp/firmware/AccelStepper.cpp new file mode 100644 index 0000000..3868760 --- /dev/null +++ b/shredder/asterix-pp/firmware/AccelStepper.cpp @@ -0,0 +1,656 @@ +// AccelStepper.cpp +// +// Copyright (C) 2009-2013 Mike McCauley +// $Id: AccelStepper.cpp,v 1.23 2016/08/09 00:39:10 mikem Exp $ + +#include "AccelStepper.h" +// #include // include the fast I/O 2 functions + +#if 0 +// Some debugging assistance +void dump(uint8_t* p, int l) +{ + int i; + + for (i = 0; i < l; i++) + { + Serial.print(p[i], HEX); + Serial.print(" "); + } + Serial.println(""); +} +#endif + +void AccelStepper::moveTo(long absolute) +{ + if (_targetPos != absolute) + { + _targetPos = absolute; + computeNewSpeed(); + // compute new n? + } +} + +void AccelStepper::move(long relative) +{ + moveTo(_currentPos + relative); +} + +// Implements steps according to the current step interval +// You must call this at least once per step +// returns true if a step occurred +boolean AccelStepper::runSpeed() +{ + // Dont do anything unless we actually have a step interval + if (!_stepInterval) + return false; + + unsigned long time = micros(); + if (time - _lastStepTime >= _stepInterval) + { + if (_direction == DIRECTION_CW) + { + // Clockwise + _currentPos += 1; + } + else + { + // Anticlockwise + _currentPos -= 1; + } + step(_currentPos); + + _lastStepTime = time; // Caution: does not account for costs in step() + + return true; + } + else + { + return false; + } +} + +long AccelStepper::distanceToGo() +{ + return _targetPos - _currentPos; +} + +long AccelStepper::targetPosition() +{ + return _targetPos; +} + +long AccelStepper::currentPosition() +{ + return _currentPos; +} + +// Useful during initialisations or after initial positioning +// Sets speed to 0 +void AccelStepper::setCurrentPosition(long position) +{ + _targetPos = _currentPos = position; + _n = 0; + _stepInterval = 0; + _speed = 0.0; +} + +void AccelStepper::computeNewSpeed() +{ + long distanceTo = distanceToGo(); // +ve is clockwise from curent location + + long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16 + + if (distanceTo == 0 && stepsToStop <= 1) + { + // We are at the target and its time to stop + _stepInterval = 0; + _speed = 0.0; + _n = 0; + return; + } + + if (distanceTo > 0) + { + // We are anticlockwise from the target + // Need to go clockwise from here, maybe decelerate now + if (_n > 0) + { + // Currently accelerating, need to decel now? Or maybe going the wrong way? + if ((stepsToStop >= distanceTo) || _direction == DIRECTION_CCW) + _n = -stepsToStop; // Start deceleration + } + else if (_n < 0) + { + // Currently decelerating, need to accel again? + if ((stepsToStop < distanceTo) && _direction == DIRECTION_CW) + _n = -_n; // Start accceleration + } + } + else if (distanceTo < 0) + { + // We are clockwise from the target + // Need to go anticlockwise from here, maybe decelerate + if (_n > 0) + { + // Currently accelerating, need to decel now? Or maybe going the wrong way? + if ((stepsToStop >= -distanceTo) || _direction == DIRECTION_CW) + _n = -stepsToStop; // Start deceleration + } + else if (_n < 0) + { + // Currently decelerating, need to accel again? + if ((stepsToStop < -distanceTo) && _direction == DIRECTION_CCW) + _n = -_n; // Start accceleration + } + } + + // Need to accelerate or decelerate + if (_n == 0) + { + // First step from stopped + _cn = _c0; + _direction = (distanceTo > 0) ? DIRECTION_CW : DIRECTION_CCW; + } + else + { + // Subsequent step. Works for accel (n is +_ve) and decel (n is -ve). + _cn = _cn - ((2.0 * _cn) / ((4.0 * _n) + 1)); // Equation 13 + _cn = max(_cn, _cmin); + } + _n++; + _stepInterval = _cn; + _speed = 1000000.0 / _cn; + if (_direction == DIRECTION_CCW) + _speed = -_speed; + +#if 0 + Serial.println(_speed); + Serial.println(_acceleration); + Serial.println(_cn); + Serial.println(_c0); + Serial.println(_n); + Serial.println(_stepInterval); + Serial.println(distanceTo); + Serial.println(stepsToStop); + Serial.println("-----"); +#endif +} + +// Run the motor to implement speed and acceleration in order to proceed to the target position +// You must call this at least once per step, preferably in your main loop +// If the motor is in the desired position, the cost is very small +// returns true if the motor is still running to the target position. +boolean AccelStepper::run() +{ + if (runSpeed()) + computeNewSpeed(); + return _speed != 0.0 || distanceToGo() != 0; +} + +AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable) +{ + _interface = interface; + _currentPos = 0; + _targetPos = 0; + _speed = 0.0; + _maxSpeed = 1.0; + _acceleration = 0.0; + _sqrt_twoa = 1.0; + _stepInterval = 0; + _minPulseWidth = 1; + _enablePin = 0xff; + _lastStepTime = 0; + _pin[0] = pin1; + _pin[1] = pin2; + _pin[2] = pin3; + _pin[3] = pin4; + _enableInverted = false; + + // NEW + _n = 0; + _c0 = 0.0; + _cn = 0.0; + _cmin = 1.0; + _direction = DIRECTION_CCW; + + int i; + for (i = 0; i < 4; i++) + _pinInverted[i] = 0; + if (enable) + enableOutputs(); + // Some reasonable default + setAcceleration(1); +} + +AccelStepper::AccelStepper(void (*forward)(), void (*backward)()) +{ + _interface = 0; + _currentPos = 0; + _targetPos = 0; + _speed = 0.0; + _maxSpeed = 1.0; + _acceleration = 0.0; + _sqrt_twoa = 1.0; + _stepInterval = 0; + _minPulseWidth = 1; + _enablePin = 0xff; + _lastStepTime = 0; + _pin[0] = 0; + _pin[1] = 0; + _pin[2] = 0; + _pin[3] = 0; + _forward = forward; + _backward = backward; + + // NEW + _n = 0; + _c0 = 0.0; + _cn = 0.0; + _cmin = 1.0; + _direction = DIRECTION_CCW; + + int i; + for (i = 0; i < 4; i++) + _pinInverted[i] = 0; + // Some reasonable default + setAcceleration(1); +} + +void AccelStepper::setMaxSpeed(float speed) +{ + if (speed < 0.0) + speed = -speed; + if (_maxSpeed != speed) + { + _maxSpeed = speed; + _cmin = 1000000.0 / speed; + // Recompute _n from current speed and adjust speed if accelerating or cruising + if (_n > 0) + { + _n = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16 + computeNewSpeed(); + } + } +} + +float AccelStepper::maxSpeed() +{ + return _maxSpeed; +} + +void AccelStepper::setAcceleration(float acceleration) +{ + if (acceleration == 0.0) + return; + if (acceleration < 0.0) + acceleration = -acceleration; + if (_acceleration != acceleration) + { + // Recompute _n per Equation 17 + _n = _n * (_acceleration / acceleration); + // New c0 per Equation 7, with correction per Equation 15 + _c0 = 0.676 * sqrt(2.0 / acceleration) * 1000000.0; // Equation 15 + _acceleration = acceleration; + computeNewSpeed(); + } +} + +void AccelStepper::setSpeed(float speed) +{ + if (speed == _speed) + return; + speed = constrain(speed, -_maxSpeed, _maxSpeed); + if (speed == 0.0) + _stepInterval = 0; + else + { + _stepInterval = fabs(1000000.0 / speed); + _direction = (speed > 0.0) ? DIRECTION_CW : DIRECTION_CCW; + } + _speed = speed; +} + +float AccelStepper::speed() +{ + return _speed; +} + +// Subclasses can override +void AccelStepper::step(long step) +{ + switch (_interface) + { + case FUNCTION: + step0(step); + break; + + case DRIVER: + step1(step); + break; + + case FULL2WIRE: + step2(step); + break; + + case FULL3WIRE: + step3(step); + break; + + case FULL4WIRE: + step4(step); + break; + + case HALF3WIRE: + step6(step); + break; + + case HALF4WIRE: + step8(step); + break; + } +} + +// You might want to override this to implement eg serial output +// bit 0 of the mask corresponds to _pin[0] +// bit 1 of the mask corresponds to _pin[1] +// .... +void AccelStepper::setOutputPins(uint8_t mask) +{ + uint8_t numpins = 2; + if (_interface == FULL4WIRE || _interface == HALF4WIRE) + numpins = 4; + else if (_interface == FULL3WIRE || _interface == HALF3WIRE) + numpins = 3; + uint8_t i; + for (i = 0; i < numpins; i++) + { + digitalWrite(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i])); + //digitalWrite2(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i])); + // FastGPIO::Pin<_pin[i]>::setOutput((mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i])); + // WRITE(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i])); + } +} + +// 0 pin step function (ie for functional usage) +void AccelStepper::step0(long step) +{ + (void)(step); // Unused + if (_speed > 0) + _forward(); + else + _backward(); +} + +// 1 pin step function (ie for stepper drivers) +// This is passed the current step number (0 to 7) +// Subclasses can override +void AccelStepper::step1(long step) +{ + (void)(step); // Unused + + // _pin[0] is step, _pin[1] is direction + setOutputPins(_direction ? 0b10 : 0b00); // Set direction first else get rogue pulses + setOutputPins(_direction ? 0b11 : 0b01); // step HIGH + // Caution 200ns setup time + // Delay the minimum allowed pulse width + delayMicroseconds(_minPulseWidth); + setOutputPins(_direction ? 0b10 : 0b00); // step LOW +} + +// 2 pin step function +// This is passed the current step number (0 to 7) +// Subclasses can override +void AccelStepper::step2(long step) +{ + switch (step & 0x3) + { + case 0: /* 01 */ + setOutputPins(0b10); + break; + + case 1: /* 11 */ + setOutputPins(0b11); + break; + + case 2: /* 10 */ + setOutputPins(0b01); + break; + + case 3: /* 00 */ + setOutputPins(0b00); + break; + } +} +// 3 pin step function +// This is passed the current step number (0 to 7) +// Subclasses can override +void AccelStepper::step3(long step) +{ + switch (step % 3) + { + case 0: // 100 + setOutputPins(0b100); + break; + + case 1: // 001 + setOutputPins(0b001); + break; + + case 2: //010 + setOutputPins(0b010); + break; + } +} + +// 4 pin step function for half stepper +// This is passed the current step number (0 to 7) +// Subclasses can override +void AccelStepper::step4(long step) +{ + switch (step & 0x3) + { + case 0: // 1010 + setOutputPins(0b0101); + break; + + case 1: // 0110 + setOutputPins(0b0110); + break; + + case 2: //0101 + setOutputPins(0b1010); + break; + + case 3: //1001 + setOutputPins(0b1001); + break; + } +} + +// 3 pin half step function +// This is passed the current step number (0 to 7) +// Subclasses can override +void AccelStepper::step6(long step) +{ + switch (step % 6) + { + case 0: // 100 + setOutputPins(0b100); + break; + + case 1: // 101 + setOutputPins(0b101); + break; + + case 2: // 001 + setOutputPins(0b001); + break; + + case 3: // 011 + setOutputPins(0b011); + break; + + case 4: // 010 + setOutputPins(0b010); + break; + + case 5: // 011 + setOutputPins(0b110); + break; + } +} + +// 4 pin half step function +// This is passed the current step number (0 to 7) +// Subclasses can override +void AccelStepper::step8(long step) +{ + switch (step & 0x7) + { + case 0: // 1000 + setOutputPins(0b0001); + break; + + case 1: // 1010 + setOutputPins(0b0101); + break; + + case 2: // 0010 + setOutputPins(0b0100); + break; + + case 3: // 0110 + setOutputPins(0b0110); + break; + + case 4: // 0100 + setOutputPins(0b0010); + break; + + case 5: //0101 + setOutputPins(0b1010); + break; + + case 6: // 0001 + setOutputPins(0b1000); + break; + + case 7: //1001 + setOutputPins(0b1001); + break; + } +} + +// Prevents power consumption on the outputs +void AccelStepper::disableOutputs() +{ + if (!_interface) + return; + + setOutputPins(0); // Handles inversion automatically + if (_enablePin != 0xff) + { + pinMode(_enablePin, OUTPUT); + digitalWrite(_enablePin, LOW ^ _enableInverted); + } +} + +void AccelStepper::enableOutputs() +{ + if (!_interface) + return; + + pinMode(_pin[0], OUTPUT); + pinMode(_pin[1], OUTPUT); + if (_interface == FULL4WIRE || _interface == HALF4WIRE) + { + pinMode(_pin[2], OUTPUT); + pinMode(_pin[3], OUTPUT); + } + else if (_interface == FULL3WIRE || _interface == HALF3WIRE) + { + pinMode(_pin[2], OUTPUT); + } + + if (_enablePin != 0xff) + { + pinMode(_enablePin, OUTPUT); + digitalWrite(_enablePin, HIGH ^ _enableInverted); + } +} + +void AccelStepper::setMinPulseWidth(unsigned int minWidth) +{ + _minPulseWidth = minWidth; +} + +void AccelStepper::setEnablePin(uint8_t enablePin) +{ + _enablePin = enablePin; + + // This happens after construction, so init pin now. + if (_enablePin != 0xff) + { + pinMode(_enablePin, OUTPUT); + digitalWrite(_enablePin, HIGH ^ _enableInverted); + } +} + +void AccelStepper::setPinsInverted(bool directionInvert, bool stepInvert, bool enableInvert) +{ + _pinInverted[0] = stepInvert; + _pinInverted[1] = directionInvert; + _enableInverted = enableInvert; +} + +void AccelStepper::setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert) +{ + _pinInverted[0] = pin1Invert; + _pinInverted[1] = pin2Invert; + _pinInverted[2] = pin3Invert; + _pinInverted[3] = pin4Invert; + _enableInverted = enableInvert; +} + +// Blocks until the target position is reached and stopped +void AccelStepper::runToPosition() +{ + while (run()) + ; +} + +boolean AccelStepper::runSpeedToPosition() +{ + if (_targetPos == _currentPos) + return false; + if (_targetPos > _currentPos) + _direction = DIRECTION_CW; + else + _direction = DIRECTION_CCW; + return runSpeed(); +} + +// Blocks until the new target position is reached +void AccelStepper::runToNewPosition(long position) +{ + moveTo(position); + runToPosition(); +} + +void AccelStepper::stop() +{ + if (_speed != 0.0) + { + long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)) + 1; // Equation 16 (+integer rounding) + if (_speed > 0) + move(stepsToStop); + else + move(-stepsToStop); + } +} + +bool AccelStepper::isRunning() +{ + return !(_speed == 0.0 && _targetPos == _currentPos); +} diff --git a/shredder/asterix-pp/firmware/AccelStepper.h b/shredder/asterix-pp/firmware/AccelStepper.h new file mode 100644 index 0000000..84c738c --- /dev/null +++ b/shredder/asterix-pp/firmware/AccelStepper.h @@ -0,0 +1,730 @@ +// AccelStepper.h +// +/// \mainpage AccelStepper library for Arduino +/// +/// This is the Arduino AccelStepper library. +/// It provides an object-oriented interface for 2, 3 or 4 pin stepper motors and motor drivers. +/// +/// The standard Arduino IDE includes the Stepper library +/// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is +/// perfectly adequate for simple, single motor applications. +/// +/// AccelStepper significantly improves on the standard Arduino Stepper library in several ways: +/// \li Supports acceleration and deceleration +/// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper +/// \li API functions never delay() or block +/// \li Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers. +/// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library) +/// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip) +/// \li Very slow speeds are supported +/// \li Extensive API +/// \li Subclass support +/// +/// The latest version of this documentation can be downloaded from +/// http://www.airspayce.com/mikem/arduino/AccelStepper +/// The version of the package that this documentation refers to can be downloaded +/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.58.zip +/// +/// Example Arduino programs are included to show the main modes of use. +/// +/// You can also find online help and discussion at http://groups.google.com/group/accelstepper +/// Please use that group for all questions and discussions on this topic. +/// Do not contact the author directly, unless it is to discuss commercial licensing. +/// Before asking a question or reporting a bug, please read +/// - http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question +/// - http://www.catb.org/esr/faqs/smart-questions.html +/// - http://www.chiark.greenend.org.uk/~shgtatham/bugs.html +/// +/// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021 +/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15, +/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5. +/// Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with +/// teensyduino addon 1.18 and later. +/// +/// \par Installation +/// +/// Install in the usual way: unzip the distribution zip file to the libraries +/// sub-folder of your sketchbook. +/// +/// \par Theory +/// +/// This code uses speed calculations as described in +/// "Generate stepper-motor speed profiles in real time" by David Austin +/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf or +/// http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time or +/// http://web.archive.org/web/20140705143928/http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf +/// with the exception that AccelStepper uses steps per second rather than radians per second +/// (because we dont know the step angle of the motor) +/// An initial step interval is calculated for the first step, based on the desired acceleration +/// On subsequent steps, shorter step intervals are calculated based +/// on the previous step until max speed is achieved. +/// +/// \par Adafruit Motor Shield V2 +/// +/// The included examples AFMotor_* are for Adafruit Motor Shield V1 and do not work with Adafruit Motor Shield V2. +/// See https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library for examples that work with Adafruit Motor Shield V2. +/// +/// \par Donations +/// +/// This library is offered under a free GPL license for those who want to use it that way. +/// We try hard to keep it up to date, fix bugs +/// and to provide free support. If this library has helped you save time or money, please consider donating at +/// http://www.airspayce.com or here: +/// +/// \htmlonly
\endhtmlonly +/// +/// \par Trademarks +/// +/// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for +/// international trade, and is used only in relation to motor control hardware and software. +/// It is not to be confused with any other similar marks covering other goods and services. +/// +/// \par Copyright +/// +/// This software is Copyright (C) 2010 Mike McCauley. Use is subject to license +/// conditions. The main licensing options available are GPL V2 or Commercial: +/// +/// \par Open Source Licensing GPL V2 +/// This is the appropriate option if you want to share the source code of your +/// application with everyone you distribute it to, and you also want to give them +/// the right to share who uses it. If you wish to use this software under Open +/// Source Licensing, you must contribute all your source code to the open source +/// community in accordance with the GPL Version 2 when your application is +/// distributed. See https://www.gnu.org/licenses/gpl-2.0.html +/// +/// \par Commercial Licensing +/// This is the appropriate option if you are creating proprietary applications +/// and you are not prepared to distribute and share the source code of your +/// application. Purchase commercial licenses at http://airspayce.binpress.com/ +/// +/// \par Revision History +/// \version 1.0 Initial release +/// +/// \version 1.1 Added speed() function to get the current speed. +/// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt. +/// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1 +/// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches. +/// \version 1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements +/// to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width. +/// Added checks for already running at max speed and skip further calcs if so. +/// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang. +/// Reported by Sandy Noble. +/// Removed redundant _lastRunTime member. +/// \version 1.7 Fixed a bug where setCurrentPosition() did not always work as expected. +/// Reported by Peter Linhart. +/// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon +/// \version 1.9 setCurrentPosition() now also sets motor speed to 0. +/// \version 1.10 Builds on Arduino 1.0 +/// \version 1.11 Improvments from Michael Ellison: +/// Added optional enable line support for stepper drivers +/// Added inversion for step/direction/enable lines for stepper drivers +/// \version 1.12 Announce Google Group +/// \version 1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case, +/// and more or less constant in all cases. This should result in slightly beter high speed performance, and +/// reduce anomalous speed glitches when other steppers are accelerating. +/// However, its hard to see how to replace the sqrt() required at the very first step from 0 speed. +/// \version 1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan +/// \version 1.15 Fixed a problem with runSpeedToPosition which did not correctly handle +/// running backwards to a smaller target position. Added examples +/// \version 1.16 Fixed some cases in the code where abs() was used instead of fabs(). +/// \version 1.17 Added example ProportionalControl +/// \version 1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps +/// without counting. reported by Friedrich, Klappenbach. +/// \version 1.19 Added MotorInterfaceType and symbolic names for the number of pins to use +/// for the motor interface. Updated examples to suit. +/// Replaced individual pin assignment variables _pin1, _pin2 etc with array _pin[4]. +/// _pins member changed to _interface. +/// Added _pinInverted array to simplify pin inversion operations. +/// Added new function setOutputPins() which sets the motor output pins. +/// It can be overridden in order to provide, say, serial output instead of parallel output +/// Some refactoring and code size reduction. +/// \version 1.20 Improved documentation and examples to show need for correctly +/// specifying AccelStepper::FULL4WIRE and friends. +/// \version 1.21 Fixed a problem where desiredSpeed could compute the wrong step acceleration +/// when _speed was small but non-zero. Reported by Brian Schmalz. +/// Precompute sqrt_twoa to improve performance and max possible stepping speed +/// \version 1.22 Added Bounce.pde example +/// Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more +/// frequently than the step time, even +/// with the same values, would interfere with speed calcs. Now a new speed is computed +/// only if there was a change in the set value. Reported by Brian Schmalz. +/// \version 1.23 Rewrite of the speed algorithms in line with +/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf +/// Now expect smoother and more linear accelerations and decelerations. The desiredSpeed() +/// function was removed. +/// \version 1.24 Fixed a problem introduced in 1.23: with runToPosition, which did never returned +/// \version 1.25 Now ignore attempts to set acceleration to 0.0 +/// \version 1.26 Fixed a problem where certina combinations of speed and accelration could cause +/// oscillation about the target position. +/// \version 1.27 Added stop() function to stop as fast as possible with current acceleration parameters. +/// Also added new Quickstop example showing its use. +/// \version 1.28 Fixed another problem where certain combinations of speed and accelration could cause +/// oscillation about the target position. +/// Added support for 3 wire full and half steppers such as Hard Disk Drive spindle. +/// Contributed by Yuri Ivatchkovitch. +/// \version 1.29 Fixed a problem that could cause a DRIVER stepper to continually step +/// with some sketches. Reported by Vadim. +/// \version 1.30 Fixed a problem that could cause stepper to back up a few steps at the end of +/// accelerated travel with certain speeds. Reported and patched by jolo. +/// \version 1.31 Updated author and distribution location details to airspayce.com +/// \version 1.32 Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that +/// prevented the enable pin changing stae correctly. Reported by Duane Bishop. +/// \version 1.33 Fixed an error in example AFMotor_ConstantSpeed.pde did not setMaxSpeed(); +/// Fixed a problem that caused incorrect pin sequencing of FULL3WIRE and HALF3WIRE. +/// Unfortunately this meant changing the signature for all step*() functions. +/// Added example MotorShield, showing how to use AdaFruit Motor Shield to control +/// a 3 phase motor such as a HDD spindle motor (and without using the AFMotor library. +/// \version 1.34 Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert) +/// to allow inversion of 2, 3 and 4 wire stepper pins. Requested by Oleg. +/// \version 1.35 Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with +/// setPinsInverted(bool, bool, bool). Reported by Mac Mac. +/// \version 1.36 Changed enableOutputs() and disableOutputs() to be virtual so can be overridden. +/// Added new optional argument 'enable' to constructor, which allows you toi disable the +/// automatic enabling of outputs at construction time. Suggested by Guido. +/// \version 1.37 Fixed a problem with step1 that could cause a rogue step in the +/// wrong direction (or not, +/// depending on the setup-time requirements of the connected hardware). +/// Reported by Mark Tillotson. +/// \version 1.38 run() function incorrectly always returned true. Updated function and doc so it returns true +/// if the motor is still running to the target position. +/// \version 1.39 Updated typos in keywords.txt, courtesey Jon Magill. +/// \version 1.40 Updated documentation, including testing on Teensy 3.1 +/// \version 1.41 Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value +/// \version 1.42 Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original +/// contribution but did not make it into production.
+/// \version 1.43 Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the +/// Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.
+/// \version 1.44 examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde +/// was missing from the distribution.
+/// \version 1.45 Fixed a problem where if setAcceleration was not called, there was no default +/// acceleration. Reported by Michael Newman.
+/// \version 1.45 Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.
+/// Performance improvements in runSpeed suggested by Jaakko Fagerlund.
+/// \version 1.46 Fixed error in documentation for runToPosition(). +/// Reinstated time calculations in runSpeed() since new version is reported +/// not to work correctly under some circumstances. Reported by Oleg V Gavva.
+/// \version 1.48 2015-08-25 +/// Added new class MultiStepper that can manage multiple AccelSteppers, +/// and cause them all to move +/// to selected positions at such a (constant) speed that they all arrive at their +/// target position at the same time. Suitable for X-Y flatbeds etc.
+/// Added new method maxSpeed() to AccelStepper to return the currently configured maxSpeed.
+/// \version 1.49 2016-01-02 +/// Testing with VID28 series instrument stepper motors and EasyDriver. +/// OK, although with light pointers +/// and slow speeds like 180 full steps per second the motor movement can be erratic, +/// probably due to some mechanical resonance. Best to accelerate through this speed.
+/// Added isRunning().
+/// \version 1.50 2016-02-25 +/// AccelStepper::disableOutputs now sets the enable pion to OUTPUT mode if the enable pin is defined. +/// Patch from Piet De Jong.
+/// Added notes about the fact that AFMotor_* examples do not work with Adafruit Motor Shield V2.
+/// \version 1.51 2016-03-24 +/// Fixed a problem reported by gregor: when resetting the stepper motor position using setCurrentPosition() the +/// stepper speed is reset by setting _stepInterval to 0, but _speed is not +/// reset. this results in the stepper motor not starting again when calling +/// setSpeed() with the same speed the stepper was set to before. +/// \version 1.52 2016-08-09 +/// Added MultiStepper to keywords.txt. +/// Improvements to efficiency of AccelStepper::runSpeed() as suggested by David Grayson. +/// Improvements to speed accuracy as suggested by David Grayson. +/// \version 1.53 2016-08-14 +/// Backed out Improvements to speed accuracy from 1.52 as it did not work correctly. +/// \version 1.54 2017-01-24 +/// Fixed some warnings about unused arguments. +/// \version 1.55 2017-01-25 +/// Fixed another warning in MultiStepper.cpp +/// \version 1.56 2017-02-03 +/// Fixed minor documentation error with DIRECTION_CCW and DIRECTION_CW. Reported by David Mutterer. +/// Added link to Binpress commercial license purchasing. +/// \version 1.57 2017-03-28 +/// _direction moved to protected at the request of Rudy Ercek. +/// setMaxSpeed() and setAcceleration() now correct negative values to be positive. +/// \version 1.58 2018-04-13 +/// Add initialisation for _enableInverted in constructor. +/// +/// \author Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE LISTS +// Copyright (C) 2009-2013 Mike McCauley +// $Id: AccelStepper.h,v 1.27 2016/08/14 10:26:54 mikem Exp mikem $ + +#ifndef AccelStepper_h +#define AccelStepper_h + +#include +#if ARDUINO >= 100 +#include +#else +#include +#include +#endif + +// These defs cause trouble on some versions of Arduino +#undef round + +///////////////////////////////////////////////////////////////////// +/// \class AccelStepper AccelStepper.h +/// \brief Support for stepper motors with acceleration etc. +/// +/// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional +/// acceleration, deceleration, absolute positioning commands etc. Multiple +/// simultaneous steppers are supported, all moving +/// at different speeds and accelerations. +/// +/// \par Operation +/// This module operates by computing a step time in microseconds. The step +/// time is recomputed after each step and after speed and acceleration +/// parameters are changed by the caller. The time of each step is recorded in +/// microseconds. The run() function steps the motor once if a new step is due. +/// The run() function must be called frequently until the motor is in the +/// desired position, after which time run() will do nothing. +/// +/// \par Positioning +/// Positions are specified by a signed long integer. At +/// construction time, the current position of the motor is consider to be 0. Positive +/// positions are clockwise from the initial position; negative positions are +/// anticlockwise. The current position can be altered for instance after +/// initialization positioning. +/// +/// \par Caveats +/// This is an open loop controller: If the motor stalls or is oversped, +/// AccelStepper will not have a correct +/// idea of where the motor really is (since there is no feedback of the motor's +/// real position. We only know where we _think_ it is, relative to the +/// initial starting point). +/// +/// \par Performance +/// The fastest motor speed that can be reliably supported is about 4000 steps per +/// second at a clock frequency of 16 MHz on Arduino such as Uno etc. +/// Faster processors can support faster stepping speeds. +/// However, any speed less than that +/// down to very slow speeds (much less than one per second) are also supported, +/// provided the run() function is called frequently enough to step the motor +/// whenever required for the speed set. +/// Calling setAcceleration() is expensive, +/// since it requires a square root to be calculated. +/// +/// Gregor Christandl reports that with an Arduino Due and a simple test program, +/// he measured 43163 steps per second using runSpeed(), +/// and 16214 steps per second using run(); +class AccelStepper +{ +public: + /// \brief Symbolic names for number of pins. + /// Use this in the pins argument the AccelStepper constructor to + /// provide a symbolic name for the number of pins + /// to use. + typedef enum + { + FUNCTION = 0, ///< Use the functional interface, implementing your own driver functions (internal use only) + DRIVER = 1, ///< Stepper Driver, 2 driver pins required + FULL2WIRE = 2, ///< 2 wire stepper, 2 motor pins required + FULL3WIRE = 3, ///< 3 wire stepper, such as HDD spindle, 3 motor pins required + FULL4WIRE = 4, ///< 4 wire full stepper, 4 motor pins required + HALF3WIRE = 6, ///< 3 wire half stepper, such as HDD spindle, 3 motor pins required + HALF4WIRE = 8 ///< 4 wire half stepper, 4 motor pins required + } MotorInterfaceType; + + /// Constructor. You can have multiple simultaneous steppers, all moving + /// at different speeds and accelerations, provided you call their run() + /// functions at frequent enough intervals. Current Position is set to 0, target + /// position is set to 0. MaxSpeed and Acceleration default to 1.0. + /// The motor pins will be initialised to OUTPUT mode during the + /// constructor by a call to enableOutputs(). + /// \param[in] interface Number of pins to interface to. Integer values are + /// supported, but it is preferred to use the \ref MotorInterfaceType symbolic names. + /// AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins). + /// If an enable line is also needed, call setEnablePin() after construction. + /// You may also invert the pins using setPinsInverted(). + /// AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required). + /// AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required). + /// AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required). + /// AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required) + /// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required) + /// Defaults to AccelStepper::FULL4WIRE (4) pins. + /// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults + /// to pin 2. For a AccelStepper::DRIVER (interface==1), + /// this is the Step input to the driver. Low to high transition means to step) + /// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults + /// to pin 3. For a AccelStepper::DRIVER (interface==1), + /// this is the Direction input the driver. High means forward. + /// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults + /// to pin 4. + /// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults + /// to pin 5. + /// \param[in] enable If this is true (the default), enableOutputs() will be called to enable + /// the output pins at construction time. + AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true); + + /// Alternate Constructor which will call your own functions for forward and backward steps. + /// You can have multiple simultaneous steppers, all moving + /// at different speeds and accelerations, provided you call their run() + /// functions at frequent enough intervals. Current Position is set to 0, target + /// position is set to 0. MaxSpeed and Acceleration default to 1.0. + /// Any motor initialization should happen before hand, no pins are used or initialized. + /// \param[in] forward void-returning procedure that will make a forward step + /// \param[in] backward void-returning procedure that will make a backward step + AccelStepper(void (*forward)(), void (*backward)()); + + /// Set the target position. The run() function will try to move the motor (at most one step per call) + /// from the current position to the target position set by the most + /// recent call to this function. Caution: moveTo() also recalculates the speed for the next step. + /// If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo(). + /// \param[in] absolute The desired absolute position. Negative is + /// anticlockwise from the 0 position. + void moveTo(long absolute); + + /// Set the target position relative to the current position + /// \param[in] relative The desired position relative to the current position. Negative is + /// anticlockwise from the current position. + void move(long relative); + + /// Poll the motor and step it if a step is due, implementing + /// accelerations and decelerations to acheive the target position. You must call this as + /// frequently as possible, but at least once per minimum step time interval, + /// preferably in your main loop. Note that each call to run() will make at most one step, and then only when a step is due, + /// based on the current speed and the time since the last step. + /// \return true if the motor is still running to the target position. + boolean run(); + + /// Poll the motor and step it if a step is due, implementing a constant + /// speed as set by the most recent call to setSpeed(). You must call this as + /// frequently as possible, but at least once per step interval, + /// \return true if the motor was stepped. + boolean runSpeed(); + + /// Sets the maximum permitted speed. The run() function will accelerate + /// up to the speed set by this function. + /// Caution: the maximum speed achievable depends on your processor and clock speed. + /// \param[in] speed The desired maximum speed in steps per second. Must + /// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may + /// Result in non-linear accelerations and decelerations. + void setMaxSpeed(float speed); + + /// returns the maximum speed configured for this stepper + /// that was previously set by setMaxSpeed(); + /// \return The currently configured maximum speed + float maxSpeed(); + + /// Sets the acceleration/deceleration rate. + /// \param[in] acceleration The desired acceleration in steps per second + /// per second. Must be > 0.0. This is an expensive call since it requires a square + /// root to be calculated. Dont call more ofthen than needed + void setAcceleration(float acceleration); + + /// Sets the desired constant speed for use with runSpeed(). + /// \param[in] speed The desired constant speed in steps per + /// second. Positive is clockwise. Speeds of more than 1000 steps per + /// second are unreliable. Very slow speeds may be set (eg 0.00027777 for + /// once per hour, approximately. Speed accuracy depends on the Arduino + /// crystal. Jitter depends on how frequently you call the runSpeed() function. + void setSpeed(float speed); + + /// The most recently set speed + /// \return the most recent speed in steps per second + float speed(); + + /// The distance from the current position to the target position. + /// \return the distance from the current position to the target position + /// in steps. Positive is clockwise from the current position. + long distanceToGo(); + + /// The most recently set target position. + /// \return the target position + /// in steps. Positive is clockwise from the 0 position. + long targetPosition(); + + /// The currently motor position. + /// \return the current motor position + /// in steps. Positive is clockwise from the 0 position. + long currentPosition(); + + /// Resets the current position of the motor, so that wherever the motor + /// happens to be right now is considered to be the new 0 position. Useful + /// for setting a zero position on a stepper after an initial hardware + /// positioning move. + /// Has the side effect of setting the current motor speed to 0. + /// \param[in] position The position in steps of wherever the motor + /// happens to be right now. + void setCurrentPosition(long position); + + /// Moves the motor (with acceleration/deceleration) + /// to the target position and blocks until it is at + /// position. Dont use this in event loops, since it blocks. + void runToPosition(); + + /// Runs at the currently selected speed until the target position is reached + /// Does not implement accelerations. + /// \return true if it stepped + boolean runSpeedToPosition(); + + /// Moves the motor (with acceleration/deceleration) + /// to the new target position and blocks until it is at + /// position. Dont use this in event loops, since it blocks. + /// \param[in] position The new target position. + void runToNewPosition(long position); + + /// Sets a new target position that causes the stepper + /// to stop as quickly as possible, using the current speed and acceleration parameters. + void stop(); + + /// Disable motor pin outputs by setting them all LOW + /// Depending on the design of your electronics this may turn off + /// the power to the motor coils, saving power. + /// This is useful to support Arduino low power modes: disable the outputs + /// during sleep and then reenable with enableOutputs() before stepping + /// again. + /// If the enable Pin is defined, sets it to OUTPUT mode and clears the pin to disabled. + virtual void disableOutputs(); + + /// Enable motor pin outputs by setting the motor pins to OUTPUT + /// mode. Called automatically by the constructor. + /// If the enable Pin is defined, sets it to OUTPUT mode and sets the pin to enabled. + virtual void enableOutputs(); + + /// Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is + /// approximately 20 microseconds. Times less than 20 microseconds + /// will usually result in 20 microseconds or so. + /// \param[in] minWidth The minimum pulse width in microseconds. + void setMinPulseWidth(unsigned int minWidth); + + /// Sets the enable pin number for stepper drivers. + /// 0xFF indicates unused (default). + /// Otherwise, if a pin is set, the pin will be turned on when + /// enableOutputs() is called and switched off when disableOutputs() + /// is called. + /// \param[in] enablePin Arduino digital pin number for motor enable + /// \sa setPinsInverted + void setEnablePin(uint8_t enablePin = 0xff); + + /// Sets the inversion for stepper driver pins + /// \param[in] directionInvert True for inverted direction pin, false for non-inverted + /// \param[in] stepInvert True for inverted step pin, false for non-inverted + /// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted + void setPinsInverted(bool directionInvert = false, bool stepInvert = false, bool enableInvert = false); + + /// Sets the inversion for 2, 3 and 4 wire stepper pins + /// \param[in] pin1Invert True for inverted pin1, false for non-inverted + /// \param[in] pin2Invert True for inverted pin2, false for non-inverted + /// \param[in] pin3Invert True for inverted pin3, false for non-inverted + /// \param[in] pin4Invert True for inverted pin4, false for non-inverted + /// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted + void setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert); + + /// Checks to see if the motor is currently running to a target + /// \return true if the speed is not zero or not at the target position + bool isRunning(); + +protected: + + /// \brief Direction indicator + /// Symbolic names for the direction the motor is turning + typedef enum + { + DIRECTION_CCW = 0, ///< Counter-Clockwise + DIRECTION_CW = 1 ///< Clockwise + } Direction; + + /// Forces the library to compute a new instantaneous speed and set that as + /// the current speed. It is called by + /// the library: + /// \li after each step + /// \li after change to maxSpeed through setMaxSpeed() + /// \li after change to acceleration through setAcceleration() + /// \li after change to target position (relative or absolute) through + /// move() or moveTo() + void computeNewSpeed(); + + /// Low level function to set the motor output pins + /// bit 0 of the mask corresponds to _pin[0] + /// bit 1 of the mask corresponds to _pin[1] + /// You can override this to impment, for example serial chip output insted of using the + /// output pins directly + virtual void setOutputPins(uint8_t mask); + + /// Called to execute a step. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default calls step1(), step2(), step4() or step8() depending on the + /// number of pins defined for the stepper. + /// \param[in] step The current step phase number (0 to 7) + virtual void step(long step); + + /// Called to execute a step using stepper functions (pins = 0) Only called when a new step is + /// required. Calls _forward() or _backward() to perform the step + /// \param[in] step The current step phase number (0 to 7) + virtual void step0(long step); + + /// Called to execute a step on a stepper driver (ie where pins == 1). Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of Step pin1 to step, + /// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond + /// which is the minimum STEP pulse width for the 3967 driver. + /// \param[in] step The current step phase number (0 to 7) + virtual void step1(long step); + + /// Called to execute a step on a 2 pin motor. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of pin1 and pin2 + /// \param[in] step The current step phase number (0 to 7) + virtual void step2(long step); + + /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of pin1, pin2, + /// pin3 + /// \param[in] step The current step phase number (0 to 7) + virtual void step3(long step); + + /// Called to execute a step on a 4 pin motor. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of pin1, pin2, + /// pin3, pin4. + /// \param[in] step The current step phase number (0 to 7) + virtual void step4(long step); + + /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of pin1, pin2, + /// pin3 + /// \param[in] step The current step phase number (0 to 7) + virtual void step6(long step); + + /// Called to execute a step on a 4 pin half-steper motor. Only called when a new step is + /// required. Subclasses may override to implement new stepping + /// interfaces. The default sets or clears the outputs of pin1, pin2, + /// pin3, pin4. + /// \param[in] step The current step phase number (0 to 7) + virtual void step8(long step); + + /// Current direction motor is spinning in + /// Protected because some peoples subclasses need it to be so + boolean _direction; // 1 == CW + +private: + /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a + /// bipolar, and 4 pins is a unipolar. + uint8_t _interface; // 0, 1, 2, 4, 8, See MotorInterfaceType + + /// Arduino pin number assignments for the 2 or 4 pins required to interface to the + /// stepper motor or driver + uint8_t _pin[4]; + + /// Whether the _pins is inverted or not + uint8_t _pinInverted[4]; + + /// The current absolution position in steps. + long _currentPos; // Steps + + /// The target position in steps. The AccelStepper library will move the + /// motor from the _currentPos to the _targetPos, taking into account the + /// max speed, acceleration and deceleration + long _targetPos; // Steps + + /// The current motos speed in steps per second + /// Positive is clockwise + float _speed; // Steps per second + + /// The maximum permitted speed in steps per second. Must be > 0. + float _maxSpeed; + + /// The acceleration to use to accelerate or decelerate the motor in steps + /// per second per second. Must be > 0 + float _acceleration; + float _sqrt_twoa; // Precomputed sqrt(2*_acceleration) + + /// The current interval between steps in microseconds. + /// 0 means the motor is currently stopped with _speed == 0 + unsigned long _stepInterval; + + /// The last step time in microseconds + unsigned long _lastStepTime; + + /// The minimum allowed pulse width in microseconds + unsigned int _minPulseWidth; + + /// Is the direction pin inverted? + ///bool _dirInverted; /// Moved to _pinInverted[1] + + /// Is the step pin inverted? + ///bool _stepInverted; /// Moved to _pinInverted[0] + + /// Is the enable pin inverted? + bool _enableInverted; + + /// Enable pin for stepper driver, or 0xFF if unused. + uint8_t _enablePin; + + /// The pointer to a forward-step procedure + void (*_forward)(); + + /// The pointer to a backward-step procedure + void (*_backward)(); + + /// The step counter for speed calculations + long _n; + + /// Initial step size in microseconds + float _c0; + + /// Last step size in microseconds + float _cn; + + /// Min step size in microseconds based on maxSpeed + float _cmin; // at max speed + +}; + +/// @example Random.pde +/// Make a single stepper perform random changes in speed, position and acceleration + +/// @example Overshoot.pde +/// Check overshoot handling +/// which sets a new target position and then waits until the stepper has +/// achieved it. This is used for testing the handling of overshoots + +/// @example MultipleSteppers.pde +/// Shows how to multiple simultaneous steppers +/// Runs one stepper forwards and backwards, accelerating and decelerating +/// at the limits. Runs other steppers at the same time + +/// @example ConstantSpeed.pde +/// Shows how to run AccelStepper in the simplest, +/// fixed speed mode with no accelerations + +/// @example Blocking.pde +/// Shows how to use the blocking call runToNewPosition +/// Which sets a new target position and then waits until the stepper has +/// achieved it. + +/// @example AFMotor_MultiStepper.pde +/// Control both Stepper motors at the same time with different speeds +/// and accelerations. + +/// @example AFMotor_ConstantSpeed.pde +/// Shows how to run AccelStepper in the simplest, +/// fixed speed mode with no accelerations + +/// @example ProportionalControl.pde +/// Make a single stepper follow the analog value read from a pot or whatever +/// The stepper will move at a constant speed to each newly set posiiton, +/// depending on the value of the pot. + +/// @example Bounce.pde +/// Make a single stepper bounce from one limit to another, observing +/// accelrations at each end of travel + +/// @example Quickstop.pde +/// Check stop handling. +/// Calls stop() while the stepper is travelling at full speed, causing +/// the stepper to stop as quickly as possible, within the constraints of the +/// current acceleration. + +/// @example MotorShield.pde +/// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor +/// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html. + +/// @example DualMotorShield.pde +/// Shows how to use AccelStepper to control 2 x 2 phase steppers using the +/// Itead Studio Arduino Dual Stepper Motor Driver Shield +/// model IM120417015 + +#endif diff --git a/shredder/asterix-pp/firmware/Addon.cpp b/shredder/asterix-pp/firmware/Addon.cpp new file mode 100644 index 0000000..bee793c --- /dev/null +++ b/shredder/asterix-pp/firmware/Addon.cpp @@ -0,0 +1,51 @@ +#include "Addon.h" +#include +#include +#include + +bool Addon::hasFlag(uchar flag) +{ + return TEST(flags, flag); +} +void Addon::setFlag(uchar flag) +{ + flags = SBI(flags, flag); +} +void Addon::clearFlag(uchar flag) +{ + CBI(flags, flag); +} +void Addon::debug(Stream *stream) +{ + +} +void Addon::info(Stream *stream) +{ + +} +void Addon::enable() +{ + this->clearFlag(DISABLED); +} +void Addon::disable() +{ + this->setFlag(DISABLED); +} +bool Addon::enabled() +{ + return this->hasFlag(DISABLED); +} + +Addon *byId(Addons addons, uchar id) +{ + uchar s = addons.size(); + for (uchar i = 0; i < s; i++) + { + Addon *addon = addons[i]; + if (addon->id == id) + { + return addon; + } + } + return NULL; +} \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/Addon.h b/shredder/asterix-pp/firmware/Addon.h new file mode 100644 index 0000000..2239965 --- /dev/null +++ b/shredder/asterix-pp/firmware/Addon.h @@ -0,0 +1,66 @@ +#ifndef ADDON_H +#define ADDON_H + +#include +#include + +#include "enums.h" +#include "common/macros.h" + +#define ADDON_NORMAL 1 << LOOP | 1 << SETUP +#ifdef HAS_STATES + #define ADDON_STATED ADDON_NORMAL | 1 << STATE +#else + #define ADDON_STATED ADDON_NORMAL +#endif + +class Stream; + +class Addon +{ + +public: + const String name; + const short id; + millis_t now; + millis_t last; + millis_t dt; + Addon(String _name, short _id) : name(_name), + id(_id), + now(0), + last(0), + dt(0) + { + flags = ADDON_NORMAL; + } + + Addon(String _name, short _id, short _flags) : name(_name), + id(_id), + flags(_flags) + { + } + + virtual void debug(Stream *stream); + virtual void info(Stream *stream); + virtual short setup(){}; + virtual short loop(){}; + virtual short ok(){}; + virtual bool pause(){}; + virtual bool resume(){}; + virtual bool destroy(){}; + virtual String state() { return ""; }; + + int flags; + void setFlag(uchar flag); + bool hasFlag(uchar flag); + void clearFlag(uchar flag); + void enable(); + void disable(); + bool enabled(); +}; + +typedef Vector Addons; +Addon *byId(Addons addons, uchar id); +typedef short (Addon::*AddonFnPtr)(short); + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/ModbusBridge.cpp b/shredder/asterix-pp/firmware/ModbusBridge.cpp new file mode 100644 index 0000000..5428291 --- /dev/null +++ b/shredder/asterix-pp/firmware/ModbusBridge.cpp @@ -0,0 +1,148 @@ +#include +#include "./Addon.h" +#include "ModbusRtu.h" + +#include "ModbusBridge.h" + +#define RS485Serial 3 + +#define MasterModbusAdd 0 +#define SlaveModbusAdd 1 + +#define ku8MBReadCoils 0x01 ///< Modbus function 0x01 Read Coils +#define ku8MBReadDiscreteInputs 0x02 ///< Modbus function 0x02 Read Discrete Inputs +#define ku8MBWriteSingleCoil 0x05 ///< Modbus function 0x05 Write Single Coil +#define ku8MBWriteMultipleCoils 0x0F ///< Modbus function 0x0F Write Multiple Coils + +// Modbus function codes for 16 bit access +#define ku8MBReadHoldingRegisters 0x03 ///< Modbus function 0x03 Read Holding Registers +#define ku8MBReadInputRegisters 0x04 ///< Modbus function 0x04 Read Input Registers +#define ku8MBWriteSingleRegister 0x06 ///< Modbus function 0x06 Write Single Register +#define ku8MBWriteMultipleRegisters 0x10 ///< Modbus function 0x10 Write Multiple Registers +#define ku8MBMaskWriteRegister 0x16 ///< Modbus function 0x16 Mask Write Register +#define ku8MBReadWriteMultipleRegisters 0x17 ///< Modbus function 0x17 Read Write Multiple Registers + +Modbus master(MasterModbusAdd, RS485Serial, 0); +modbus_t ModbusQuery[1]; +uint16_t ModbusSlaveRegisters[8]; +millis_t WaitingTime; + +enum MBB_STATE +{ + WAITING = 0, + QUERY = 1, + RESPONSE = 2 +}; + +int _state = 0; + +#define MX2_STATE 0x0003 // (2 bytes) Status of the inverter: [0: Initial state, 2: Stop 3: Turn 4: Coast stop 5: Jog 6: DC braking] +#define MX2_DIR 0x1004 // (2 bytes) Status of the inverter: [0: Initial state, 2: Stop 3: Turn 4: Coast stop 5: Jog 6: DC braking] +#define MX2_AMPERAGE 0x1003 // (2 bytes) Output current monitoring (0,01 [A]) + +#define MX2_START 0x0001 // (bit) Run command 1: Run, 0: Stop (valid with A002 = 03) +#define MX2_SET_DIR 0x0002 // (bit) Command of direction of rotation 1: Reverse rotation, 0: Rotation in the forward direction (valid with A002 = 03) +#define MX2_RESET 0x0004 // (bit) Reset emergency shutdown (RS) 1: Reset +#define MX2_READY 0x0011 // (bit) Ready IF 1: Ready, 0: Not ready +#define MX2_DIRECTION 0x0010 // (bit) Direction of rotation 1: Reverse rotation, 0: Rotation in the forward direction (deadlock with "d003") +#define TEST_NUMBER 1234 // Verification code for function 0x08 +#define ku8MBLinkTestOmronMX2Only 0x08 ///< Modbus function 0x08 ТеÑÑ‚ ÑвÑзи Ñ Ð¸Ð½Ð²ÐµÑ€Ñ‚Ñ€Ð¾Ð¼ Omron MX2 Ñ„ÑƒÐ½ÐºÑ†Ð¸Ñ Ñ‚Ð¾Ð»ÑŒÐºÐ¾ Ð´Ð»Ñ Ð½ÐµÐ³Ð¾ ku8MBLinkTestOmronMX2Only +short ModbusBridge::setup() +{ + // Serial.println("---------- setup ----"); + master.begin(19200); // baud-rate at 19200 + master.setTimeOut(5000); // if there is no answer in 5000 ms, roll over + WaitingTime = millis() + 400; + /* + fn = MX2_STATE; + addr = MB_FC_READ_REGISTERS; + */ + fn = ku8MBLinkTestOmronMX2Only; + addr = 0; + nb = 4; +} +short ModbusBridge::run(short val){ + fn = ku8MBWriteSingleCoil; + addr = MX2_START; +// _u16WriteQty = (u8State ? 0xFF00 : 0x0000); + ModbusQuery[0].au16reg = 0xFF00; + ModbusQuery[0].u16CoilsNo = 1; +} +short ModbusBridge::setFn(short val) +{ + // fn = val; + run(0); +} +short ModbusBridge::setAddr(short val) +{ + addr = val; +} +short ModbusBridge::setNb(short val) +{ + nb = val; +} +short ModbusBridge::loop() +{ + switch (_state) + { + + case WAITING: + { + if (millis() > WaitingTime) + { + _state++; // wait state + } + break; + } + case QUERY: + { + /*ModbusQuery[0].u8id = SlaveModbusAdd; // slave address + ModbusQuery[0].u8fct = MB_FC::MB_FC_READ_REGISTERS; // function code (this one is registers read) + ModbusQuery[0].u16RegAdd = MX2_AMPERAGE; // start address in slave + ModbusQuery[0].u16CoilsNo = 4; // number of elements (coils or registers) to read + ModbusQuery[0].au16reg = ModbusSlaveRegisters; // pointer to a memory array in the CONTROLLINO +*/ + ModbusQuery[0].u8id = SlaveModbusAdd; // slave address + ModbusQuery[0].u8fct = fn; // function code (this one is registers read) + ModbusQuery[0].u16RegAdd = addr; // start address in slave + ModbusQuery[0].u16CoilsNo = nb; // number of elements (coils or registers) to read + ModbusQuery[0].au16reg = ModbusSlaveRegisters; // pointer to a memory array in the CONTROLLINO + + master.query(ModbusQuery[0]); // send query (only once) + _state++; + break; + } + case RESPONSE: + { + master.poll(); // check incoming messages + if (master.getState() == COM_IDLE) + { + // response from the slave was received + _state = 0; + WaitingTime = millis() + 300; + // registers read was proceed + Serial.println("---------- READ RESPONSE RECEIVED ----"); + Serial.print(" ADC0: 0x"); + Serial.print(ModbusSlaveRegisters[0], HEX); + Serial.print(" , Digital0: "); + Serial.print(ModbusSlaveRegisters[1], HEX); + Serial.print(" , nb in "); + Serial.print(ModbusSlaveRegisters[2], DEC); + Serial.print(" , nb out "); + Serial.println(ModbusSlaveRegisters[3], DEC); + Serial.println(""); + } + break; + } + } +} + +void ModbusBridge::debug(Stream *stream) +{ + // *stream << this->name << ":"; +} + +void ModbusBridge::info(Stream *stream) +{ + // *stream << this->name << "\n\t"; +} \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/ModbusBridge.h b/shredder/asterix-pp/firmware/ModbusBridge.h new file mode 100644 index 0000000..3318047 --- /dev/null +++ b/shredder/asterix-pp/firmware/ModbusBridge.h @@ -0,0 +1,46 @@ +#ifndef MODBUS_BRIDGE_H +#define MODBUS_BRIDGE_H + +#include "Addon.h" +#include + +class ModbusBridge : public Addon +{ +public: + ModbusBridge() : Addon("ModbusBridge", 50, ADDON_NORMAL) + { + setFlag(DEBUG); + } + + + // This uint16 array specified internal registers in the Modbus slave device. + // Each Modbus device has particular internal registers that are available for the Modbus master. + // In this example sketch internal registers are defined as follows: + // (ModbusSlaveRegisters 0 - 3 read only and ModbusSlaveRegisters 4 - 7 write only from the Master perspective): + // ModbusSlaveRegisters[0] - Read an analog value from the CONTROLLINO_A0 - returns value in the range from 0 to 1023. + // ModbusSlaveRegisters[1] - Read an digital value from the CONTROLLINO_D0 - returns only the value 0 or 1. + // ModbusSlaveRegisters[2] - Read the number of incoming messages - Communication diagnostic. + // ModbusSlaveRegisters[3] - Read the number of number of outcoming messages - Communication diagnostic. + // ModbusSlaveRegisters[4] - Sets the Relay output CONTROLLINO_R0 - only the value 0 or 1 is accepted. + // ModbusSlaveRegisters[5] - Sets the Relay output CONTROLLINO_R1 - only the value 0 or 1 is accepted. + // ModbusSlaveRegisters[6] - Sets the Relay output CONTROLLINO_R2 - only the value 0 or 1 is accepted. + // ModbusSlaveRegisters[7] - Sets the Relay output CONTROLLINO_R3 - only the value 0 or 1 is accepted. + uint16_t ModbusSlaveRegisters[8]; + + // This is an structe which contains a query to an slave device + + + void debug(Stream *stream); + void info(Stream *stream); + short setup(); + short loop(); + short setFn(short val); + short setAddr(short val); + short setNb(short val); + short run(short val); + short fn; + short addr; + short nb; +}; + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/ModbusRtu.h b/shredder/asterix-pp/firmware/ModbusRtu.h new file mode 100644 index 0000000..bf02caf --- /dev/null +++ b/shredder/asterix-pp/firmware/ModbusRtu.h @@ -0,0 +1,1452 @@ +#ifndef MODBUS_RTU_H +#define MODBUS_RTU_H +/** + * @file ModbusRtu.h + * @version 1.21 (modified by CONTROLLINO team) + * @date 2016.02.21 (2017.03.30) + * @author Samuel Marco i Armengol (Thank you, Samuel!) + * @contact sammarcoarmengol@gmail.com + * @contribution Helium6072 + * + * @description + * Arduino library for communicating with Modbus devices + * over RS232/USB/485 via RTU protocol. + * + * Further information: + * http://modbus.org/ + * http://modbus.org/docs/Modbus_over_serial_line_V1_02.pdf + * + * @license + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; version + * 2.1 of the License. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * @defgroup setup Modbus Object Instantiation/Initialization + * @defgroup loop Modbus Object Management + * @defgroup buffer Modbus Buffer Management + * @defgroup discrete Modbus Function Codes for Discrete Coils/Inputs + * @defgroup register Modbus Function Codes for Holding/Input Registers + * + */ + +#include +#include "Arduino.h" +#include "Print.h" +#include + +#define RS485_PIN_DE 0b01000000 +#define RS485_PIN_RE 0b00100000 +#define RS485_DIR_REG DDRJ +#define RS485_PORT_REG PORTJ +#define RS485_CLEAR_DE RS485_PORT_REG &= ~RS485_PIN_DE +#define RS485_CLEAR_RE RS485_PORT_REG &= ~RS485_PIN_RE +#define RS485_SET_DE RS485_PORT_REG |= RS485_PIN_DE +#define RS485_SET_RE RS485_PORT_REG |= RS485_PIN_RE + + +/** + * @struct modbus_t + * @brief + * Master query structure: + * This includes all the necessary fields to make the Master generate a Modbus query. + * A Master may keep several of these structures and send them cyclically or + * use them according to program needs. + */ +typedef struct +{ + uint8_t u8id; /*!< Slave address between 1 and 247. 0 means broadcast */ + uint8_t u8fct; /*!< Function code: 1, 2, 3, 4, 5, 6, 15 or 16 */ + uint16_t u16RegAdd; /*!< Address of the first register to access at slave/s */ + uint16_t u16CoilsNo; /*!< Number of coils or registers to access */ + uint16_t *au16reg; /*!< Pointer to memory image in master */ +} +modbus_t; + +enum +{ + RESPONSE_SIZE = 6, + EXCEPTION_SIZE = 3, + CHECKSUM_SIZE = 2 +}; + +/** + * @enum MESSAGE + * @brief + * Indexes to telegram frame positions + */ +enum MESSAGE +{ + ID = 0, //!< ID field + FUNC, //!< Function code position + ADD_HI, //!< Address high byte + ADD_LO, //!< Address low byte + NB_HI, //!< Number of coils or registers high byte + NB_LO, //!< Number of coils or registers low byte + BYTE_CNT //!< byte counter +}; + +/** + * @enum MB_FC + * @brief + * Modbus function codes summary. + * These are the implement function codes either for Master or for Slave. + * + * @see also fctsupported + * @see also modbus_t + */ +enum MB_FC +{ + MB_FC_NONE = 0, /*!< null operator */ + MB_FC_READ_COILS = 1, /*!< FCT=1 -> read coils or digital outputs */ + MB_FC_READ_DISCRETE_INPUT = 2, /*!< FCT=2 -> read digital inputs */ + MB_FC_READ_REGISTERS = 3, /*!< FCT=3 -> read registers or analog outputs */ + MB_FC_READ_INPUT_REGISTER = 4, /*!< FCT=4 -> read analog inputs */ + MB_FC_WRITE_COIL = 5, /*!< FCT=5 -> write single coil or output */ + MB_FC_WRITE_REGISTER = 6, /*!< FCT=6 -> write single register */ + MB_FC_WRITE_MULTIPLE_COILS = 15, /*!< FCT=15 -> write multiple coils or outputs */ + MB_FC_WRITE_MULTIPLE_REGISTERS = 16 /*!< FCT=16 -> write multiple registers */ +}; + +enum COM_STATES +{ + COM_IDLE = 0, + COM_WAITING = 1 + +}; + +enum ERR_LIST +{ + ERR_NOT_MASTER = -1, + ERR_POLLING = -2, + ERR_BUFF_OVERFLOW = -3, + ERR_BAD_CRC = -4, + ERR_EXCEPTION = -5 +}; + +enum +{ + NO_REPLY = 255, + EXC_FUNC_CODE = 1, + EXC_ADDR_RANGE = 2, + EXC_REGS_QUANT = 3, + EXC_EXECUTE = 4 +}; + +const unsigned char fctsupported[] = +{ + MB_FC_READ_COILS, + MB_FC_READ_DISCRETE_INPUT, + MB_FC_READ_REGISTERS, + MB_FC_READ_INPUT_REGISTER, + MB_FC_WRITE_COIL, + MB_FC_WRITE_REGISTER, + MB_FC_WRITE_MULTIPLE_COILS, + MB_FC_WRITE_MULTIPLE_REGISTERS +}; + +#define T35 5 +#define MAX_BUFFER 64 //!< maximum size for the communication buffer in bytes + +/** + * @class Modbus + * @brief + * Arduino class library for communicating with Modbus devices over + * USB/RS232/485 (via RTU protocol). + */ +class Modbus +{ +private: + HardwareSerial *port; //!< Pointer to Serial class object + SoftwareSerial *softPort; //!< Pointer to SoftwareSerial class object + uint8_t u8id; //!< 0=master, 1..247=slave number + uint8_t u8serno; //!< serial port: 0-Serial, 1..3-Serial1..Serial3; 4: use software serial + uint8_t u8txenpin; //!< flow control pin: 0=USB or RS-232 mode, >0=RS-485 mode + uint8_t u8state; + uint8_t u8lastError; + uint8_t au8Buffer[MAX_BUFFER]; + uint8_t u8BufferSize; + uint8_t u8lastRec; + uint16_t *au16regs; + uint16_t u16InCnt, u16OutCnt, u16errCnt; + uint16_t u16timeOut; + uint32_t u32time, u32timeOut; + uint8_t u8regsize; + + void init(uint8_t u8id, uint8_t u8serno, uint8_t u8txenpin); + void init(uint8_t u8id); + void sendTxBuffer(); + int8_t getRxBuffer(); + uint16_t calcCRC(uint8_t u8length); + uint8_t validateAnswer(); + uint8_t validateRequest(); + void get_FC1(); + void get_FC3(); + int8_t process_FC1( uint16_t *regs, uint8_t u8size ); + int8_t process_FC3( uint16_t *regs, uint8_t u8size ); + int8_t process_FC5( uint16_t *regs, uint8_t u8size ); + int8_t process_FC6( uint16_t *regs, uint8_t u8size ); + int8_t process_FC15( uint16_t *regs, uint8_t u8size ); + int8_t process_FC16( uint16_t *regs, uint8_t u8size ); + void buildException( uint8_t u8exception ); // build exception message + +public: + Modbus(); + Modbus(uint8_t u8id, uint8_t u8serno); + Modbus(uint8_t u8id, uint8_t u8serno, uint8_t u8txenpin); + Modbus(uint8_t u8id); + void begin(long u32speed); + void begin(SoftwareSerial *sPort, long u32speed); + void begin(long u32speed, uint8_t u8config); + void begin(); + void setTimeOut( uint16_t u16timeout); //!begin(u32speed); + if (u8txenpin > 1) // pin 0 & pin 1 are reserved for RX/TX + { + // return RS485 transceiver to transmit mode + RS485_DIR_REG |= RS485_PIN_DE | RS485_PIN_RE; + RS485_CLEAR_DE; + RS485_CLEAR_RE; + //pinMode(u8txenpin, OUTPUT); + //digitalWrite(u8txenpin, LOW); + } + + while(port->read() >= 0); + u8lastRec = u8BufferSize = 0; + u16InCnt = u16OutCnt = u16errCnt = 0; +} + +/** + * @brief + * Initialize class object. + * + * Sets up the software serial port using specified baud rate and SoftwareSerial object. + * Call once class has been instantiated, typically within setup(). + * + * @param speed *softPort, pointer to SoftwareSerial class object + * @param speed baud rate, in standard increments (300..115200) + * @ingroup setup + */ +void Modbus::begin(SoftwareSerial *sPort, long u32speed) +{ + + softPort=sPort; + + softPort->begin(u32speed); + + if (u8txenpin > 1) // pin 0 & pin 1 are reserved for RX/TX + { + // return RS485 transceiver to transmit mode + RS485_DIR_REG |= RS485_PIN_DE | RS485_PIN_RE; + RS485_CLEAR_DE; + RS485_CLEAR_RE; + //pinMode(u8txenpin, OUTPUT); + //digitalWrite(u8txenpin, LOW); + } + + while(softPort->read() >= 0); + u8lastRec = u8BufferSize = 0; + u16InCnt = u16OutCnt = u16errCnt = 0; +} + +/** + * @brief + * Initialize class object. + * + * Sets up the serial port using specified baud rate. + * Call once class has been instantiated, typically within setup(). + * + * @see http://arduino.cc/en/Serial/Begin#.Uy4CJ6aKlHY + * @param speed baud rate, in standard increments (300..115200) + * @param config data frame settings (data length, parity and stop bits) + * @ingroup setup + */ +void Modbus::begin(long u32speed,uint8_t u8config) +{ + + switch( u8serno ) + { +#if defined(UBRR1H) + case 1: + port = &Serial1; + break; +#endif + +#if defined(UBRR2H) + case 2: + port = &Serial2; + break; +#endif + +#if defined(UBRR3H) + case 3: + port = &Serial3; + break; +#endif + case 0: + default: + port = &Serial; + break; + } + + port->begin(u32speed, u8config); + if (u8txenpin > 1) // pin 0 & pin 1 are reserved for RX/TX + { + // return RS485 transceiver to transmit mode + RS485_DIR_REG |= RS485_PIN_DE | RS485_PIN_RE; + RS485_CLEAR_DE; + RS485_CLEAR_RE; + // pinMode(u8txenpin, OUTPUT); + // digitalWrite(u8txenpin, LOW); + } + + while(port->read() >= 0); + u8lastRec = u8BufferSize = 0; + u16InCnt = u16OutCnt = u16errCnt = 0; +} + +/** + * @brief + * Initialize default class object. + * + * Sets up the serial port using 19200 baud. + * Call once class has been instantiated, typically within setup(). + * + * @overload Modbus::begin(uint16_t u16BaudRate) + * @ingroup setup + */ +void Modbus::begin() +{ + begin(19200); +} + +/** + * @brief + * Method to write a new slave ID address + * + * @param u8id new slave address between 1 and 247 + * @ingroup setup + */ +void Modbus::setID( uint8_t u8id) +{ + if (( u8id != 0) && (u8id <= 247)) + { + this->u8id = u8id; + } +} + +/** + * @brief + * Method to read current slave ID address + * + * @return u8id current slave address between 1 and 247 + * @ingroup setup + */ +uint8_t Modbus::getID() +{ + return this->u8id; +} + +/** + * @brief + * Initialize time-out parameter + * + * Call once class has been instantiated, typically within setup(). + * The time-out timer is reset each time that there is a successful communication + * between Master and Slave. It works for both. + * + * @param time-out value (ms) + * @ingroup setup + */ +void Modbus::setTimeOut( uint16_t u16timeOut) +{ + this->u16timeOut = u16timeOut; +} + +/** + * @brief + * Return communication Watchdog state. + * It could be usefull to reset outputs if the watchdog is fired. + * + * @return TRUE if millis() > u32timeOut + * @ingroup loop + */ +boolean Modbus::getTimeOutState() +{ + return (millis() > u32timeOut); +} + +/** + * @brief + * Get input messages counter value + * This can be useful to diagnose communication + * + * @return input messages counter + * @ingroup buffer + */ +uint16_t Modbus::getInCnt() +{ + return u16InCnt; +} + +/** + * @brief + * Get transmitted messages counter value + * This can be useful to diagnose communication + * + * @return transmitted messages counter + * @ingroup buffer + */ +uint16_t Modbus::getOutCnt() +{ + return u16OutCnt; +} + +/** + * @brief + * Get errors counter value + * This can be useful to diagnose communication + * + * @return errors counter + * @ingroup buffer + */ +uint16_t Modbus::getErrCnt() +{ + return u16errCnt; +} + +/** + * Get modbus master state + * + * @return = 0 IDLE, = 1 WAITING FOR ANSWER + * @ingroup buffer + */ +uint8_t Modbus::getState() +{ + return u8state; +} + +/** + * Get the last error in the protocol processor + * + * @returnreturn NO_REPLY = 255 Time-out + * @return EXC_FUNC_CODE = 1 Function code not available + * @return EXC_ADDR_RANGE = 2 Address beyond available space for Modbus registers + * @return EXC_REGS_QUANT = 3 Coils or registers number beyond the available space + * @ingroup buffer + */ +uint8_t Modbus::getLastError() +{ + return u8lastError; +} + +/** + * @brief + * *** Only Modbus Master *** + * Generate a query to an slave with a modbus_t telegram structure + * The Master must be in COM_IDLE mode. After it, its state would be COM_WAITING. + * This method has to be called only in loop() section. + * + * @see modbus_t + * @param modbus_t modbus telegram structure (id, fct, ...) + * @ingroup loop + * @todo finish function 15 + */ +int8_t Modbus::query( modbus_t telegram ) +{ + uint8_t u8regsno, u8bytesno; + if (u8id!=0) return -2; + if (u8state != COM_IDLE) return -1; + + if ((telegram.u8id==0) || (telegram.u8id>247)) return -3; + + au16regs = telegram.au16reg; + + // telegram header + au8Buffer[ ID ] = telegram.u8id; + au8Buffer[ FUNC ] = telegram.u8fct; + au8Buffer[ ADD_HI ] = highByte(telegram.u16RegAdd ); + au8Buffer[ ADD_LO ] = lowByte( telegram.u16RegAdd ); + + switch( telegram.u8fct ) + { + case MB_FC_READ_COILS: + case MB_FC_READ_DISCRETE_INPUT: + case MB_FC_READ_REGISTERS: + case MB_FC_READ_INPUT_REGISTER: + au8Buffer[ NB_HI ] = highByte(telegram.u16CoilsNo ); + au8Buffer[ NB_LO ] = lowByte( telegram.u16CoilsNo ); + u8BufferSize = 6; + break; + case MB_FC_WRITE_COIL: + au8Buffer[ NB_HI ] = ((au16regs[0] > 0) ? 0xff : 0); + au8Buffer[ NB_LO ] = 0; + u8BufferSize = 6; + break; + case MB_FC_WRITE_REGISTER: + au8Buffer[ NB_HI ] = highByte(au16regs[0]); + au8Buffer[ NB_LO ] = lowByte(au16regs[0]); + u8BufferSize = 6; + break; + case MB_FC_WRITE_MULTIPLE_COILS: // TODO: implement "sending coils" + u8regsno = telegram.u16CoilsNo / 16; + u8bytesno = u8regsno * 2; + if ((telegram.u16CoilsNo % 16) != 0) + { + u8bytesno++; + u8regsno++; + } + + au8Buffer[ NB_HI ] = highByte(telegram.u16CoilsNo ); + au8Buffer[ NB_LO ] = lowByte( telegram.u16CoilsNo ); + au8Buffer[ NB_LO+1 ] = u8bytesno; + u8BufferSize = 7; + + u8regsno = u8bytesno = 0; // now auxiliary registers + for (uint16_t i = 0; i < telegram.u16CoilsNo; i++) + { + + + } + break; + + case MB_FC_WRITE_MULTIPLE_REGISTERS: + au8Buffer[ NB_HI ] = highByte(telegram.u16CoilsNo ); + au8Buffer[ NB_LO ] = lowByte( telegram.u16CoilsNo ); + au8Buffer[ NB_LO+1 ] = (uint8_t) ( telegram.u16CoilsNo * 2 ); + u8BufferSize = 7; + + for (uint16_t i=0; i< telegram.u16CoilsNo; i++) + { + au8Buffer[ u8BufferSize ] = highByte( au16regs[ i ] ); + u8BufferSize++; + au8Buffer[ u8BufferSize ] = lowByte( au16regs[ i ] ); + u8BufferSize++; + } + break; + } + + sendTxBuffer(); + u8state = COM_WAITING; + return 0; +} + +/** + * @brief *** Only for Modbus Master *** + * This method checks if there is any incoming answer if pending. + * If there is no answer, it would change Master state to COM_IDLE. + * This method must be called only at loop section. + * Avoid any delay() function. + * + * Any incoming data would be redirected to au16regs pointer, + * as defined in its modbus_t query telegram. + * + * @params nothing + * @return errors counter + * @ingroup loop + */ +int8_t Modbus::poll() +{ + // check if there is any incoming frame + uint8_t u8current; + if(u8serno<4) + u8current = port->available(); + else + u8current = softPort->available(); + + if (millis() > u32timeOut) + { + u8state = COM_IDLE; + u8lastError = NO_REPLY; + u16errCnt++; + return 0; + } + + if (u8current == 0) return 0; + + // check T35 after frame end or still no frame end + if (u8current != u8lastRec) + { + u8lastRec = u8current; + u32time = millis() + T35; + return 0; + } + if (millis() < u32time) return 0; + + // transfer Serial buffer frame to auBuffer + u8lastRec = 0; + int8_t i8state = getRxBuffer(); + if (i8state < 7) + { + u8state = COM_IDLE; + u16errCnt++; + return i8state; + } + + // validate message: id, CRC, FCT, exception + uint8_t u8exception = validateAnswer(); + if (u8exception != 0) + { + u8state = COM_IDLE; + return u8exception; + } + + // process answer + switch( au8Buffer[ FUNC ] ) + { + case MB_FC_READ_COILS: + case MB_FC_READ_DISCRETE_INPUT: + // call get_FC1 to transfer the incoming message to au16regs buffer + get_FC1( ); + break; + case MB_FC_READ_INPUT_REGISTER: + case MB_FC_READ_REGISTERS : + // call get_FC3 to transfer the incoming message to au16regs buffer + get_FC3( ); + break; + case MB_FC_WRITE_COIL: + case MB_FC_WRITE_REGISTER : + case MB_FC_WRITE_MULTIPLE_COILS: + case MB_FC_WRITE_MULTIPLE_REGISTERS : + // nothing to do + break; + default: + break; + } + u8state = COM_IDLE; + return u8BufferSize; +} + +/** + * @brief + * *** Only for Modbus Slave *** + * This method checks if there is any incoming query + * Afterwards, it would shoot a validation routine plus a register query + * Avoid any delay() function !!!! + * After a successful frame between the Master and the Slave, the time-out timer is reset. + * + * @param *regs register table for communication exchange + * @param u8size size of the register table + * @return 0 if no query, 1..4 if communication error, >4 if correct query processed + * @ingroup loop + */ +int8_t Modbus::poll( uint16_t *regs, uint8_t u8size ) +{ + + au16regs = regs; + u8regsize = u8size; + uint8_t u8current; + + + // check if there is any incoming frame + if(u8serno<4) + u8current = port->available(); + else + u8current = softPort->available(); + + if (u8current == 0) return 0; + + // check T35 after frame end or still no frame end + if (u8current != u8lastRec) + { + u8lastRec = u8current; + u32time = millis() + T35; + return 0; + } + if (millis() < u32time) return 0; + + u8lastRec = 0; + int8_t i8state = getRxBuffer(); + u8lastError = i8state; + if (i8state < 7) return i8state; + + // check slave id + if (au8Buffer[ ID ] != u8id) return 0; + + // validate message: CRC, FCT, address and size + uint8_t u8exception = validateRequest(); + if (u8exception > 0) + { + if (u8exception != NO_REPLY) + { + buildException( u8exception ); + sendTxBuffer(); + } + u8lastError = u8exception; + return u8exception; + } + + u32timeOut = millis() + long(u16timeOut); + u8lastError = 0; + + // process message + switch( au8Buffer[ FUNC ] ) + { + case MB_FC_READ_COILS: + case MB_FC_READ_DISCRETE_INPUT: + return process_FC1( regs, u8size ); + break; + case MB_FC_READ_INPUT_REGISTER: + case MB_FC_READ_REGISTERS : + return process_FC3( regs, u8size ); + break; + case MB_FC_WRITE_COIL: + return process_FC5( regs, u8size ); + break; + case MB_FC_WRITE_REGISTER : + return process_FC6( regs, u8size ); + break; + case MB_FC_WRITE_MULTIPLE_COILS: + return process_FC15( regs, u8size ); + break; + case MB_FC_WRITE_MULTIPLE_REGISTERS : + return process_FC16( regs, u8size ); + break; + default: + break; + } + return i8state; +} + +/* _____PRIVATE FUNCTIONS_____________________________________________________ */ + +void Modbus::init(uint8_t u8id, uint8_t u8serno, uint8_t u8txenpin) +{ + this->u8id = u8id; + this->u8serno = (u8serno > 3) ? 0 : u8serno; + + // this->u8txenpin = u8txenpin; + this->u8txenpin = 2; // Ignore input parameter u8txenpin and hardcode 2 for compatibility + + this->u16timeOut = 1000; +} + +void Modbus::init(uint8_t u8id) +{ + this->u8id = u8id; + this->u8serno = 4; + this->u8txenpin = 0; + this->u16timeOut = 1000; +} + +/** + * @brief + * This method moves Serial buffer data to the Modbus au8Buffer. + * + * @return buffer size if OK, ERR_BUFF_OVERFLOW if u8BufferSize >= MAX_BUFFER + * @ingroup buffer + */ +int8_t Modbus::getRxBuffer() +{ + boolean bBuffOverflow = false; + + if (u8txenpin > 1) + { + RS485_CLEAR_DE; + RS485_CLEAR_RE; + //digitalWrite( u8txenpin, LOW ); + } + + u8BufferSize = 0; + if(u8serno<4) + while ( port->available() ) + { + au8Buffer[ u8BufferSize ] = port->read(); + u8BufferSize ++; + + if (u8BufferSize >= MAX_BUFFER) bBuffOverflow = true; + } + else + while ( softPort->available() ) + { + au8Buffer[ u8BufferSize ] = softPort->read(); + u8BufferSize ++; + + if (u8BufferSize >= MAX_BUFFER) bBuffOverflow = true; + } + u16InCnt++; + + if (bBuffOverflow) + { + u16errCnt++; + return ERR_BUFF_OVERFLOW; + } + return u8BufferSize; +} + +/** + * @brief + * This method transmits au8Buffer to Serial line. + * Only if u8txenpin != 0, there is a flow handling in order to keep + * the RS485 transceiver in output state as long as the message is being sent. + * This is done with UCSRxA register. + * The CRC is appended to the buffer before starting to send it. + * + * @param nothing + * @return nothing + * @ingroup buffer + */ +void Modbus::sendTxBuffer() +{ + uint8_t i = 0; + + // append CRC to message + uint16_t u16crc = calcCRC( u8BufferSize ); + au8Buffer[ u8BufferSize ] = u16crc >> 8; + u8BufferSize++; + au8Buffer[ u8BufferSize ] = u16crc & 0x00ff; + u8BufferSize++; + + // set RS485 transceiver to transmit mode + if (u8txenpin > 1) + { + switch( u8serno ) + { +#if defined(UBRR1H) + case 1: + UCSR1A=UCSR1A |(1 << TXC1); + break; +#endif + +#if defined(UBRR2H) + case 2: + UCSR2A=UCSR2A |(1 << TXC2); + break; +#endif + +#if defined(UBRR3H) + case 3: + UCSR3A=UCSR3A |(1 << TXC3); + break; +#endif + case 0: + default: + UCSR0A=UCSR0A |(1 << TXC0); + break; + } + RS485_SET_DE; + RS485_SET_RE; + //digitalWrite( u8txenpin, HIGH ); + } + + // transfer buffer to serial line + if(u8serno<4) + port->write( au8Buffer, u8BufferSize ); + else + softPort->write( au8Buffer, u8BufferSize ); + + // keep RS485 transceiver in transmit mode as long as sending + if (u8txenpin > 1) + { + switch( u8serno ) + { +#if defined(UBRR1H) + case 1: + while (!(UCSR1A & (1 << TXC1))); + break; +#endif + +#if defined(UBRR2H) + case 2: + while (!(UCSR2A & (1 << TXC2))); + break; +#endif + +#if defined(UBRR3H) + case 3: + while (!(UCSR3A & (1 << TXC3))); + break; +#endif + case 0: + default: + while (!(UCSR0A & (1 << TXC0))); + break; + } + + // return RS485 transceiver to receive mode + RS485_CLEAR_DE; + RS485_CLEAR_RE; + //digitalWrite( u8txenpin, LOW ); + } + if(u8serno<4) + while(port->read() >= 0); + else + while(softPort->read() >= 0); + + u8BufferSize = 0; + + // set time-out for master + u32timeOut = millis() + (unsigned long) u16timeOut; + + // increase message counter + u16OutCnt++; +} + +/** + * @brief + * This method calculates CRC + * + * @return uint16_t calculated CRC value for the message + * @ingroup buffer + */ +uint16_t Modbus::calcCRC(uint8_t u8length) +{ + unsigned int temp, temp2, flag; + temp = 0xFFFF; + for (unsigned char i = 0; i < u8length; i++) + { + temp = temp ^ au8Buffer[i]; + for (unsigned char j = 1; j <= 8; j++) + { + flag = temp & 0x0001; + temp >>=1; + if (flag) + temp ^= 0xA001; + } + } + // Reverse byte order. + temp2 = temp >> 8; + temp = (temp << 8) | temp2; + temp &= 0xFFFF; + // the returned value is already swapped + // crcLo byte is first & crcHi byte is last + return temp; +} + +/** + * @brief + * This method validates slave incoming messages + * + * @return 0 if OK, EXCEPTION if anything fails + * @ingroup buffer + */ +uint8_t Modbus::validateRequest() +{ + // check message crc vs calculated crc + uint16_t u16MsgCRC = + ((au8Buffer[u8BufferSize - 2] << 8) + | au8Buffer[u8BufferSize - 1]); // combine the crc Low & High bytes + if ( calcCRC( u8BufferSize-2 ) != u16MsgCRC ) + { + u16errCnt ++; + return NO_REPLY; + } + + // check fct code + boolean isSupported = false; + for (uint8_t i = 0; i< sizeof( fctsupported ); i++) + { + if (fctsupported[i] == au8Buffer[FUNC]) + { + isSupported = 1; + break; + } + } + if (!isSupported) + { + u16errCnt ++; + return EXC_FUNC_CODE; + } + + // check start address & nb range + uint16_t u16regs = 0; + uint8_t u8regs; + switch ( au8Buffer[ FUNC ] ) + { + case MB_FC_READ_COILS: + case MB_FC_READ_DISCRETE_INPUT: + case MB_FC_WRITE_MULTIPLE_COILS: + u16regs = word( au8Buffer[ ADD_HI ], au8Buffer[ ADD_LO ]) / 16; + u16regs += word( au8Buffer[ NB_HI ], au8Buffer[ NB_LO ]) /16; + u8regs = (uint8_t) u16regs; + if (u8regs > u8regsize) return EXC_ADDR_RANGE; + break; + case MB_FC_WRITE_COIL: + u16regs = word( au8Buffer[ ADD_HI ], au8Buffer[ ADD_LO ]) / 16; + u8regs = (uint8_t) u16regs; + if (u8regs > u8regsize) return EXC_ADDR_RANGE; + break; + case MB_FC_WRITE_REGISTER : + u16regs = word( au8Buffer[ ADD_HI ], au8Buffer[ ADD_LO ]); + u8regs = (uint8_t) u16regs; + if (u8regs > u8regsize) return EXC_ADDR_RANGE; + break; + case MB_FC_READ_REGISTERS : + case MB_FC_READ_INPUT_REGISTER : + case MB_FC_WRITE_MULTIPLE_REGISTERS : + u16regs = word( au8Buffer[ ADD_HI ], au8Buffer[ ADD_LO ]); + u16regs += word( au8Buffer[ NB_HI ], au8Buffer[ NB_LO ]); + u8regs = (uint8_t) u16regs; + if (u8regs > u8regsize) return EXC_ADDR_RANGE; + break; + } + return 0; // OK, no exception code thrown +} + +/** + * @brief + * This method validates master incoming messages + * + * @return 0 if OK, EXCEPTION if anything fails + * @ingroup buffer + */ +uint8_t Modbus::validateAnswer() +{ + // check message crc vs calculated crc + uint16_t u16MsgCRC = + ((au8Buffer[u8BufferSize - 2] << 8) + | au8Buffer[u8BufferSize - 1]); // combine the crc Low & High bytes + if ( calcCRC( u8BufferSize-2 ) != u16MsgCRC ) + { + u16errCnt ++; + return NO_REPLY; + } + + // check exception + if ((au8Buffer[ FUNC ] & 0x80) != 0) + { + u16errCnt ++; + return ERR_EXCEPTION; + } + + // check fct code + boolean isSupported = false; + for (uint8_t i = 0; i< sizeof( fctsupported ); i++) + { + if (fctsupported[i] == au8Buffer[FUNC]) + { + isSupported = 1; + break; + } + } + if (!isSupported) + { + u16errCnt ++; + return EXC_FUNC_CODE; + } + + return 0; // OK, no exception code thrown +} + +/** + * @brief + * This method builds an exception message + * + * @ingroup buffer + */ +void Modbus::buildException( uint8_t u8exception ) +{ + uint8_t u8func = au8Buffer[ FUNC ]; // get the original FUNC code + + au8Buffer[ ID ] = u8id; + au8Buffer[ FUNC ] = u8func + 0x80; + au8Buffer[ 2 ] = u8exception; + u8BufferSize = EXCEPTION_SIZE; +} + +/** + * This method processes functions 1 & 2 (for master) + * This method puts the slave answer into master data buffer + * + * @ingroup register + * TODO: finish its implementation + */ +void Modbus::get_FC1() +{ + uint8_t u8byte, i; + u8byte = 0; + + // for (i=0; i< au8Buffer[ 2 ] /2; i++) { + // au16regs[ i ] = word( + // au8Buffer[ u8byte ], + // au8Buffer[ u8byte +1 ]); + // u8byte += 2; + // } +} + +/** + * This method processes functions 3 & 4 (for master) + * This method puts the slave answer into master data buffer + * + * @ingroup register + */ +void Modbus::get_FC3() +{ + uint8_t u8byte, i; + u8byte = 3; + + for (i=0; i< au8Buffer[ 2 ] /2; i++) + { + au16regs[ i ] = word( + au8Buffer[ u8byte ], + au8Buffer[ u8byte +1 ]); + u8byte += 2; + } +} + +/** + * @brief + * This method processes functions 1 & 2 + * This method reads a bit array and transfers it to the master + * + * @return u8BufferSize Response to master length + * @ingroup discrete + */ +int8_t Modbus::process_FC1( uint16_t *regs, uint8_t u8size ) +{ + uint8_t u8currentRegister, u8currentBit, u8bytesno, u8bitsno; + uint8_t u8CopyBufferSize; + uint16_t u16currentCoil, u16coil; + + // get the first and last coil from the message + uint16_t u16StartCoil = word( au8Buffer[ ADD_HI ], au8Buffer[ ADD_LO ] ); + uint16_t u16Coilno = word( au8Buffer[ NB_HI ], au8Buffer[ NB_LO ] ); + + // put the number of bytes in the outcoming message + u8bytesno = (uint8_t) (u16Coilno / 8); + if (u16Coilno % 8 != 0) u8bytesno ++; + au8Buffer[ ADD_HI ] = u8bytesno; + u8BufferSize = ADD_LO; + + // read each coil from the register map and put its value inside the outcoming message + u8bitsno = 0; + + for (u16currentCoil = 0; u16currentCoil < u16Coilno; u16currentCoil++) + { + u16coil = u16StartCoil + u16currentCoil; + u8currentRegister = (uint8_t) (u16coil / 16); + u8currentBit = (uint8_t) (u16coil % 16); + + bitWrite( + au8Buffer[ u8BufferSize ], + u8bitsno, + bitRead( regs[ u8currentRegister ], u8currentBit ) ); + u8bitsno ++; + + if (u8bitsno > 7) + { + u8bitsno = 0; + u8BufferSize++; + } + } + + // send outcoming message + if (u16Coilno % 8 != 0) u8BufferSize ++; + u8CopyBufferSize = u8BufferSize +2; + sendTxBuffer(); + return u8CopyBufferSize; +} + +/** + * @brief + * This method processes functions 3 & 4 + * This method reads a word array and transfers it to the master + * + * @return u8BufferSize Response to master length + * @ingroup register + */ +int8_t Modbus::process_FC3( uint16_t *regs, uint8_t u8size ) +{ + + uint8_t u8StartAdd = word( au8Buffer[ ADD_HI ], au8Buffer[ ADD_LO ] ); + uint8_t u8regsno = word( au8Buffer[ NB_HI ], au8Buffer[ NB_LO ] ); + uint8_t u8CopyBufferSize; + uint8_t i; + + au8Buffer[ 2 ] = u8regsno * 2; + u8BufferSize = 3; + + for (i = u8StartAdd; i < u8StartAdd + u8regsno; i++) + { + au8Buffer[ u8BufferSize ] = highByte(regs[i]); + u8BufferSize++; + au8Buffer[ u8BufferSize ] = lowByte(regs[i]); + u8BufferSize++; + } + u8CopyBufferSize = u8BufferSize +2; + sendTxBuffer(); + + return u8CopyBufferSize; +} + +/** + * @brief + * This method processes function 5 + * This method writes a value assigned by the master to a single bit + * + * @return u8BufferSize Response to master length + * @ingroup discrete + */ +int8_t Modbus::process_FC5( uint16_t *regs, uint8_t u8size ) +{ + uint8_t u8currentRegister, u8currentBit; + uint8_t u8CopyBufferSize; + uint16_t u16coil = word( au8Buffer[ ADD_HI ], au8Buffer[ ADD_LO ] ); + + // point to the register and its bit + u8currentRegister = (uint8_t) (u16coil / 16); + u8currentBit = (uint8_t) (u16coil % 16); + + // write to coil + bitWrite( + regs[ u8currentRegister ], + u8currentBit, + au8Buffer[ NB_HI ] == 0xff ); + + + // send answer to master + u8BufferSize = 6; + u8CopyBufferSize = u8BufferSize +2; + sendTxBuffer(); + + return u8CopyBufferSize; +} + +/** + * @brief + * This method processes function 6 + * This method writes a value assigned by the master to a single word + * + * @return u8BufferSize Response to master length + * @ingroup register + */ +int8_t Modbus::process_FC6( uint16_t *regs, uint8_t u8size ) +{ + + uint8_t u8add = word( au8Buffer[ ADD_HI ], au8Buffer[ ADD_LO ] ); + uint8_t u8CopyBufferSize; + uint16_t u16val = word( au8Buffer[ NB_HI ], au8Buffer[ NB_LO ] ); + + regs[ u8add ] = u16val; + + // keep the same header + u8BufferSize = RESPONSE_SIZE; + + u8CopyBufferSize = u8BufferSize +2; + sendTxBuffer(); + + return u8CopyBufferSize; +} + +/** + * @brief + * This method processes function 15 + * This method writes a bit array assigned by the master + * + * @return u8BufferSize Response to master length + * @ingroup discrete + */ +int8_t Modbus::process_FC15( uint16_t *regs, uint8_t u8size ) +{ + uint8_t u8currentRegister, u8currentBit, u8frameByte, u8bitsno; + uint8_t u8CopyBufferSize; + uint16_t u16currentCoil, u16coil; + boolean bTemp; + + // get the first and last coil from the message + uint16_t u16StartCoil = word( au8Buffer[ ADD_HI ], au8Buffer[ ADD_LO ] ); + uint16_t u16Coilno = word( au8Buffer[ NB_HI ], au8Buffer[ NB_LO ] ); + + + // read each coil from the register map and put its value inside the outcoming message + u8bitsno = 0; + u8frameByte = 7; + for (u16currentCoil = 0; u16currentCoil < u16Coilno; u16currentCoil++) + { + + u16coil = u16StartCoil + u16currentCoil; + u8currentRegister = (uint8_t) (u16coil / 16); + u8currentBit = (uint8_t) (u16coil % 16); + + bTemp = bitRead( + au8Buffer[ u8frameByte ], + u8bitsno ); + + bitWrite( + regs[ u8currentRegister ], + u8currentBit, + bTemp ); + + u8bitsno ++; + + if (u8bitsno > 7) + { + u8bitsno = 0; + u8frameByte++; + } + } + + // send outcoming message + // it's just a copy of the incomping frame until 6th byte + u8BufferSize = 6; + u8CopyBufferSize = u8BufferSize +2; + sendTxBuffer(); + return u8CopyBufferSize; +} + +/** + * @brief + * This method processes function 16 + * This method writes a word array assigned by the master + * + * @return u8BufferSize Response to master length + * @ingroup register + */ +int8_t Modbus::process_FC16( uint16_t *regs, uint8_t u8size ) +{ + uint8_t u8func = au8Buffer[ FUNC ]; // get the original FUNC code + uint8_t u8StartAdd = au8Buffer[ ADD_HI ] << 8 | au8Buffer[ ADD_LO ]; + uint8_t u8regsno = au8Buffer[ NB_HI ] << 8 | au8Buffer[ NB_LO ]; + uint8_t u8CopyBufferSize; + uint8_t i; + uint16_t temp; + + // build header + au8Buffer[ NB_HI ] = 0; + au8Buffer[ NB_LO ] = u8regsno; + u8BufferSize = RESPONSE_SIZE; + + // write registers + for (i = 0; i < u8regsno; i++) + { + temp = word( + au8Buffer[ (BYTE_CNT + 1) + i * 2 ], + au8Buffer[ (BYTE_CNT + 2) + i * 2 ]); + + regs[ u8StartAdd + i ] = temp; + } + u8CopyBufferSize = u8BufferSize +2; + sendTxBuffer(); + + return u8CopyBufferSize; +} +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/MultiStepper.cpp b/shredder/asterix-pp/firmware/MultiStepper.cpp new file mode 100644 index 0000000..b9f07f9 --- /dev/null +++ b/shredder/asterix-pp/firmware/MultiStepper.cpp @@ -0,0 +1,115 @@ +// MultiStepper.cpp +// +// Copyright (C) 2015 Mike McCauley +// $Id: MultiStepper.cpp,v 1.2 2015/10/04 05:16:38 mikem Exp $ + +#include "MultiStepper.h" +#include "AccelStepper.h" + +MultiStepper::MultiStepper() + : _num_steppers(0) +{ +} + +boolean MultiStepper::addStepper(AccelStepper &stepper) +{ + if (_num_steppers >= MULTISTEPPER_MAX_STEPPERS) + return false; // No room for more + _steppers[_num_steppers++] = &stepper; + return true; +} + +void MultiStepper::move(long absolute[]) +{ + // First find the stepper that will take the longest time to move + float longestTime = 0.0; + + uint8_t i; + for (i = 0; i < _num_steppers; i++) + { + long thisDistance = absolute[i] - _steppers[i]->currentPosition(); + float thisTime = abs(thisDistance) / _steppers[i]->maxSpeed(); + + if (thisTime > longestTime) + longestTime = thisTime; + } + + if (longestTime > 0.0) + { + // Now work out a new max speed for each stepper so they will all + // arrived at the same time of longestTime + for (i = 0; i < _num_steppers; i++) + { + long thisDistance = absolute[i] - _steppers[i]->currentPosition(); + float thisSpeed = thisDistance / longestTime; + _steppers[i]->move(absolute[i]); // New target position (resets speed) + _steppers[i]->setSpeed(thisSpeed); // New speed + } + } +} + +void MultiStepper::moveTo(long absolute[]) +{ + // First find the stepper that will take the longest time to move + float longestTime = 0.0; + + uint8_t i; + for (i = 0; i < _num_steppers; i++) + { + long thisDistance = absolute[i] - _steppers[i]->currentPosition(); + float thisTime = abs(thisDistance) / _steppers[i]->maxSpeed(); + + if (thisTime > longestTime) + longestTime = thisTime; + } + + if (longestTime > 0.0) + { + // Now work out a new max speed for each stepper so they will all + // arrived at the same time of longestTime + for (i = 0; i < _num_steppers; i++) + { + long thisDistance = absolute[i] - _steppers[i]->currentPosition(); + float thisSpeed = thisDistance / longestTime; + _steppers[i]->moveTo(absolute[i]); // New target position (resets speed) + _steppers[i]->setSpeed(thisSpeed); // New speed + } + } +} + +// Returns true if any motor is still running to the target position. +boolean MultiStepper::run() +{ + uint8_t i; + boolean ret = false; + for (i = 0; i < _num_steppers; i++) + { + if (_steppers[i]->distanceToGo() != 0) + { + _steppers[i]->runSpeed(); + ret = true; + } + } + return ret; +} + +boolean MultiStepper::hasToGo() +{ + uint8_t i; + boolean ret = false; + for (i = 0; i < _num_steppers; i++) + { + if (_steppers[i]->distanceToGo() != 0) + { + ret = true; + } + } + return ret; +} + +// Blocks until all steppers reach their target position and are stopped +void MultiStepper::runSpeedToPosition() +{ + while (run()) + ; +} diff --git a/shredder/asterix-pp/firmware/MultiStepper.h b/shredder/asterix-pp/firmware/MultiStepper.h new file mode 100644 index 0000000..225e01c --- /dev/null +++ b/shredder/asterix-pp/firmware/MultiStepper.h @@ -0,0 +1,82 @@ +// MultiStepper.h + +#ifndef MultiStepper_h +#define MultiStepper_h + +#include +#if ARDUINO >= 100 +#include +#else +#include +#include +#endif + +#define MULTISTEPPER_MAX_STEPPERS 10 + +class AccelStepper; + +///////////////////////////////////////////////////////////////////// +/// \class MultiStepper MultiStepper.h +/// \brief Operate multiple AccelSteppers in a co-ordinated fashion +/// +/// This class can manage multiple AccelSteppers (up to MULTISTEPPER_MAX_STEPPERS = 10), +/// and cause them all to move +/// to selected positions at such a (constant) speed that they all arrive at their +/// target position at the same time. This can be used to support devices with multiple steppers +/// on say multiple axes to cause linear diagonal motion. Suitable for use with X-Y plotters, flatbeds, +/// 3D printers etc +/// to get linear straight line movement between arbitrary 2d (or 3d or ...) positions. +/// +/// Caution: only constant speed stepper motion is supported: acceleration and deceleration is not supported +/// All the steppers managed by MultiStepper will step at a constant speed to their +/// target (albeit perhaps different speeds for each stepper). +class MultiStepper +{ +public: + /// Constructor + MultiStepper(); + + boolean hasToGo(); + + /// Add a stepper to the set of managed steppers + /// There is an upper limit of MULTISTEPPER_MAX_STEPPERS = 10 to the number of steppers that can be managed + /// \param[in] stepper Reference to a stepper to add to the managed list + /// \return true if successful. false if the number of managed steppers would exceed MULTISTEPPER_MAX_STEPPERS + boolean addStepper(AccelStepper& stepper); + + /// Set the target positions of all managed steppers + /// according to a coordinate array. + /// New speeds will be computed for each stepper so they will all arrive at their + /// respective targets at very close to the same time. + /// \param[in] absolute An array of desired absolute stepper positions. absolute[0] will be used to set + /// the absolute position of the first stepper added by addStepper() etc. The array must be at least as long as + /// the number of steppers that have been added by addStepper, else results are undefined. + void moveTo(long absolute[]); + + void move(long absolute[]); + + /// Calls runSpeed() on all the managed steppers + /// that have not acheived their target position. + /// \return true if any stepper is still in the process of running to its target position. + boolean run(); + + /// Runs all managed steppers until they acheived their target position. + /// Blocks until all that position is acheived. If you dont + /// want blocking consider using run() instead. + void runSpeedToPosition(); + +private: + /// Array of pointers to the steppers we are controlling. + /// Fills from 0 onwards + AccelStepper* _steppers[MULTISTEPPER_MAX_STEPPERS]; + + /// Number of steppers we are controlling and the number + /// of steppers in _steppers[] + uint8_t _num_steppers; +}; + +/// @example MultiStepper.pde +/// Use MultiStepper class to manage multiple steppers and make them all move to +/// the same position at the same time for linear 2d (or 3d) motion. + +#endif diff --git a/shredder/asterix-pp/firmware/Plunger.cpp b/shredder/asterix-pp/firmware/Plunger.cpp new file mode 100644 index 0000000..48fd940 --- /dev/null +++ b/shredder/asterix-pp/firmware/Plunger.cpp @@ -0,0 +1,341 @@ +#include "Plunger.h" +#include "config.h" +#ifdef HAS_STATES +#include +#endif + +// #define HAS_PLUNGER_DEBUG + +#ifdef HAS_PLUNGER_DEBUG +#define PLUNGER_DEBUG(A) Serial.println(A); +#else +#define PLUNGER_DEBUG(A) +#endif + +#ifdef HAS_STATES +String Plunger::state() +{ + const int capacity = JSON_OBJECT_SIZE(3); + StaticJsonDocument doc; + doc[0] = id; + doc[1] = _state; + doc[2] = pFlags; + +#ifdef HAS_PLUNGER_DEBUG + Serial.println("state : "); + Serial.println(_state); + Serial.print("pflags low : "); + Serial.println(pFlags); + Serial.print("limit high : "); + Serial.println(u1.value); + + Serial.print("moving: "); + Serial.println(TEST(pFlags, MOVING)); + Serial.print("retracting: "); + Serial.println(TEST(pFlags, RETRACTING)); + Serial.print("freeing: "); + Serial.println(TEST(pFlags, FREEING)); + Serial.print("done: "); + Serial.println(TEST(pFlags, DONE)); + Serial.print("retracted: "); + Serial.println(TEST(pFlags, RETRACTED)); + Serial.print("retracting on : "); + Serial.println(retracting); +#endif + + /* + Serial.println("pflags"); + Serial.print("moving: "); + Serial.println(TEST(pFlags, MOVING)); + Serial.print("retracting: "); + Serial.println(TEST(pFlags, RETRACTING)); + Serial.print("freeing: "); + Serial.println(TEST(pFlags, FREEING)); + Serial.print("done: "); + Serial.println(TEST(pFlags, DONE)); + Serial.print("retracted: "); + Serial.println(TEST(pFlags, RETRACTED)); + Serial.print("retracting on : "); + Serial.println(retracting);*/ + + return doc.as(); +} +#endif + +bool Plunger::pause() +{ + SBI(pFlags, PAUSED); + digitalWrite(PLUNGER_MOTOR_1_STEP_PIN, LOW); +} +bool Plunger::resume() +{ + CBI(pFlags, PAUSED); + if (_state = PLUNGING && !u1.value && !l1.value) + { + move(0); + } + if (_state = HOMING && !u1.value && !l1.value) + { + move(1); + } +} +short Plunger::move(short dir) +{ + + digitalWrite(PLUNGER_MOTOR_1_DIR_PIN, !dir); + digitalWrite(PLUNGER_MOTOR_2_STEP_PIN, LOW); + digitalWrite(PLUNGER_MOTOR_1_STEP_PIN, HIGH); + SBI(pFlags, MOVING); +} + +short Plunger::moveFast(short dir) +{ + + digitalWrite(PLUNGER_MOTOR_1_DIR_PIN, !dir); + digitalWrite(PLUNGER_MOTOR_1_STEP_PIN, LOW); + digitalWrite(PLUNGER_MOTOR_2_STEP_PIN, HIGH); + SBI(pFlags, MOVING); +} + +bool Plunger::change(short newState) +{ + if (newState == _state) + { + return false; + } + _state = newState; + return true; +} +short Plunger::setSpeed(short val = 0) +{ + speed = 1000 * val; +} +short Plunger::setup() +{ + u1.setup(); + u1.loop(); + l1.setup(); + l1.loop(); + pFlags = 0; + digitalWrite(PLUNGER_MOTOR_1_STEP_PIN, LOW); + digitalWrite(PLUNGER_MOTOR_2_STEP_PIN, LOW); + retracting = false; +} + +void Plunger::debug(Stream *stream) +{ + *stream << name << " : " << u1.value << " : " << l1.value; +} +short Plunger::plunge(short force) +{ + if (!change(PLUNGING)) + { + if (!TEST(pFlags, DONE)) + { + return TEST(pFlags, DONE); + } + else + { + if (force) + { + reset(); + _state = PLUNGING; + } + else + { + return TEST(pFlags, DONE); + } + } + } + else + { + reset(); + _state = PLUNGING; + } + if (u1.value) + { + SBI(pFlags, FREEING); + move(0); + return TEST(pFlags, DONE); + } + else + { + SBI(pFlags, MOVING); + move(0); + } + return TEST(pFlags, DONE); +} +short Plunger::retract() +{ + u1.loop(); + l1.loop(); + if (u1.value) + { + if (!retracting) + { + retracting = true; + PLUNGER_DEBUG("PLUNGER : collision!"); + } + SBI(pFlags, RETRACTING); + return 1; + } + else + { + + retracting = false; + return 0; + } +} +short Plunger::home(short force = false) +{ + if (!change(HOMING)) + { + PLUNGER_DEBUG("PLUNGER already homing"); + if (!TEST(pFlags, DONE)) + { + PLUNGER_DEBUG("PLUNGER already homing : not done yet"); + return TEST(pFlags, DONE); + } + else + { + if (force == false) + { + return TEST(pFlags, DONE); + } + else + { + PLUNGER_DEBUG("PLUNGER already homing : doing it again"); + reset(); + _state = HOMING; + } + } + } + else + { + reset(); + _state = HOMING; + } + + if (u1.value) + { + PLUNGER_DEBUG("PLUNGER : frooze up"); + SBI(pFlags, FREEING); + return TEST(pFlags, DONE); + } + else + { + PLUNGER_DEBUG("PLUNGER : move"); + moveFast(1); + } + return TEST(pFlags, DONE); +} + +short Plunger::stop(short val) +{ + // _state = STOPPED; + digitalWrite(PLUNGER_MOTOR_1_STEP_PIN, LOW); + digitalWrite(PLUNGER_MOTOR_2_STEP_PIN, LOW); + CBI(pFlags, MOVING); + CBI(pFlags, FREEING); +} + +void Plunger::zero() +{ +} +short Plunger::reset(short val) +{ + pFlags = 0; + _state = NONE; + retracting = false; +} +short Plunger::loop() +{ + AddonFnPtr ptr = this->check; + l1.loop(); + u1.loop(); + + // retract + if (TEST(pFlags, MOVING)) + { + if (u1.value || l1.value) + { + if (u1.value && !TEST(pFlags, RETRACTING)) + { + PLUNGER_DEBUG("retract down"); + SBI(pFlags, RETRACTING); + move(0); + } + + if (l1.value && !TEST(pFlags, RETRACTING)) + { + PLUNGER_DEBUG("retract up"); + SBI(pFlags, RETRACTING); + move(1); + } + } + else + { + if (TEST(pFlags, RETRACTING)) + { + PLUNGER_DEBUG("retracting done"); + stop(); + SBI(pFlags, RETRACTED); + CBI(pFlags, RETRACTING); + } + } + } + + switch (_state) + { + case ERROR: + case MANUAL: + { + break; + } + case STOPPED: + { + break; + } + case HOMING: + { + if (TEST(pFlags, DONE)) + { + return; + } + if (TEST(pFlags, RETRACTED)) + { + stop(); + SBI(pFlags, DONE); + CBI(pFlags, RETRACTED); + PLUNGER_DEBUG("homed"); + } + else if (!TEST(pFlags, RETRACTING) && !TEST(pFlags, MOVING)) + { + PLUNGER_DEBUG("homing : move on"); + move(1); + } + break; + } + case PLUNGING: + { + + if (TEST(pFlags, DONE)) + { + return; + } + if (TEST(pFlags, RETRACTED)) + { + stop(); + SBI(pFlags, DONE); + CBI(pFlags, RETRACTED); + PLUNGER_DEBUG("plunged"); + } + else if (!TEST(pFlags, RETRACTING) && !TEST(pFlags, MOVING)) + { + PLUNGER_DEBUG("plunging : move on"); + move(0); + } + break; + } + } +} \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/Plunger.h b/shredder/asterix-pp/firmware/Plunger.h new file mode 100644 index 0000000..bbb06b3 --- /dev/null +++ b/shredder/asterix-pp/firmware/Plunger.h @@ -0,0 +1,119 @@ +#ifndef PLUNGER_H +#define PLUNGER_H + +#include +#include + +#include "config.h" +#include "Addon.h" +#include "common/macros.h" +#include "config.h" +#include "types.h" +#include "./components/CurrentSensor.h" + +#define STEPS 300 +class Plunger : public Addon +{ +public: + class LimitSwitch + { + public: + LimitSwitch(short _pin) : pin(_pin), + ts(0){}; + bool value; + byte pin; + millis_t ts; + void loop() + { + if (millis() - ts > LIMIT_SWITCH_INTERVAL) + { + value = digitalRead(pin); + ts = millis(); + } + } + void setup() + { + pinMode(pin, INPUT); + } + }; + + enum E_PLUNGER_STATE + { + NONE = 0, + PLUNGING = 100, + STOPPED = 200, + HOMING = 300, + RETRACT = 350, + MANUAL = 360, + ERROR = 400 + }; + + enum P_FLAGS + { + INITIATED = 1, + MOVING = 2, + RETRACTING = 3, + RETRACTED = 4, + FREEING = 5, + DONE = 6, + PAUSED = 7 + }; + + Plunger(Addon *owner, AddonFnPtr _cb) : Addon(PLUNGER_STR, PLUNGER), + _state(NONE), + _last_state(NONE), + owner(owner), + check(_cb), + u1(LimitSwitch(PLUNGER_LIMIT_UP_1)), + l1(LimitSwitch(PLUNGER_LIMIT_DOWN_1)) + { + // setFlag(DEBUG); + // setFlag(LOOP); + } +#ifdef HAS_STATES + String state(); +#endif + void debug(Stream *stream); + void info(Stream *stream) + { + //*stream << this->name; + } + + short setup(); + short loop(); + + short plunge(short val = 0); + short home(short val = 0); + short test(short val = 0); + short retract(); + void zero(); + short reset(short val = 0); + short stop(short val = 0); + bool pause(); + bool resume(); + short goToPos(long pos, long speed); + short moveMotor1(short val = 0); + short moveMotor2(short val = 0); + short moveMotors(short val = 0); + short setSpeed(short val = 0); + short move(short dir); + short moveFast(short dir); + +private: + short _last_state; + bool change(short newState); + long positions[2]; + + LimitSwitch u1; + LimitSwitch l1; + AddonFnPtr check; + Addon *owner; + short pFlags; + bool retracting; + short _state; + float speed; + +protected: +}; + +#endif diff --git a/shredder/asterix-pp/firmware/Readme.md b/shredder/asterix-pp/firmware/Readme.md new file mode 100644 index 0000000..6bdf497 --- /dev/null +++ b/shredder/asterix-pp/firmware/Readme.md @@ -0,0 +1,5 @@ +# TODOS + +- new PHStudio widgets: PID control & Display +- info tab: vfd status, PID status, sensor LEDS +- HMIs: shredder, extrusion, shredder && extrusion, asterix diff --git a/shredder/asterix-pp/firmware/Servo.cpp b/shredder/asterix-pp/firmware/Servo.cpp new file mode 100644 index 0000000..8ccd8d6 --- /dev/null +++ b/shredder/asterix-pp/firmware/Servo.cpp @@ -0,0 +1,131 @@ +#include "Servo.h" +#include "./TimerOne.h" + +Servo *Servo::firstInstance; + +Servo::Servo(uint8_t dirpin, uint8_t steppin) +{ + if (!firstInstance) + { + firstInstance = this; + } + + dirPin = Pin(dirpin); + stepPin = Pin(steppin); +} + +void Servo::init() +{ + dirPin.setOutput(); + stepPin.setOutput(); + Timer1.initialize(); + Timer1.attachInterrupt(Servo::ticking); + Timer1.stop(); + pause(); +} + +void Servo::setPulse(long pulse) +{ + Timer1.setPeriod(pulse); +} + +bool Servo::step(long steps, uint8_t direction) +{ + if (isStepping()) + { + return false; + } + + ticksRemaining = steps * 2; //converting steps to ticks + + if (direction == HIGH) + { + dirPin.setHigh(); + } + else + { + dirPin.setLow(); + } + + return true; +} + +bool Servo::step(long steps, uint8_t direction, long pulse) +{ + if (isStepping()) + { + return false; + } + + resume(); + setPulse(pulse); + + return step(steps, direction); +} + +long Servo::getRemainingSteps() +{ + return ticksRemaining / 2; +} + +//returns the remaining steps +long Servo::stop() +{ + //each step = 2 ticks + long stepsRemaining = getRemainingSteps(); + + Timer1.stop(); + + if (ticksRemaining & 1) + { + ticksRemaining = 1; + } + else + { + ticksRemaining = 0; + } + + Timer1.start(); + + return stepsRemaining; +} + +void Servo::pause() +{ + paused = true; + Timer1.stop(); +} + +void Servo::resume() +{ + if (paused) + { + Timer1.start(); + paused = false; + } +} + +bool Servo::isStepping() +{ + return (ticksRemaining > 0); +} + +bool Servo::isStopped() +{ + return (ticksRemaining <= 0); +} + +bool Servo::isPaused() +{ + return paused; +} + +void Servo::ticking() +{ + if (firstInstance->ticksRemaining > 0) + { + //generate high/low signal for the stepper driver + firstInstance->stepPin.toggleState(); + --firstInstance->ticksRemaining; + } +} diff --git a/shredder/asterix-pp/firmware/Servo.h b/shredder/asterix-pp/firmware/Servo.h new file mode 100644 index 0000000..26165e8 --- /dev/null +++ b/shredder/asterix-pp/firmware/Servo.h @@ -0,0 +1,43 @@ +#ifndef SERVO_H +#define SERVO_H + +#include +#include "./common/Pin.h" +#define MOTORSTEPS 2000; +class Servo +{ +public: + volatile long ticksRemaining; // remaining ticks, 2 ticks = 1 pulse = 1 microstep/step + +protected: + /* for some stupid reason the Pin class requires initialization */ + Pin dirPin = Pin(1000); + Pin stepPin = dirPin; + bool paused; + +public: + Servo(uint8_t dirpin, uint8_t steppin); + void init(); + void setPulse(long pulse); + bool step(long steps, uint8_t direction); + bool step(long steps, uint8_t direction, long pulse); + long getRemainingSteps(); + long stop(); + void pause(); + void resume(); + bool isStepping(); + bool isStopped(); + bool isPaused(); + static void ticking(); + static long rpmToTickInterval(long targetRPM) + { + // rotation per sec = targetRPM/60 + float stepsPerSecond = (float)targetRPM / 60 * MOTORSTEPS; + long pulseInMicroseconds = (long)(1000000L / stepsPerSecond) / 2; + return pulseInMicroseconds; + } + +private: + static Servo *firstInstance; +}; +#endif diff --git a/shredder/asterix-pp/firmware/TimerOne.cpp b/shredder/asterix-pp/firmware/TimerOne.cpp new file mode 100644 index 0000000..7e838d0 --- /dev/null +++ b/shredder/asterix-pp/firmware/TimerOne.cpp @@ -0,0 +1,54 @@ +/* + * Interrupt and PWM utilities for 16 bit Timer1 on ATmega168/328 + * Original code by Jesse Tane for http://labs.ideo.com August 2008 + * Modified March 2009 by Jérôme Despatis and Jesse Tane for ATmega328 support + * Modified June 2009 by Michael Polli and Jesse Tane to fix a bug in setPeriod() which caused the timer to stop + * Modified Oct 2009 by Dan Clemens to work with timer1 of the ATMega1280 or Arduino Mega + * Modified April 2012 by Paul Stoffregen + * Modified again, June 2014 by Paul Stoffregen + * Modified July 2017 by Stoyko Dimitrov - added support for ATTiny85 except for the PWM functionality + * + * This is free software. You can redistribute it and/or modify it under + * the terms of Creative Commons Attribution 3.0 United States License. + * To view a copy of this license, visit http://creativecommons.org/licenses/by/3.0/us/ + * or send a letter to Creative Commons, 171 Second Street, Suite 300, San Francisco, California, 94105, USA. + * + */ + +#include "TimerOne.h" + +TimerOne Timer1; // preinstatiate + +unsigned short TimerOne::pwmPeriod = 0; +unsigned char TimerOne::clockSelectBits = 0; +void (*TimerOne::isrCallback)() = TimerOne::isrDefaultUnused; + +// interrupt service routine that wraps a user defined function supplied by attachInterrupt +#if defined (__AVR_ATtiny85__) +ISR(TIMER1_COMPA_vect) +{ + Timer1.isrCallback(); +} +#elif defined(__AVR__) +ISR(TIMER1_OVF_vect) +{ + Timer1.isrCallback(); +} + +#elif defined(__arm__) && defined(CORE_TEENSY) +void ftm1_isr(void) +{ + uint32_t sc = FTM1_SC; + #ifdef KINETISL + if (sc & 0x80) FTM1_SC = sc; + #else + if (sc & 0x80) FTM1_SC = sc & 0x7F; + #endif + Timer1.isrCallback(); +} + +#endif + +void TimerOne::isrDefaultUnused() +{ +} diff --git a/shredder/asterix-pp/firmware/TimerOne.h b/shredder/asterix-pp/firmware/TimerOne.h new file mode 100644 index 0000000..940412d --- /dev/null +++ b/shredder/asterix-pp/firmware/TimerOne.h @@ -0,0 +1,485 @@ +/* + * Interrupt and PWM utilities for 16 bit Timer1 on ATmega168/328 + * Original code by Jesse Tane for http://labs.ideo.com August 2008 + * Modified March 2009 by Jérôme Despatis and Jesse Tane for ATmega328 support + * Modified June 2009 by Michael Polli and Jesse Tane to fix a bug in setPeriod() which caused the timer to stop + * Modified April 2012 by Paul Stoffregen - portable to other AVR chips, use inline functions + * Modified again, June 2014 by Paul Stoffregen - support Teensy 3.x & even more AVR chips + * Modified July 2017 by Stoyko Dimitrov - added support for ATTiny85 except for the PWM functionality + * + * + * This is free software. You can redistribute it and/or modify it under + * the terms of Creative Commons Attribution 3.0 United States License. + * To view a copy of this license, visit http://creativecommons.org/licenses/by/3.0/us/ + * or send a letter to Creative Commons, 171 Second Street, Suite 300, San Francisco, California, 94105, USA. + * + */ + +#ifndef TimerOne_h_ +#define TimerOne_h_ + +#if defined(ARDUINO) && ARDUINO >= 100 +#include "Arduino.h" +#else +#include "WProgram.h" +#endif + +#include "config/known_16bit_timers.h" +#if defined (__AVR_ATtiny85__) +#define TIMER1_RESOLUTION 256UL // Timer1 is 8 bit +#elif defined(__AVR__) +#define TIMER1_RESOLUTION 65536UL // Timer1 is 16 bit +#else +#define TIMER1_RESOLUTION 65536UL // assume 16 bits for non-AVR chips +#endif + +// Placing nearly all the code in this .h file allows the functions to be +// inlined by the compiler. In the very common case with constant values +// the compiler will perform all calculations and simply write constants +// to the hardware registers (for example, setPeriod). + + +class TimerOne +{ + +#if defined (__AVR_ATtiny85__) + public: + //**************************** + // Configuration + //**************************** + void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) { + TCCR1 = _BV(CTC1); //clear timer1 when it matches the value in OCR1C + TIMSK |= _BV(OCIE1A); //enable interrupt when OCR1A matches the timer value + setPeriod(microseconds); + } + void setPeriod(unsigned long microseconds) __attribute__((always_inline)) { + const unsigned long cycles = microseconds * ratio; + if (cycles < TIMER1_RESOLUTION) { + clockSelectBits = _BV(CS10); + pwmPeriod = cycles; + } else + if (cycles < TIMER1_RESOLUTION * 2UL) { + clockSelectBits = _BV(CS11); + pwmPeriod = cycles / 2; + } else + if (cycles < TIMER1_RESOLUTION * 4UL) { + clockSelectBits = _BV(CS11) | _BV(CS10); + pwmPeriod = cycles / 4; + } else + if (cycles < TIMER1_RESOLUTION * 8UL) { + clockSelectBits = _BV(CS12); + pwmPeriod = cycles / 8; + } else + if (cycles < TIMER1_RESOLUTION * 16UL) { + clockSelectBits = _BV(CS12) | _BV(CS10); + pwmPeriod = cycles / 16; + } else + if (cycles < TIMER1_RESOLUTION * 32UL) { + clockSelectBits = _BV(CS12) | _BV(CS11); + pwmPeriod = cycles / 32; + } else + if (cycles < TIMER1_RESOLUTION * 64UL) { + clockSelectBits = _BV(CS12) | _BV(CS11) | _BV(CS10); + pwmPeriod = cycles / 64UL; + } else + if (cycles < TIMER1_RESOLUTION * 128UL) { + clockSelectBits = _BV(CS13); + pwmPeriod = cycles / 128; + } else + if (cycles < TIMER1_RESOLUTION * 256UL) { + clockSelectBits = _BV(CS13) | _BV(CS10); + pwmPeriod = cycles / 256; + } else + if (cycles < TIMER1_RESOLUTION * 512UL) { + clockSelectBits = _BV(CS13) | _BV(CS11); + pwmPeriod = cycles / 512; + } else + if (cycles < TIMER1_RESOLUTION * 1024UL) { + clockSelectBits = _BV(CS13) | _BV(CS11) | _BV(CS10); + pwmPeriod = cycles / 1024; + } else + if (cycles < TIMER1_RESOLUTION * 2048UL) { + clockSelectBits = _BV(CS13) | _BV(CS12); + pwmPeriod = cycles / 2048; + } else + if (cycles < TIMER1_RESOLUTION * 4096UL) { + clockSelectBits = _BV(CS13) | _BV(CS12) | _BV(CS10); + pwmPeriod = cycles / 4096; + } else + if (cycles < TIMER1_RESOLUTION * 8192UL) { + clockSelectBits = _BV(CS13) | _BV(CS12) | _BV(CS11); + pwmPeriod = cycles / 8192; + } else + if (cycles < TIMER1_RESOLUTION * 16384UL) { + clockSelectBits = _BV(CS13) | _BV(CS12) | _BV(CS11) | _BV(CS10); + pwmPeriod = cycles / 16384; + } else { + clockSelectBits = _BV(CS13) | _BV(CS12) | _BV(CS11) | _BV(CS10); + pwmPeriod = TIMER1_RESOLUTION - 1; + } + OCR1A = pwmPeriod; + OCR1C = pwmPeriod; + TCCR1 = _BV(CTC1) | clockSelectBits; + } + + //**************************** + // Run Control + //**************************** + void start() __attribute__((always_inline)) { + TCCR1 = 0; + TCNT1 = 0; + resume(); + } + void stop() __attribute__((always_inline)) { + TCCR1 = _BV(CTC1); + } + void restart() __attribute__((always_inline)) { + start(); + } + void resume() __attribute__((always_inline)) { + TCCR1 = _BV(CTC1) | clockSelectBits; + } + + //**************************** + // PWM outputs + //**************************** + //Not implemented yet for ATTiny85 + //TO DO + + //**************************** + // Interrupt Function + //**************************** + void attachInterrupt(void (*isr)()) __attribute__((always_inline)) { + isrCallback = isr; + TIMSK |= _BV(OCIE1A); + } + void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) { + if(microseconds > 0) setPeriod(microseconds); + attachInterrupt(isr); + } + void detachInterrupt() __attribute__((always_inline)) { + //TIMSK = 0; // Timer 0 and Timer 1 both use TIMSK register so setting it to 0 will override settings for Timer1 as well + TIMSK &= ~_BV(OCIE1A); + } + static void (*isrCallback)(); + static void isrDefaultUnused(); + + private: + static unsigned short pwmPeriod; + static unsigned char clockSelectBits; + static const byte ratio = (F_CPU)/ ( 1000000 ); + +#elif defined(__AVR__) + public: + //**************************** + // Configuration + //**************************** + void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) { + TCCR1B = _BV(WGM13); // set mode as phase and frequency correct pwm, stop the timer + TCCR1A = 0; // clear control register A + setPeriod(microseconds); + } + void setPeriod(unsigned long microseconds) __attribute__((always_inline)) { + const unsigned long cycles = (F_CPU / 2000000) * microseconds; + if (cycles < TIMER1_RESOLUTION) { + clockSelectBits = _BV(CS10); + pwmPeriod = cycles; + } else + if (cycles < TIMER1_RESOLUTION * 8) { + clockSelectBits = _BV(CS11); + pwmPeriod = cycles / 8; + } else + if (cycles < TIMER1_RESOLUTION * 64) { + clockSelectBits = _BV(CS11) | _BV(CS10); + pwmPeriod = cycles / 64; + } else + if (cycles < TIMER1_RESOLUTION * 256) { + clockSelectBits = _BV(CS12); + pwmPeriod = cycles / 256; + } else + if (cycles < TIMER1_RESOLUTION * 1024) { + clockSelectBits = _BV(CS12) | _BV(CS10); + pwmPeriod = cycles / 1024; + } else { + clockSelectBits = _BV(CS12) | _BV(CS10); + pwmPeriod = TIMER1_RESOLUTION - 1; + } + ICR1 = pwmPeriod; + TCCR1B = _BV(WGM13) | clockSelectBits; + } + + //**************************** + // Run Control + //**************************** + void start() __attribute__((always_inline)) { + TCCR1B = 0; + TCNT1 = 0; // TODO: does this cause an undesired interrupt? + resume(); + } + void stop() __attribute__((always_inline)) { + TCCR1B = _BV(WGM13); + } + void restart() __attribute__((always_inline)) { + start(); + } + void resume() __attribute__((always_inline)) { + TCCR1B = _BV(WGM13) | clockSelectBits; + } + + //**************************** + // PWM outputs + //**************************** + void setPwmDuty(char pin, unsigned int duty) __attribute__((always_inline)) { + unsigned long dutyCycle = pwmPeriod; + dutyCycle *= duty; + dutyCycle >>= 10; + if (pin == TIMER1_A_PIN) OCR1A = dutyCycle; + #ifdef TIMER1_B_PIN + else if (pin == TIMER1_B_PIN) OCR1B = dutyCycle; + #endif + #ifdef TIMER1_C_PIN + else if (pin == TIMER1_C_PIN) OCR1C = dutyCycle; + #endif + } + void pwm(char pin, unsigned int duty) __attribute__((always_inline)) { + if (pin == TIMER1_A_PIN) { pinMode(TIMER1_A_PIN, OUTPUT); TCCR1A |= _BV(COM1A1); } + #ifdef TIMER1_B_PIN + else if (pin == TIMER1_B_PIN) { pinMode(TIMER1_B_PIN, OUTPUT); TCCR1A |= _BV(COM1B1); } + #endif + #ifdef TIMER1_C_PIN + else if (pin == TIMER1_C_PIN) { pinMode(TIMER1_C_PIN, OUTPUT); TCCR1A |= _BV(COM1C1); } + #endif + setPwmDuty(pin, duty); + TCCR1B = _BV(WGM13) | clockSelectBits; + } + void pwm(char pin, unsigned int duty, unsigned long microseconds) __attribute__((always_inline)) { + if (microseconds > 0) setPeriod(microseconds); + pwm(pin, duty); + } + void disablePwm(char pin) __attribute__((always_inline)) { + if (pin == TIMER1_A_PIN) TCCR1A &= ~_BV(COM1A1); + #ifdef TIMER1_B_PIN + else if (pin == TIMER1_B_PIN) TCCR1A &= ~_BV(COM1B1); + #endif + #ifdef TIMER1_C_PIN + else if (pin == TIMER1_C_PIN) TCCR1A &= ~_BV(COM1C1); + #endif + } + + //**************************** + // Interrupt Function + //**************************** + void attachInterrupt(void (*isr)()) __attribute__((always_inline)) { + isrCallback = isr; + TIMSK1 = _BV(TOIE1); + } + void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) { + if(microseconds > 0) setPeriod(microseconds); + attachInterrupt(isr); + } + void detachInterrupt() __attribute__((always_inline)) { + TIMSK1 = 0; + } + static void (*isrCallback)(); + static void isrDefaultUnused(); + + private: + // properties + static unsigned short pwmPeriod; + static unsigned char clockSelectBits; + + + + + + +#elif defined(__arm__) && defined(CORE_TEENSY) + +#if defined(KINETISK) +#define F_TIMER F_BUS +#elif defined(KINETISL) +#define F_TIMER (F_PLL/2) +#endif + + public: + //**************************** + // Configuration + //**************************** + void initialize(unsigned long microseconds=1000000) __attribute__((always_inline)) { + setPeriod(microseconds); + } + void setPeriod(unsigned long microseconds) __attribute__((always_inline)) { + const unsigned long cycles = (F_TIMER / 2000000) * microseconds; + // A much faster if-else + // This is like a binary serch tree and no more than 3 conditions are evaluated. + // I haven't checked if this becomes significantly longer ASM than the simple ladder. + // It looks very similar to the ladder tho: same # of if's and else's + + /* + // This code does not work properly in all cases :( + // https://github.com/PaulStoffregen/TimerOne/issues/17 + if (cycles < TIMER1_RESOLUTION * 16) { + if (cycles < TIMER1_RESOLUTION * 4) { + if (cycles < TIMER1_RESOLUTION) { + clockSelectBits = 0; + pwmPeriod = cycles; + }else{ + clockSelectBits = 1; + pwmPeriod = cycles >> 1; + } + }else{ + if (cycles < TIMER1_RESOLUTION * 8) { + clockSelectBits = 3; + pwmPeriod = cycles >> 3; + }else{ + clockSelectBits = 4; + pwmPeriod = cycles >> 4; + } + } + }else{ + if (cycles > TIMER1_RESOLUTION * 64) { + if (cycles > TIMER1_RESOLUTION * 128) { + clockSelectBits = 7; + pwmPeriod = TIMER1_RESOLUTION - 1; + }else{ + clockSelectBits = 7; + pwmPeriod = cycles >> 7; + } + } + else{ + if (cycles > TIMER1_RESOLUTION * 32) { + clockSelectBits = 6; + pwmPeriod = cycles >> 6; + }else{ + clockSelectBits = 5; + pwmPeriod = cycles >> 5; + } + } + } + */ + if (cycles < TIMER1_RESOLUTION) { + clockSelectBits = 0; + pwmPeriod = cycles; + } else + if (cycles < TIMER1_RESOLUTION * 2) { + clockSelectBits = 1; + pwmPeriod = cycles >> 1; + } else + if (cycles < TIMER1_RESOLUTION * 4) { + clockSelectBits = 2; + pwmPeriod = cycles >> 2; + } else + if (cycles < TIMER1_RESOLUTION * 8) { + clockSelectBits = 3; + pwmPeriod = cycles >> 3; + } else + if (cycles < TIMER1_RESOLUTION * 16) { + clockSelectBits = 4; + pwmPeriod = cycles >> 4; + } else + if (cycles < TIMER1_RESOLUTION * 32) { + clockSelectBits = 5; + pwmPeriod = cycles >> 5; + } else + if (cycles < TIMER1_RESOLUTION * 64) { + clockSelectBits = 6; + pwmPeriod = cycles >> 6; + } else + if (cycles < TIMER1_RESOLUTION * 128) { + clockSelectBits = 7; + pwmPeriod = cycles >> 7; + } else { + clockSelectBits = 7; + pwmPeriod = TIMER1_RESOLUTION - 1; + } + + uint32_t sc = FTM1_SC; + FTM1_SC = 0; + FTM1_MOD = pwmPeriod; + FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_CPWMS | clockSelectBits | (sc & FTM_SC_TOIE); + } + + //**************************** + // Run Control + //**************************** + void start() __attribute__((always_inline)) { + stop(); + FTM1_CNT = 0; + resume(); + } + void stop() __attribute__((always_inline)) { + FTM1_SC = FTM1_SC & (FTM_SC_TOIE | FTM_SC_CPWMS | FTM_SC_PS(7)); + } + void restart() __attribute__((always_inline)) { + start(); + } + void resume() __attribute__((always_inline)) { + FTM1_SC = (FTM1_SC & (FTM_SC_TOIE | FTM_SC_PS(7))) | FTM_SC_CPWMS | FTM_SC_CLKS(1); + } + + //**************************** + // PWM outputs + //**************************** + void setPwmDuty(char pin, unsigned int duty) __attribute__((always_inline)) { + unsigned long dutyCycle = pwmPeriod; + dutyCycle *= duty; + dutyCycle >>= 10; + if (pin == TIMER1_A_PIN) { + FTM1_C0V = dutyCycle; + } else if (pin == TIMER1_B_PIN) { + FTM1_C1V = dutyCycle; + } + } + void pwm(char pin, unsigned int duty) __attribute__((always_inline)) { + setPwmDuty(pin, duty); + if (pin == TIMER1_A_PIN) { + *portConfigRegister(TIMER1_A_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; + } else if (pin == TIMER1_B_PIN) { + *portConfigRegister(TIMER1_B_PIN) = PORT_PCR_MUX(3) | PORT_PCR_DSE | PORT_PCR_SRE; + } + } + void pwm(char pin, unsigned int duty, unsigned long microseconds) __attribute__((always_inline)) { + if (microseconds > 0) setPeriod(microseconds); + pwm(pin, duty); + } + void disablePwm(char pin) __attribute__((always_inline)) { + if (pin == TIMER1_A_PIN) { + *portConfigRegister(TIMER1_A_PIN) = 0; + } else if (pin == TIMER1_B_PIN) { + *portConfigRegister(TIMER1_B_PIN) = 0; + } + } + + //**************************** + // Interrupt Function + //**************************** + void attachInterrupt(void (*isr)()) __attribute__((always_inline)) { + isrCallback = isr; + FTM1_SC |= FTM_SC_TOIE; + NVIC_ENABLE_IRQ(IRQ_FTM1); + } + void attachInterrupt(void (*isr)(), unsigned long microseconds) __attribute__((always_inline)) { + if(microseconds > 0) setPeriod(microseconds); + attachInterrupt(isr); + } + void detachInterrupt() __attribute__((always_inline)) { + FTM1_SC &= ~FTM_SC_TOIE; + NVIC_DISABLE_IRQ(IRQ_FTM1); + } + static void (*isrCallback)(); + static void isrDefaultUnused(); + + private: + // properties + static unsigned short pwmPeriod; + static unsigned char clockSelectBits; + +#undef F_TIMER + +#endif +}; + +extern TimerOne Timer1; + +#endif + diff --git a/shredder/asterix-pp/firmware/VFD.h b/shredder/asterix-pp/firmware/VFD.h new file mode 100644 index 0000000..1b8c3a0 --- /dev/null +++ b/shredder/asterix-pp/firmware/VFD.h @@ -0,0 +1,110 @@ +#ifndef VFD_H +#define VFD_H + +#include +#include "./Addon.h" +#include "./enums.h" +#include "./config.h" + +#ifdef HAS_STATES +#include +#endif + +class VFD : public Addon +{ +public: + + enum DIRECTION + { + FORWARD = 1, + STOP = 0, + REVERSE = 2 + }; + + VFD() : Addon(VFD_STR, VFD_CONTROL), + direction(STOP){}; + + void rev(short nop) + { + update(DIRECTION::REVERSE); + } + + void fwd(short nop) + { + update(DIRECTION::FORWARD); + } + + short setup() + { + pinMode(FWD_PIN, OUTPUT); + pinMode(REV_PIN, OUTPUT); + + stop(); + } + + short stop(short nop = 0) + { + update(DIRECTION::STOP); + } + + void speed(int aValue) + { + } + + virtual void debug(Stream *stream) + { + // *stream << this->name << ":" << SPACE(direction); + } + + virtual void info(Stream *stream) + { + // *stream << this->name << "\n\t" << SPACE(": FWD PIN " << FWD_PIN << " | REV PIN " << REV_PIN); + } + + uchar direction; + uchar lastDirection; + millis_t dt; + +#ifdef HAS_STATES + String state() + { + const int capacity = JSON_OBJECT_SIZE(2); + StaticJsonDocument doc; + doc["0"] = id; + doc["1"] = direction; + return doc.as(); + } +#endif +private: + void update(uchar newDirection) + { + if (direction != newDirection) + { + dt = now; + lastDirection = direction; + direction = newDirection; + switch (direction) + { + case DIRECTION::FORWARD: + { + digitalWrite(REV_PIN, LOW); + digitalWrite(FWD_PIN, HIGH); + break; + } + case DIRECTION::REVERSE: + { + digitalWrite(FWD_PIN, LOW); + digitalWrite(REV_PIN, HIGH); + break; + } + case DIRECTION::STOP: + { + digitalWrite(FWD_PIN, LOW); + digitalWrite(REV_PIN, LOW); + } + } + } + } +}; + +#endif diff --git a/shredder/asterix-pp/firmware/Version.h b/shredder/asterix-pp/firmware/Version.h new file mode 100644 index 0000000..e406747 --- /dev/null +++ b/shredder/asterix-pp/firmware/Version.h @@ -0,0 +1,7 @@ +#ifndef VERSION_H + + #define VERSION_H + + #define VERSION '1.0.0|fe804146360b35c845dfdaa7781350e91aab19d2' + + #endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/addons/Auto-Reverse.h b/shredder/asterix-pp/firmware/addons/Auto-Reverse.h new file mode 100644 index 0000000..df6d592 --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/Auto-Reverse.h @@ -0,0 +1,35 @@ +#ifndef MOTOR_AUTO_REVERSE_H +#define MOTOR_AUTO_REVERSE_H + +#include +#include "../Addon.h" +#include "../config.h" +#include +#include "../macros.h" +#include "../enums.h" + +class App; + +class AutoReverse : Addon +{ +public: + AutoReverse(App *app); + AutoReverse() : Addon(AUTO_REVERSE_STR, AUTO_REVERSE) {} + + virtual short setup() + { + } + virtual short ok() + { + return true; + } + void debug(Stream *stream) + { + // *stream << this->name << ":" << this->ok(); + } + void info(Stream *stream) + { + // *stream << this->name << "\n\t : " SPACE("Pin:" << MOTOR_IDLE_PIN); + } +}; +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/addons/CartridgeFull.h b/shredder/asterix-pp/firmware/addons/CartridgeFull.h new file mode 100644 index 0000000..9f199c1 --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/CartridgeFull.h @@ -0,0 +1,45 @@ +#ifndef CARTRIDGE_FULL_H +#define CARTRIDGE_FULL_H + +#include +#include "Addon.h" +#include + +#include "../config.h" +#include "../macros.h" + +#include "../components/PhotoElectricSensor.h" + +// Addon to detect when the container is full of shredded flakes. + +class CartridgeFull : public Addon +{ +private: + PhotoElectricSensor sensor; + +public: + CartridgeFull() : sensor(CARTRIDGE_FULL_1, CARTRIDGE_FULL_1_INTERVAL), + Addon(CARTRDIGE_FULL_STR, CARTRIDGE_FULL_SENSOR_1) + { + // this->setFlag(DEBUG); + } + + virtual short loop() + { + this->sensor.loop(); + } + virtual short ok() + { + return sensor.ok(); + } + void debug(Stream *stream) + { + //*stream << this->name << ":" << this->ok(); + } + void info(Stream *stream) + { + //*stream << this->name << "\n\t : " << SPACE("CARTRIDGE FULL 1" << CARTRIDGE_FULL_1); + } +}; + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/addons/DipSwitch.h b/shredder/asterix-pp/firmware/addons/DipSwitch.h new file mode 100644 index 0000000..f4cf6b8 --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/DipSwitch.h @@ -0,0 +1,51 @@ +#ifndef _DIP_SWITCH_H +#define _DIP_SWITCH_H + +#include "addon.h" +#include + +class _DipSwitch : public Addon +{ +public: + _DipSwitch(int number_of_pins, int *pins) : _number_of_pins(number_of_pins), + _pins(_pins), + Addon("Dip Switch", DIP_SWITCH) + { + // this->setFlag(DEBUG); + } + + short setup() + { + for (int i = 0; i < _number_of_pins; i++) + { + pinMode(_pins[i], INPUT_PULLUP); + } + } + + short loop() + { + _value = 0; + for (int i = 0; i < _number_of_pins; i++) + { + _value += digitalRead(_pins[i]) << i; + } + return _value; + } + + void debug(Stream *stream) + { + //*stream << this->name << ":" << digitalRead(49); + } + + void info(Stream *stream) + { + //*stream << this->name << "\n\t : "; + } + +private: + int _number_of_pins; + int *_pins; + int _value; +}; + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/addons/DirectionSwitch.h b/shredder/asterix-pp/firmware/addons/DirectionSwitch.h new file mode 100644 index 0000000..7dd766b --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/DirectionSwitch.h @@ -0,0 +1,33 @@ +#ifndef DIRECTION_SWITCH_H +#define DIRECTION_SWITCH_H + +#include "../config.h" +#include "../components/3pos.h" +#include "../Addon.h" +#include +#include "../common/macros.h" + +class DirectionSwitch : public Addon { + public: + Pos3 dir_switch; + DirectionSwitch () : + dir_switch(DIR_SWITCH_UP_PIN, DIR_SWITCH_DOWN_PIN), + Addon(DIRECTION_SWITCH_STR,DIRECTION_SWITCH){} + + void debug(Stream* stream){ + //*stream << this->name << ":" << + // SPACE(dir_switch.switch_pos) << SPACE(dir_switch.last_switch); + } + void info(Stream* stream){ + //*stream << this->name << "\n\t : " SPACE("Up Pin:" << DIR_SWITCH_UP_PIN) << SPACE("\t | Down Pin :" << DIR_SWITCH_DOWN_PIN); + } + short setup(){ + dir_switch.setup(); + return dir_switch.loop(); + } + short loop(){ + return dir_switch.loop(); + } +}; + +#endif diff --git a/shredder/asterix-pp/firmware/addons/EnclosureSensor.h b/shredder/asterix-pp/firmware/addons/EnclosureSensor.h new file mode 100644 index 0000000..7d35e92 --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/EnclosureSensor.h @@ -0,0 +1,43 @@ +#ifndef ENCLOSURE_SENSOR_H +#define ENCLOSURE_SENSOR_H + +#include "../config.h" +#include "../Addon.h" +#include +#include "../macros.h" +#include "../components/Proximity_Sensor.h" + +class EnclosureSensor : public Addon +{ +public: + ProximitySensor sensor1; + ProximitySensor sensor2; + EnclosureSensor() : sensor1(ENCLOSURE_SENSOR_PIN_1), + sensor2(ENCLOSURE_SENSOR_PIN_2), + Addon(ENCLOSURE_SENSOR_STR, ENCLOSURE_SENSOR) {} + + void debug(Stream *stream) + { + //*stream << this->name << ":" + // << SPACE(sensor1.value) << ":" << SPACE(sensor2.value) << " | ok : " << ok(); + } + void info(Stream *stream) + { + //*stream << this->name << SPACE("\n\t : " << ENCLOSURE_SENSOR_PIN_1) << SPACE(" : " << ENCLOSURE_SENSOR_PIN_2); + } + short setup() + { + sensor1.setup(); + sensor2.setup(); + sensor1.loop(); + sensor2.loop(); + } + short loop() + { + sensor1.loop(); + sensor2.loop(); + } + short ok() { return sensor1.value == 1 && sensor2.value == 1; } +}; + +#endif diff --git a/shredder/asterix-pp/firmware/addons/HopperLoaded.h b/shredder/asterix-pp/firmware/addons/HopperLoaded.h new file mode 100644 index 0000000..a13a9de --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/HopperLoaded.h @@ -0,0 +1,87 @@ +#ifndef HOPPERLOADED_H +#define HOPPERLOADED_H +#ifdef HAS_STATES +#include +#endif + +#include +#include "../Addon.h" +#include "../config.h" +#include "../common/macros.h" +#include "../components/PhotoElectricSensor.h" + +// Addon to detect when there is something in the hopper +class HopperLoaded : public Addon +{ +private: + PhotoElectricSensor sensor0; +#ifdef HOPPER_LOADED_1 + PhotoElectricSensor sensor1; +#endif + +public: +#ifdef HAS_STATES + String HopperLoaded::state() + { + const int capacity = JSON_OBJECT_SIZE(2); + StaticJsonDocument doc; + doc["0"] = id; + doc["1"] = ok() ? 1 : 0; + return doc.as(); + } +#endif + +#ifdef HOPPER_LOADED_1 + HopperLoaded(short h1Pin, short h2Pin) : sensor0(h1Pin, HOPPER_LOADED_INTERVAL), + sensor1(h2Pin, HOPPER_LOADED_INTERVAL), + Addon(HOPPER_LOADED_STR, HOPPER_LOADED, ADDON_STATED) + { + this->setFlag(DEBUG); + } +#else + HopperLoaded(short h1Pin) : sensor0(h1Pin, HOPPER_LOADED_INTERVAL), + Addon(HOPPER_LOADED_STR, HOPPER_LOADED) + { + // this->setFlag(DEBUG); + } +#endif + + virtual short loop() + { +#ifdef HOPPER_LOADED_1 + this->sensor0.loop(); + this->sensor1.loop(); +#else + this->sensor0.loop(); +#endif + } + +#ifdef TESTING + // test override + virtual short ok() + { + return test; + } +#else + virtual short ok() + { + return sensor0.ok(); // || sensor1.ok(); + } +#endif + + void debug(Stream *stream) + { + *stream << this->name << ":" << analogRead(CONTROLLINO_A3) << ":" << this->ok() << "\n\t" << SPACE("h ts " << this->sensor0.highTS) << "\n\t" << SPACE("l ts " << this->sensor0.lowTS) << "\n\t" << SPACE("dt " << this->sensor0.dt); + } + void info(Stream *stream) + { +#ifdef HOPPER_LOADED_1 + *stream << this->name << "\n\t : " << SPACE("HOPPER LOADED 0" << HOPPER_LOADED_0) << SPACE("HOPPER LOADED 1" << HOPPER_LOADED_1); +#endif + } +#ifdef TESTING + bool test; +#endif +}; + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/addons/MotorIdle.h b/shredder/asterix-pp/firmware/addons/MotorIdle.h new file mode 100644 index 0000000..110a421 --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/MotorIdle.h @@ -0,0 +1,32 @@ +#ifndef MOTOR_IDLE_H +#define MOTOR_IDLE_H + +#include +#include "Addon.h" +#include "config.h" +#include +#include "../common/macros.h" + +class MotorIdle : public Addon +{ +public: + MotorIdle() : Addon(MOTOR_IDLE_STR, MOTOR_IDLE) {} + + virtual short setup() + { + pinMode(MOTOR_IDLE_PIN, INPUT_PULLUP); + } + virtual short ok() + { + return !digitalRead(MOTOR_IDLE_PIN); + } + void debug(Stream *stream) + { + //*stream << this->name << ":" << this->ok(); + } + void info(Stream *stream) + { + //*stream << this->name << "\n\t : " SPACE("Pin:" << MOTOR_IDLE_PIN); + } +}; +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/addons/MotorLoad.h b/shredder/asterix-pp/firmware/addons/MotorLoad.h new file mode 100644 index 0000000..0be28b1 --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/MotorLoad.h @@ -0,0 +1,153 @@ +#ifndef MOTOR_OVERLOAD_H +#define MOTOR_OVERLOAD_H + +#include +#include +#include "../Addon.h" +#include "../config.h" + +#include "../common/macros.h" +#include "../common/ppmath.h" + +#ifdef HAS_STATES +#include +#endif + +class MotorLoad : public Addon +{ +public: + enum MSTATE + { + NONE = 0, + IDLE = 1, + LOAD = 2, + OVERLOAD = 2, + ERROR = 3 + }; + +#ifdef HAS_STATES + + String state() + { + const int capacity = JSON_OBJECT_SIZE(2); + StaticJsonDocument doc; + doc['0'] = id; + doc['s'] = currentState; + return doc.as(); + } +#endif + + MotorLoad(short _pin) : dt(0), + pin(_pin), + load(0), + lastIdle(0), + lastLoad(0), + lastOverload(0), + currentState(NONE), + lastState(NONE), + Addon(MOTOR_LOAD_STR, MOTOR_LOAD) + { + // setFlag(DEBUG); + } + + short jammed() + { + if (analogRead(CONTROLLINO_A7) > 700) + { + return true; + } + return RANGE(load, MOTOR_OVERLOAD_RANGE_MIN, MOTOR_OVERLOAD_RANGE_MAX); + } + + short idle() + { + return RANGE(load, MOTOR_IDLE_LOAD_RANGE_MIN, MOTOR_IDLE_LOAD_RANGE_MAX); + } + + short shredding() + { + return RANGE(load, MOTOR_SHREDDING_LOAD_RANGE_MIN, MOTOR_SHREDDING_LOAD_RANGE_MAX); + } + + short setup() + { + // loop(); + //debug(&Serial); + } + + short loop() + { + if (now - last > MOTOR_LOAD_READ_INTERVAL) + { + load = analogRead(pin); + + last = now; + uchar newState = NONE; + if (idle()) + { + lastIdle = now; + newState = IDLE; + } + else if (jammed()) + { + lastOverload = now; + newState = OVERLOAD; + } + else if (shredding()) + { + lastLoad = now; + newState = LOAD; + } + + if (newState != currentState) + { + dt = now; + lastState = currentState; + currentState = newState; + } + } + return load; + } + + short ok() + { + if (currentState == IDLE && + (now - dt) > MAX_IDLE_TIME) + { + return E_MOTOR_DT_IDLE; + } + + if (currentState == LOAD && + (now - dt) > MAX_SHRED_TIME) + { + return E_MOTOR_DT_OVERLOAD; + } + + return E_OK; + } + + void debug(Stream *stream) + { + *stream << this->name << " : " + << "Last Load: " + << " : " << (millis() - lastLoad) / 1000 + << " : Value : " << analogRead(pin) << " Jammed " << jammed() << SPACE('@') << load << SPACE(":state") << currentState; + } + + void info(Stream *stream) + { + *stream << this->name << "\n\t : " SPACE("Pin:" << pin); + } + + millis_t dt; + uchar lastState; + uchar currentState; + millis_t lastIdle; + millis_t lastLoad; + millis_t lastOverload; + +protected: + short pin; + short load; +}; +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/addons/MotorSpeed.h b/shredder/asterix-pp/firmware/addons/MotorSpeed.h new file mode 100644 index 0000000..6f2d9ce --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/MotorSpeed.h @@ -0,0 +1,41 @@ +#ifndef MOTOR_SPEED_H +#define MOTOR_SPEED_H + +#include +#include "Addon.h" +#include "config.h" +#include +#include "../common/macros.h" +#include "IRSensor.h" + +class MotorSpeed : public Addon +{ +public: + MotorSpeed() : + sensor(new IRSensor()), + Addon(MOTOR_IR_SPEED_STR, MOTOR_SPEED) {} + + virtual short setup() + { + sensor->setup(); + } + virtual short ok() + { + return this->sensor->ok(); + } + virtual short loop() + { + this->sensor->loop(); + } + void debug(Stream *stream) + { + //*stream << this->name << ":" << this->ok(); + } + void info(Stream *stream) + { + //*stream << this->name << "\n\t : " SPACE("Pin:" << MOTOR_IDLE_PIN); + } + protected: + IRSensor *sensor; +}; +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/addons/MotorTemperature.h b/shredder/asterix-pp/firmware/addons/MotorTemperature.h new file mode 100644 index 0000000..63d152c --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/MotorTemperature.h @@ -0,0 +1,40 @@ +#ifndef MOTOR_TEMPERATURE_H +#define MOTOR_TEMPERATURE_H + +#include +#include "Addon.h" +#include "config.h" +#include +#include "../common/macros.h" +#include "TemperatureSensor.h" + +class MotorTemperature : public Addon +{ +private: + TemperatureSensor sensor; + +public: + MotorTemperature() : sensor(MOTOR_TEMPERTURE_SCK_PIN, MOTOR_TEMPERTURE_CS_PIN, MOTOR_TEMPERTURE_SO_PIN, MOTOR_TEMPERTURE_MAX, MOTOR_TEMPERTURE_INTERVAL), + Addon(MOTOR_TEMPERATURE_STR, MOTOR_TEMPERATURE) {} + + virtual short ok() + { + return sensor.ok(); + } + void debug(Stream *stream) + { + // *stream << this->name << ":" << this->ok(); + } + void info(Stream *stream) + { + /* + *stream << this->name << "\n\t : " << + SPACE("Pin SCK:" << MOTOR_TEMPERTURE_SCK_PIN ) << + SPACE("Pin CS :" << MOTOR_TEMPERTURE_CS_PIN ) << + SPACE("Pin SO:" << MOTOR_TEMPERTURE_SO_PIN ) << + SPACE("Max" << MOTOR_TEMPERTURE_MAX ) << + SPACE("Interval" << MOTOR_TEMPERTURE_INTERVAL ); + */ + } +}; +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/addons/OperationModeSwitch.h b/shredder/asterix-pp/firmware/addons/OperationModeSwitch.h new file mode 100644 index 0000000..22b1583 --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/OperationModeSwitch.h @@ -0,0 +1,149 @@ +#ifndef OPERATION_MODE_SWITCH_H +#define OPERATION_MODE_SWITCH_H + +#ifdef HAS_STATES +#include +#endif + +#ifndef OP_MODE_ANALOG +#include +#endif + +#include "../config.h" +#include "../Addon.h" +#include +#include "../common/macros.h" +#include "../common/ppmath.h" + +class OperationModeSwitch : public Addon +{ + +public: + short pin1; +#ifdef OP_MODE_ANALOG + ushort level1; + ushort level2; + ushort level3; + OperationModeSwitch(short _pin1, ushort _level1, ushort _level2, ushort _level3) : pin1(_pin1), + level1(_level1), + level2(_level2), + level3(_level3), + Addon(OPERATION_MODE_SWITCH_STR, OPERATION_MODE_SWITCH) + { + //setFlag(DEBUG); + } +#ifdef HAS_STATES + String state() + { + const int capacity = JSON_OBJECT_SIZE(2); + StaticJsonDocument doc; + doc['0'] = id; + doc['1'] = value(); + return doc.as(); + } +#endif + void debug(Stream *stream) + { + *stream << this->name << SPACE(value()); + } + void info(Stream *stream) + { + //*stream << this->name << "\n\t "; + } + + short value() + { + ushort value = analogRead(pin1); + if (RANGE(value, level1 - 10, level1 + 10)) + { + return OP_DEBUG; + } + if (RANGE(value, level2 - 10, level2 + 10)) + { + return OP_NORMAL; + } + if (RANGE(value, level3 - 10, level3 + 10)) + { + return OP_SERVICE; + } + return OP_NONE; + } + short setup() + { + debug(&Serial); + } + + short loop() + { + // Serial.println(analogRead(pin1)); + } + +#else + Bounce debouncer1; + Bounce debouncer2; + Bounce debouncer3; + short pin1; + short pin2; + short pin3; + + OperationModeSwitch(short _pin1, short _pin2, short _pin3) : pin1(_pin1), // 1-2 + pin2(_pin2), // 5-6 + pin3(_pin3), // 9-10 + Addon(OPERATION_MODE_SWITCH_STR, OPERATION_MODE_SWITCH) + { + } + + void debug(Stream *stream) + { + *stream << this->name << ": PIN1 " << SPACE(!debouncer1.read()) << ": PIN2 " << SPACE(!debouncer2.read()) << ": PIN3 " << SPACE(!debouncer3.read()); + } + void info(Stream *stream) + { + *stream << this->name << "\n\t : "; + } + + short value() + { + if (!debouncer1.read()) + { + return OP_DEBUG; + } + + if (!debouncer2.read()) + { + return OP_NORMAL; + } + + if (!debouncer3.read()) + { + return OP_SERVICE; + } + + return OP_NONE; + } + short setup() + { + this->debouncer1 = Bounce(); + this->debouncer1.attach(this->pin1, INPUT_PULLUP); + this->debouncer1.interval(25); + + this->debouncer2 = Bounce(); + this->debouncer2.attach(this->pin2, INPUT_PULLUP); + this->debouncer2.interval(25); + + this->debouncer3 = Bounce(); + this->debouncer3.attach(this->pin3, INPUT_PULLUP); + this->debouncer3.interval(25); + } + + short loop() + { + this->debouncer1.update(); + this->debouncer2.update(); + this->debouncer3.update(); + } + +#endif +}; + +#endif diff --git a/shredder/asterix-pp/firmware/addons/Power.h b/shredder/asterix-pp/firmware/addons/Power.h new file mode 100644 index 0000000..4f306c0 --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/Power.h @@ -0,0 +1,141 @@ +#ifndef POWER_H +#define POWER_H + +#include "../config.h" + +#ifdef HAS_STATES +#include +#endif + +#include "../Addon.h" +#include +#include "../common/macros.h" +#include "../config.h" +#include "../components/CurrentSensor.h" +class Power : public Addon +{ +public: + Power(int _power0, int _power1) : power0(_power0), + power1(_power1), + primary(false), + secondary(false), + slots({false, false}), +#ifdef POWER_CSENSOR_PRIMARY + cSensorPrim(CurrentSensor(POWER_CSENSOR_PRIMARY, 200)), +#endif +#ifdef POWER_CSENSOR_SECONDARY + cSensorSec(CurrentSensor(POWER_CSENSOR_SECONDARY, 200)), +#endif + Addon(POWER_STR, POWER) + { + // setFlag(DEBUG); + } +#ifdef HAS_STATES + String state() + { + const int capacity = JSON_OBJECT_SIZE(4); + StaticJsonDocument doc; + doc['0'] = id; + doc['1'] = slots[0]; + doc['2'] = slots[1]; + return doc.as(); + } +#endif + void debug(Stream *stream) + { + *stream << this->name << ":" << cSensorSec.value; + } + void info(Stream *stream) + { + //*stream << this->name; + } + + short setup() + { +#ifdef POWER_0 + pinMode(power0, OUTPUT); +#endif +#ifdef POWER_1 + pinMode(power1, OUTPUT); +#endif + +#ifdef POWER_CSENSOR_PRIMARY + cSensorPrim.setup(); +#endif + +#ifdef POWER_CSENSOR_SECONDARY + cSensorSec.setup(); +#endif + } + + short on(short slot) + { + +#ifdef USE_CONTROLLINO + digitalWrite(slot == POWER_PRIMARY ? power0 : power1, POWER_NC ? HIGH : LOW); +#else + analogWrite(slot == POWER_PRIMARY ? power0 : power1, POWER_NC ? 1024 : 0); +#endif + slots[slot] = true; + return slots[slot]; + } + short isOn(short slot) + { + return slots[slot]; + } + short off(short slot) + { +#ifdef USE_CONTROLLINO + digitalWrite(slot == POWER_PRIMARY ? power0 : power1, POWER_NC ? LOW : HIGH); +#else + analogWrite(slot == POWER_PRIMARY ? power0 : power1, POWER_NC ? 0 : 1024); +#endif + slots[slot] = false; + return slots[slot]; + } + + short check(short slot) + { + switch (slot) + { + case POWER_PRIMARY: + { + +#ifdef POWER_CSENSOR_PRIMARY + //return slot[POWER_PRIMARY] && cSenorPrim.ok(); +#else + // return slots[POWER_PRIMARY]; +#endif + + break; + } + } + } + + short loop() + { + +#ifdef POWER_CSENSOR_PRIMARY + cSensorPrim.loop(); +#endif + +#ifdef POWER_CSENSOR_SECONDARY + cSensorSec.loop(now); +#endif + } + + int power0; + int power1; + bool primary; + bool secondary; + int slots[2]; +#ifdef POWER_CSENSOR_SECONDARY + CurrentSensor cSensorSec; +#endif +#ifdef POWER_CSENSOR_PRIMARY + CurrentSensor cSensorPrim; +#endif +protected: +}; + +#endif diff --git a/shredder/asterix-pp/firmware/addons/Reset.h b/shredder/asterix-pp/firmware/addons/Reset.h new file mode 100644 index 0000000..9b1cab2 --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/Reset.h @@ -0,0 +1,30 @@ +#ifndef RESET_H +#define RESET_H + +// This module uses currently a normally closed momentary button. + +static millis_t sw_reset_TS = 0; + +static void reset_setup() +{ + pinMode(RESET_PIN, INPUT_PULLUP); + sw_reset_TS = millis(); +} + +static void reset_loop() +{ + if (millis() - sw_reset_TS > RESET_INTERVAL) { + #if RESET_NC == true + // globals.isReset = digitalRead(RESET_PIN); + #else + // globals.isReset = !digitalRead(RESET_PIN); + #endif + + sw_reset_TS = millis(); + // if(globals.isReset && DEBUG){ + // Serial.println("reset"); + // } + } +} + +#endif diff --git a/shredder/asterix-pp/firmware/addons/Status.h b/shredder/asterix-pp/firmware/addons/Status.h new file mode 100644 index 0000000..8acbde8 --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/Status.h @@ -0,0 +1,65 @@ +#ifndef STATUS_H +#define STATUS_H +#include "types.h" + +static millis_t status_blink_TS = 0; +static bool doBlink = false; +static bool last_blink = true; +static millis_t blink_start_ts; +static millis_t max_blink_time = HOUR_MS; // stop blinking in an hour + +// This is using currently 2 LEDs : red & green, running at 220V via relay. + +static void status_setup() { } + +static void status_loop(){ + + if (millis() - status_blink_TS > 1000 ) { + status_blink_TS = millis(); + last_blink = !last_blink; + if(doBlink){ + analogWrite(STATUS_ERROR_PIN, last_blink ? RELAY_ON : RELAY_OFF); + } + if(millis() - status_blink_TS > max_blink_time ){ + doBlink = false; + } + } +} + +static void status_blink(bool blink){ + if(!doBlink && blink){ + blink_start_ts = millis(); + } + doBlink = blink; +} + +static void setStatusAllOn(){ + if(doBlink){ + return; + } + analogWrite(STATUS_ERROR_PIN, RELAY_ON); + analogWrite(STATUS_OK_PIN, RELAY_ON); +} + +static void setStatusAllOff(){ + if(doBlink){ + return; + } + analogWrite(STATUS_ERROR_PIN, RELAY_OFF); + analogWrite(STATUS_OK_PIN, RELAY_OFF); +} + +static void setStatus(bool error) { + if(doBlink){ + return; + } + if (error) { + analogWrite(STATUS_ERROR_PIN, RELAY_ON); + analogWrite(STATUS_OK_PIN, RELAY_OFF); + } else { + analogWrite(STATUS_OK_PIN, RELAY_ON); + analogWrite(STATUS_ERROR_PIN, RELAY_OFF); + } +} + +#endif diff --git a/shredder/asterix-pp/firmware/addons/TemperatureSensor.h b/shredder/asterix-pp/firmware/addons/TemperatureSensor.h new file mode 100644 index 0000000..e17f995 --- /dev/null +++ b/shredder/asterix-pp/firmware/addons/TemperatureSensor.h @@ -0,0 +1,42 @@ +#ifndef TEMPERATURE_SENSOR_H +#define TEMPERATURE_SENSOR_H + +#include +#include "../config.h" +#include "../macros.h" +#include "../time.h" + +class TemperatureSensor +{ + +public: + TemperatureSensor(short sck, short cs, short so, short _max, short _interval) : ktc(MAX6675(sck, cs, so)), + temperature(), + temperature_TS(millis()), + maxTemp(_max), + interval(_interval) {} + + bool ok() + { + return temperature < maxTemp; + } + + void loop() + { + + if (millis() - temperature_TS > interval) + { + temperature_TS = millis(); + temperature = ktc.readCelsius(); + } + } + +private: + MAX6675 ktc; + short temperature; + short maxTemp; + short interval; + millis_t temperature_TS; +}; + +#endif diff --git a/shredder/asterix-pp/firmware/app.cpp b/shredder/asterix-pp/firmware/app.cpp new file mode 100644 index 0000000..c77dd9e --- /dev/null +++ b/shredder/asterix-pp/firmware/app.cpp @@ -0,0 +1,471 @@ +#include +#include +#include + +#include "app.h" +#include "features.h" + +#include +//#ifdef MODBUS_BRIDGE +#include "ModbusBridge.h" + +//#endif + +static Addon *addonsArray[10]; + +#ifdef HAS_DIP +int dipSwitchPins[] = {48, 49}; +#endif + +short App::ok() +{ + if (now - dt > 100) + { + // motor should spin + /* + if (vfd->direction && + mLoad->lastIdle > MOTOR_MIN_DT && + mLoad->dt > MOTOR_MIN_DT && + mLoad->currentState == MotorLoad::MSTATE::NONE) + { + return E_VFD_RUN; + } + + // motor should not spin + if (!vfd->direction && + vfd->dt > MOTOR_MIN_DT && + mLoad->lastLoad > MOTOR_MIN_DT * 4 && + vfd->direction == VFD::DIRECTION::STOP && + mLoad->currentState != MotorLoad::MSTATE::NONE) + { + return E_VFD_LOSS; + } + */ + dt = now; + } + return E_OK; +} + +App::App() : Addon("APP", APP, 1 << STATE), + shredButton(ProximitySensor(CONTROLLINO_A15)), +#ifdef HAS_DIRECTION_SWITCH + dirSwitch(new DirectionSwitch()), +#endif +#ifdef ENCLOSURE_SENSOR + enclosureSensor(new EnclosureSensor()), +#endif +#ifdef HAS_VFD + vfd(new VFD()), +#endif +#ifdef MOTOR_HAS_TEMPERTURE + mHeat(new MotorTemperature()), +#endif +#ifdef HAS_MOTOR_IR_SENSOR + mSpeed(new MotorSpeed()), +#endif +#ifdef HAS_DIP + _dipSwitch(new _DipSwitch(2, dipSwitchPins)), +#endif +#ifdef CARTRIDGE_FULL_1 + cartridgeFull(new CartridgeFull()), +#endif +#ifdef HAS_HOPPER_LOADED +#ifdef HOPPER_LOADED_1 + hopperLoaded(new HopperLoaded(HOPPER_LOADED_0, HOPPER_LOADED_1)), +#else + hopperLoaded(new HopperLoaded(HOPPER_LOADED_0)), +#endif +#endif +#ifdef MOTOR_LOAD_PIN + mLoad(new MotorLoad(MOTOR_LOAD_PIN)), +#endif +#ifdef HAS_AUTOREVERSE + autoReverse(new AutoReverse(this)), +#endif +#ifdef HAS_PLUNGER + plunger(new Plunger(this, (AddonFnPtr)&App::plungerCB)), +#endif +#ifdef HAS_SERIAL + serialBridge(new PPSerial(Serial)), +#endif +#ifdef HAS_POWER +#if defined(POWER_0) && defined(POWER_1) + powerSwitch(new Power(POWER_0, POWER_1)), +#else + powerSwitch(new Power(POWER_0, POWER_0)), +#endif +#endif +#ifdef HAS_OP_MODE_SWITCH +#ifdef OP_MODE_ANALOG + opModeSwitch(new OperationModeSwitch(OP_MODE_1_PIN, 120, 60, 30)), +#else + opModeSwitch(new OperationModeSwitch(OP_MODE_1_PIN, OP_MODE_2_PIN, OP_MODE_3_PIN)), +#endif +#endif +#ifdef HAS_MODBUS_BRIDGE + modbusBridge(new ModbusBridge()), +#endif + shredStateLast(0), + shredCancelState(0) +{ + //#if defined(MODBUS_BRIDGE) && defined(HAS_VFD) + // vfd->modbus = modbusBridge; + //#endif + /// modbusBridge->debug(&Serial); +} +#ifdef HAS_STATES +String App::state() +{ + const int capacity = JSON_OBJECT_SIZE(6); + StaticJsonDocument doc; + doc["0"] = id; + doc["1"] = _state; + doc["2"] = shredState; + doc["3"] = overloaded; + doc["4"] = hopperLoaded->ok(); + doc["5"] = opModeSwitch->value(); + Serial.println(analogRead(CONTROLLINO_A15)); + return doc.as(); +} +#endif + +short App::getAppState(short val) +{ + return _state; +} +void (*resetFunction)(void) = 0; // Self reset (to be used with watchdog) + +short App::setAppState(short newState) +{ + switch (newState) + { + case App::APP_STATE::RESET: + { + + _state = App::APP_STATE::STANDBY; + shredStateLast = 0; + shredCancelState = 0; + shredState = DONE; + plunger->reset(); + vfd->stop(); + resetFunction(); + return; + } + case App::APP_STATE::STANDBY: + { + switch (_state) + { + case App::APP_STATE::SHREDDING: + { + shredCancelState = App::SHRED_STATE::INIT; + shredState = App::SHRED_STATE::CANCELLING; + plunger->reset(); + break; + } + } + } + } + _state = newState; +} + +void printMem() +{ + Serial.print("mem: "); + Serial.print(freeMemory()); + Serial.println('--'); +} +short App::setup() +{ + Serial.begin(DEBUG_BAUD_RATE); + + Serial.println("Booting Firmware ...................... "); + + addons.setStorage(addonsArray); + setup_addons(); + +#ifdef MEARSURE_PERFORMANCE + printPerfTS = 0; + addonLoopTime = 0; + bridgeLoopTime = 0; +#endif + debugTS = 0; + comTS = 0; + loopTS = 0; + shredState = 0; + overloaded = 0; + _state = 0; + jamCounter = 0; + bootTime = millis(); + shredButton.setup(); + + /* + timer.every(5000, [](App *app) -> void { + printMem(); + }, + this); + */ +} + +void App::loop_service() +{ +#ifdef HAS_POWER + powerSwitch->on(POWER_PRIMARY); +#endif + // _loop_motor_manual(); +} +void App::_loop_motor_manual() +{ + loop_auto_reverse(); +#if defined(HAS_DIRECTION_SWITCH) && defined(HAS_VFD) + uchar sw = this->dirSwitch->loop(); + if (sw == 2) + { + this->vfd->fwd(true); + } + else if (sw == 1) + { + this->vfd->rev(true); + } + else + { + this->vfd->stop(); + } +#endif +} + +void App::loop_normal() +{ +#ifdef HAS_HOPPER_LOADED + loop_auto_reverse(); + if (hopperLoaded->ok()) + { + powerSwitch->on(POWER_PRIMARY); + vfd->fwd(true); + plunger->plunge(); + } + else + { + this->vfd->stop(); + // plunger->home(); + powerSwitch->off(POWER_PRIMARY); + } +#endif +} +void App::debug_mode_loop() +{ + uchar s = addons.size(); + for (uchar i = 0; i < s; i++) + { + Addon *addon = addons[i]; + if (addon->hasFlag(LOOP)) + { + addon->loop(); + } + } + +#if defined(HAS_POWER) && defined(HAS_HOPPER_LOADED) + uchar sw = this->dirSwitch->loop(); + if (sw) + { + powerSwitch->on(POWER_PRIMARY); + } + if (sw == 2) + { + this->vfd->fwd(true); + } + else if (sw == 1) + { + this->vfd->rev(true); + } + else + { + this->vfd->stop(); + powerSwitch->off(POWER_PRIMARY); + } + + debug(); + if (sw) + { + delay(LOOP_DELAY); + return; + } + /////////////////////////////////////////////////// + if (hopperLoaded->ok()) + { + powerSwitch->on(POWER_PRIMARY); + this->vfd->fwd(true); + delay(3000); + } + else + { + this->vfd->stop(); + powerSwitch->off(POWER_PRIMARY); + } + + delay(LOOP_DELAY); +#endif +} + +short App::loop() +{ + loop_addons(); + loop_com(); + timer.tick(); + now = millis(); + shredButton.loop(); + + if (now - bootTime < BOOT_DELAY) + { + return; + } + + if (shredState == STUCK) + { + _error = E_STUCK; + setAppState(App::SHRED_STATE::CANCELLING); + return; + } + + short error = ok(); + if (error) + { + _error = error; + return; + } + +#ifdef HAS_OP_MODE_SWITCH + short op = opModeSwitch->value(); + op = 0; + switch (op) + { + //pos 1 + case OP_DEBUG: + { +#ifdef HAS_POWER + // powerSwitch->on(POWER_PRIMARY); +#endif + break; + } + // pos2 + case OP_NORMAL: + { +#ifdef HAS_POWER + // powerSwitch->on(POWER_PRIMARY); + // powerSwitch->on(POWER_SECONDARY); +#endif + loop_normal(); + debug(); + break; + } + //pos 0 + case OP_NONE: + { +#ifdef HAS_POWER + // powerSwitch->off(POWER_PRIMARY); +#endif + // vfd->stop(); + // plunger->stop(); + + if (hopperLoaded->ok() && _state != SHREDDING) + { + Serial.println("hopper loaded"); + shred(); + } + loopShred(); + break; + } + case OP_SERVICE: + { + // loop_normal(); + powerSwitch->on(POWER_PRIMARY); + vfd->rev(true); + + break; + } + } +#endif +} + +void App::loop_com() +{ + if (millis() - comTS > 300) + { +#if defined(HAS_BRIDGE) && defined(HAS_SERIAL) + PPSerial::Message *msg = serialBridge->read(); + if (msg) + { + switch (msg->verb) + { + + case Bridge::EC_METHOD: + { + char *strings[3]; + char *ptr = NULL; + byte index = 0; + + ptr = strtok(msg->payload, ":"); + + while (ptr != NULL && index < 4) + { + strings[index] = ptr; + index++; + ptr = strtok(NULL, ":"); + } + + int id = atoi(strings[0]); + char *_method = strings[1]; + + SKeyVal *method = VSL::instance()->hasMethod(id, _method); + if (method) + { + int arg = atoi(strings[2]); + Addon *addon = (Addon *)method->instance; + AddonFnPtr ptr = method->mPtr; + short ret = (addon->*ptr)(arg); + + if (TEST(msg->flags, Bridge::STATE)) + { +#ifdef HAS_STATES + this->appState(0); +#endif + } + else if (TEST(msg->flags, Bridge::RECEIPT)) + { +#ifdef BRIDGE_HAS_RESPONSE + const char *response = Bridge::CreateResponse(msg->id, 0, ret); + Serial.write(response); +#endif + } + if (TEST(msg->flags, Bridge::DEBUG)) + { + Serial.println("Called command"); + } + Serial.println("Called command"); + Serial.println(addon->name); + Serial.println(_method); + } + else + { + VSL::instance()->debug(); + if (TEST(msg->flags, Bridge::DEBUG)) + { + + Serial.print("Incoming message, cant find class & method "); + /* + Serial.print(_class); + Serial.print(":"); + Serial.print(_method); + */ + Serial.print(_method); + Serial.print("\n"); + } + } + break; + } + } + msg->payload = NULL; + } +#endif + comTS = millis(); + } +} diff --git a/shredder/asterix-pp/firmware/app.h b/shredder/asterix-pp/firmware/app.h new file mode 100644 index 0000000..e536092 --- /dev/null +++ b/shredder/asterix-pp/firmware/app.h @@ -0,0 +1,160 @@ +#ifndef APP_H +#define APP_H + +#include "config.h" +#include +#include "types.h" +#include "Addon.h" +#include "common/timer.h" +#include "components/Proximity_Sensor.h" + +class DirectionSwitch; +class EnclosureSensor; +class VFD; +class MotorIdle; +class MotorTemperature; +class MotorSpeed; +class AutoReverse; +class CartridgeFull; +class _DipSwitch; +class OperationModeSwitch; +class Power; +class HopperLoaded; +class MotorLoad; +class RMotorControl; +class PPSerial; +class ModbusBridge; + +class Plunger; +class App : public Addon +{ + +public: + App(); + ProximitySensor shredButton; + DirectionSwitch *dirSwitch; + EnclosureSensor *enclosureSensor; + VFD *vfd; + MotorIdle *mIdle; + MotorTemperature *mHeat; + MotorSpeed *mSpeed; + + AutoReverse *autoReverse; + + CartridgeFull *cartridgeFull; + _DipSwitch *_dipSwitch; + HopperLoaded *hopperLoaded; + Power *powerSwitch; + OperationModeSwitch *opModeSwitch; + MotorLoad *mLoad; + PPSerial *serialBridge; + Plunger *plunger; + ModbusBridge *modbusBridge; + Addon *byId(short id); + + short setup(); + short loop(); + short debug(); + short info(); + short ok(); + + void loop_service(); + void loop_normal(); + ushort loop_auto_reverse(); + + void loop_com(); + + void _loop_motor_manual(); + void loop_addons(); + + void setup_addons(); + ushort numByFlag(ushort flag); + + // operation mode specific + void App::debug_mode_loop(); + + short shred(short value = 0); + + ushort loopShred(); + void loopShredCancel(); + + Vector addons; + + // bridge + short setFlag(ushort addonId, ushort flag); + +#ifdef HAS_STATES + short appState(short nop = 0); + String state(); +#endif + + millis_t comTS; + millis_t loopTS; + millis_t wait; + millis_t waitTS; + millis_t shredStart; + millis_t bootTime; + Timer<10, millis> timer; // 10 concurrent tasks, using micros as resolution + + short plungerCB(short val); + short setOverload(short val); + short overloaded; + + enum SHRED_STATE + { + WAITING = 100, + INIT = 1, + POWERED = 2, + STARTED = 3, + HOMED = 4, + PLUNGED = 5, + SHREDDED = 6, + UNPOWERED = 7, + DONE = 8, + CANCELLING = 10, + JAMMED = 11, + REVERSING = 12, + REVERSED = 13, + STOPPING = 14, + FORWARDING = 15, + CANCELLED = 16, + STUCK = 17, + PLUNGED_SHREDDING = 18 + }; + short shredState; + short shredStateLast; + short shredCancelState; + short beforeJamming; + short jamCounter; + short setShredState(short newState); + bool isAutoReversing(); + + enum APP_STATE + { + RESET = 6, + SHREDDING = 1, + STANDBY = 2, + ERROR = 5 + }; + + short _state; + short _error; + short getLastError(short val = 0) + { + return _error; + } + short setLastError(short val = 0); + short setAppState(short newState); + short getAppState(short val); + +private: +#ifdef MEARSURE_PERFORMANCE + millis_t addonLoopTime; + millis_t bridgeLoopTime; + millis_t printPerfTS; +#endif + + millis_t debugTS; +}; + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/app_addons.cpp b/shredder/asterix-pp/firmware/app_addons.cpp new file mode 100644 index 0000000..3235b96 --- /dev/null +++ b/shredder/asterix-pp/firmware/app_addons.cpp @@ -0,0 +1,250 @@ +#include +#include +#include +#include "app.h" +#include "config.h" +#include "types.h" +#include "common/macros.h" +#include "Addon.h" +#include "features.h" +#include "ModbusBridge.h" + +short App::setFlag(ushort addonId, ushort flag) +{ + Addon *addon = byId(addonId); + if (addon) + { + addon->setFlag(flag); + return E_OK; + } + return ERROR_WARNING; +} + +ushort App::numByFlag(ushort flag) +{ + uchar s = addons.size(); + uchar l = 0; + String out = ""; + for (uchar i = 0; i < s; i++) + { + Addon *addon = addons[i]; + if (!!(addon->hasFlag(flag))) + { + l++; + } + } + return l; +} + +#ifdef HAS_STATES +short App::appState(short nop) +{ + uchar s = addons.size(); + uchar si = 0; + String out = ""; + uchar l = numByFlag(STATE); + for (uchar i = 0; i < s; i++) + { + Addon *addon = addons[i]; + if (!!(addon->hasFlag(STATE))) + { + si++; + out += addon->state(); + if (si < l) + { + out += ","; + } + } + } + const char *response = Bridge::CreateResponse(STATE_RESPONSE_CODE, 0, out.c_str()); + Serial.write(response); +} +#endif +short App::debug() +{ +#ifndef MEARSURE_PERFORMANCE + if (millis() - debugTS > DEBUG_INTERVAL) + { + uchar s = addons.size(); + uchar nb = 0; + for (uchar i = 0; i < s; i++) + { + Addon *addon = addons[i]; + if (addon->hasFlag(DEBUG)) + { + (addon->debug)(&Serial); + Serial.println("\n"); + nb++; + } + } + if (nb) + { + Serial.println("\n"); + } + debugTS = millis(); + } +#endif +} + +short App::info() +{ + uchar s = addons.size(); + for (uchar i = 0; i < s; i++) + { + Addon *addon = addons[i]; + if (addon->hasFlag(INFO)) + { + addon->info(&Serial); + Serial << "\n"; + } + } +} + +Addon *App::byId(short id) +{ + uchar s = addons.size(); + for (uchar i = 0; i < s; i++) + { + Addon *addon = addons[i]; + if (addon->id == id) + { + return addon; + } + } + return NULL; +} + +void App::setup_addons() +{ +#ifdef HAS_POWER + addons.push_back((Addon *)powerSwitch); +#endif +#ifdef HAS_DIRECTION_SWITCH + addons.push_back((Addon *)dirSwitch); +#endif +#ifdef ENCLOSURE_SENSOR + addons.push_back((Addon *)enclosureSensor); +#endif +#ifdef MOTOR_OVERLOAD_PIN + addons.push_back((Addon *)mOverload); +#endif +#ifdef MOTOR_IDLE_PIN + addons.push_back((Addon *)mIdle); +#endif +#ifdef HAS_AUTOREVERSE + addons.push_back((Addon *)autoReverse); +#endif +#ifdef CARTRIDGE_FULL_1 + addons.push_back((Addon *)cartridgeFull); +#endif +#ifdef HAS_OP_MODE_SWITCH + addons.push_back((Addon *)opModeSwitch); +#endif +#ifdef HAS_SERIAL + addons.push_back((Addon *)serialBridge); +#endif +#ifdef HAS_DIP + addons.push_back((Addon *)_dipSwitch); +#endif + +#ifdef MOTOR_LOAD_PIN + addons.push_back((Addon *)mLoad); +#endif + +#if ENABLED(MOTOR_HAS_TEMPERTURE) + addons.push_back((Addon *)mHeat); +#endif +#if ENABLED(HAS_MOTOR_IR_SENSOR) + addons.push_back((Addon *)mSpeed); +#endif + +#ifdef HAS_HOPPER_LOADED + addons.push_back((Addon *)hopperLoaded); +#endif + +#ifdef HAS_VFD + addons.push_back((Addon *)vfd); +#endif + +#ifdef HAS_PLUNGER + addons.push_back((Addon *)plunger); +#endif + +#ifdef HAS_MODBUS_BRIDGE + addons.push_back((Addon *)modbusBridge); +#endif + + addons.push_back((Addon *)this); + uchar s = addons.size(); + for (uchar i = 0; i < s; i++) + { + Addon *addon = addons[i]; + if (addon->hasFlag(SETUP)) + { + addon->setup(); + } + } +#ifdef HAS_BRIDGE + REGISTER_CLASS_MEMBER_FN(POWER, powerSwitch, "on", (AddonFnPtr)&Power::on, short); + REGISTER_CLASS_MEMBER_FN(POWER, powerSwitch, "off", (AddonFnPtr)&Power::off, short); + REGISTER_CLASS_MEMBER_FN(VFD_CONTROL, vfd, "fwd", (AddonFnPtr)&VFD::fwd, short); + REGISTER_CLASS_MEMBER_FN(VFD_CONTROL, vfd, "rev", (AddonFnPtr)&VFD::rev, short); + REGISTER_CLASS_MEMBER_FN(VFD_CONTROL, vfd, "stop", (AddonFnPtr)&VFD::stop, short); + + REGISTER_CLASS_MEMBER_FN(PLUNGER, plunger, "home", (AddonFnPtr)&Plunger::home, short); + REGISTER_CLASS_MEMBER_FN(PLUNGER, plunger, "plunge", (AddonFnPtr)&Plunger::plunge, short); + REGISTER_CLASS_MEMBER_FN(PLUNGER, plunger, "reset", (AddonFnPtr)&Plunger::reset, short); + REGISTER_CLASS_MEMBER_FN(PLUNGER, plunger, "stop", (AddonFnPtr)&Plunger::stop, short); + + /* + REGISTER_CLASS_MEMBER_FN(PLUNGER, plunger, "moveMotor1", (AddonFnPtr)&Plunger::moveMotor1, short); + REGISTER_CLASS_MEMBER_FN(PLUNGER, plunger, "moveMotor2", (AddonFnPtr)&Plunger::moveMotor2, short); + REGISTER_CLASS_MEMBER_FN(PLUNGER, plunger, "moveMotors", (AddonFnPtr)&Plunger::moveMotors, short);*/ + REGISTER_CLASS_MEMBER_FN(PLUNGER, plunger, "move", (AddonFnPtr)&Plunger::move, short); + + REGISTER_CLASS_MEMBER_FN(APP, this, "shred", (AddonFnPtr)&App::shred, short); + REGISTER_CLASS_MEMBER_FN(APP, this, "setOverload", (AddonFnPtr)&App::setOverload, short); + + REGISTER_CLASS_MEMBER_FN(APP, this, "setAppState", (AddonFnPtr)&App::setAppState, short); + REGISTER_CLASS_MEMBER_FN(APP, this, "getAppState", (AddonFnPtr)&App::getAppState, short); + +#ifdef HAS_MODBUS_BRIDGE + REGISTER_CLASS_MEMBER_FN(ModbusBridge, modbusBridge, "setFn", (AddonFnPtr)&ModbusBridge::setFn, short); + REGISTER_CLASS_MEMBER_FN(ModbusBridge, modbusBridge, "setAddr", (AddonFnPtr)&ModbusBridge::setAddr, short); + REGISTER_CLASS_MEMBER_FN(ModbusBridge, modbusBridge, "setNb", (AddonFnPtr)&ModbusBridge::setNb, short); +#endif + +#ifdef HAS_STATES + REGISTER_CLASS_MEMBER_FN(APP, this, "appState", (AddonFnPtr)&App::appState, short); +#endif + +#endif +} +void App::loop_addons() +{ + +#ifdef MEARSURE_PERFORMANCE + millis_t now = millis(); +#endif + + uchar s = addons.size(); + for (uchar i = 0; i < s; i++) + { + Addon *addon = addons[i]; + if (addon->hasFlag(LOOP)) + { + addon->now = millis(); + addon->loop(); + } + } + +#ifdef MEARSURE_PERFORMANCE + addonLoopTime = millis() - now; + if (millis() - printPerfTS > 3000) + { + printPerfTS = now; + Serial << SPACE("Addon loop time") << addonLoopTime << "\n"; + } +#endif + debug(); +} diff --git a/shredder/asterix-pp/firmware/app_shredding.cpp b/shredder/asterix-pp/firmware/app_shredding.cpp new file mode 100644 index 0000000..c58c3b4 --- /dev/null +++ b/shredder/asterix-pp/firmware/app_shredding.cpp @@ -0,0 +1,485 @@ +#include +#include +#include +#include "app.h" +#include "features.h" + +#define HAS_SHRED_DEBUG + +#ifdef HAS_SHRED_DEBUG +#define SHRED_DEBUG(A) Serial.println(A); +#else +#define SHRED_DEBUG(A) +#endif + +short App::setOverload(short val) +{ + return; + overloaded = val; + if (!overloaded) + { + shredState = shredStateLast; + } + return val; +} + +short App::plungerCB(short val) +{ + mLoad->loop(); + hopperLoaded->loop(); + loop_com(); + if (mLoad->jammed() || overloaded || isAutoReversing()) + { + return false; + } + return 1; +} + +ushort App::loop_auto_reverse() +{ + +#ifdef HAS_POWER + if (!powerSwitch->isOn(POWER_PRIMARY)) + { + return E_POWER; + } +#endif + + switch (shredState) + { + case JAMMED: + { + shredState = FORWARDING; + vfd->rev(true); + jamCounter++; + SHRED_DEBUG("jammed: reversing"); + timer.in( + AR_REVERSE_TIME, [](App *app) -> void { + app->vfd->stop(); + app->shredState = STOPPING; + SHRED_DEBUG("jammed: stopped"); + }, + this); + break; + } + case STOPPING: + { + shredState = FORWARDING; + SHRED_DEBUG("jammed: stopping"); + timer.in( + AR_FORWARD_WAIT_TIME, [](App *app) -> void { + app->shredState = REVERSED; + SHRED_DEBUG("jammed: stopped"); + }, + this); + break; + } + case REVERSED: + { + shredState = FORWARDING; + if (mLoad->jammed()) + { + SHRED_DEBUG("reversed: stuck!"); + shredState = STUCK; + break; + } + vfd->fwd(true); + plunger->reset(); + SHRED_DEBUG("jammed: forward"); + timer.in( + AR_FORWARDING_TIME, [](App *app) -> void { + if (app->mLoad->jammed()) + { + SHRED_DEBUG("jammed: still jammed, redo autoreverse"); + app->shredState = JAMMED; + } + else + { + SHRED_DEBUG("jammed: continue with"); + SHRED_DEBUG(app->shredStateLast); + SHRED_DEBUG(app->shredState); + if (app->shredStateLast && app->shredStateLast != WAITING) + { + app->shredState = app->shredStateLast; + } + else + { + if ((millis() - app->shredStart) / 1000 > 60) + { + SHRED_DEBUG("jammed: invalid state abort"); + app->shredState = CANCELLING; + return; + } + SHRED_DEBUG("jammed: invalid state continue with"); + + app->shredState = JAMMED; + SHRED_DEBUG(app->shredStateLast); + SHRED_DEBUG(app->shredState); + SHRED_DEBUG((millis() - app->shredStart) / 1000); + app->vfd->stop(); + } + app->plunger->reset(); + app->plunger->plunge(); + } + }, + this); + break; + } + } + return E_OK; +} +short App::shred(short value) +{ + shredState = INIT; + shredStateLast = 0; + _state = SHREDDING; + // {"0":25,"1":1,"2":1,"3":0,"4":0,"5":3478} + SHRED_DEBUG("START SHREDDING --------------------------"); + powerSwitch->on(POWER_PRIMARY); + shredStart = millis(); +} +bool App::isAutoReversing() +{ + return (shredState == App::SHRED_STATE::JAMMED || + shredState == App::SHRED_STATE::REVERSING || + shredState == App::SHRED_STATE::REVERSED || + shredState == App::SHRED_STATE::STOPPING || + shredState == App::SHRED_STATE::FORWARDING) || + _state == JAMMED; +} +short App::setShredState(short newState) +{ + if (shredState == App::SHRED_STATE::CANCELLING) + { + return App::SHRED_STATE::CANCELLING; + } + + if (isAutoReversing()) + { + // return App::SHRED_STATE::JAMMED; + } + if (newState != WAITING && newState != FORWARDING) + { + shredStateLast = shredState; + } + shredState = newState; + Serial.print("Did set new shred state : "); + Serial.println(shredState); + return shredState; +} + +void App::loopShredCancel() +{ + + switch (shredCancelState) + { + case INIT: + { + SHRED_DEBUG("CANCEL STOP SHREDDER"); + plunger->reset(); + if (vfd->direction != VFD::DIRECTION::STOP) + { + vfd->stop(); + timer.in( + SWT_UNPOWERED, [](App *app) -> void { + app->shredCancelState = SHREDDED; + }, + this); + } + else + { + shredCancelState = SHREDDED; + } + break; + } + + case SHREDDED: + { + SHRED_DEBUG("CANCEL : SHREDDED"); + shredCancelState = WAITING; + plunger->home(); + timer.in( + SWT_SHREDDED, [](App *app) -> void { + if (app->plunger->home()) + { + SHRED_DEBUG("\t cancel back homed, done"); + app->shredCancelState = DONE; + } + else + { + if (app->shredCancelState != DONE) + { + SHRED_DEBUG("\t cancel not back homed , try again"); + app->shredCancelState = SHREDDED; + } + } + }, + this); + break; + } + case DONE: + { + SHRED_DEBUG("CANCELLED SHREDDING ----------------------------------------------------"); + powerSwitch->off(POWER_PRIMARY); + powerSwitch->off(POWER_SECONDARY); + shredCancelState = DONE; + shredState = CANCELLED; + plunger->reset(); + break; + } + } +} + +ushort App::loopShred() +{ +#ifdef HAS_POWER + if (_state == SHREDDING) + { + if (!powerSwitch->isOn(POWER_PRIMARY)) + { + Serial.println("got no power"); + return E_POWER; + } + } +#endif + + if (shredState == STUCK) + { + Serial.println("stuck"); + return; + } + + if (shredState == CANCELLING) + { + loopShredCancel(); + return E_OK; + } + + if (isAutoReversing()) + { + return loop_auto_reverse(); + } + + if (mLoad->jammed()) + { + if (!isAutoReversing()) + { + SHRED_DEBUG("SET JAMMED !!! "); + plunger->pause(); + shredStateLast = shredState; + shredState = JAMMED; + loop_auto_reverse(); + } + return E_OK; + } + + short mLoadError = mLoad->ok(); + + if (mLoadError != E_OK) + { + shredState == CANCELLING; + vfd->stop(); + Serial.println("cancel!"); + } + + if (_state != App::APP_STATE::SHREDDING && analogRead(CONTROLLINO_A15) < 500) + { + Serial.println("shred"); + shred(); + return; + } + + if (_state != App::APP_STATE::SHREDDING) + { + // delay(10); + // Serial.println("abort, not shredding"); + return; + } + + switch (shredState) + { + case CANCELLING: + { + loopShredCancel(); + break; + } + case INIT: + { + SHRED_DEBUG("POWERED : powering"); + powerSwitch->on(POWER_PRIMARY); + setShredState(WAITING); + plunger->reset(); + timer.in( + SWT_INIT, [](App *app) -> void { + app->setShredState(POWERED); + }, + this); + + break; + } + case POWERED: + { + setShredState(WAITING); + SHRED_DEBUG("POWERED : homing"); + plunger->home(false); + timer.in( + SWT_POWERED, [](App *app) -> void { + if (app->plunger->home(false)) + { + app->setShredState(HOMED); + SHRED_DEBUG("\t homed!"); + } + else + { + SHRED_DEBUG("\t not homed, try again"); + app->setShredState(POWERED); + } + }, + this); + break; + } + case HOMED: + { + setShredState(WAITING); + SHRED_DEBUG("HOMED"); + vfd->fwd(true); + timer.in( + SWT_STARTED, [](App *app) -> void { + app->setShredState(STARTED); + }, + this); + break; + } + case PLUNGED_SHREDDING: + { + setShredState(WAITING); + if (mLoad->shredding()) + { + timer.in( + 1000, [](App *app) -> void { + SHRED_DEBUG("PLUNGED_SHREDDING : still shredding"); + app->setShredState(PLUNGED_SHREDDING); + }, + this); + } + else + { + if (millis() - mLoad->lastLoad > 2000) + { + SHRED_DEBUG("PLUNGED_SHREDDING : seems idle, move on to homing"); + setShredState(UNPOWERED); + } + else + { + setShredState(PLUNGED_SHREDDING); + } + } + break; + } + case STARTED: + { + setShredState(WAITING); + SHRED_DEBUG("STARTED"); + plunger->plunge(); + mLoad->lastLoad = millis(); + SHRED_DEBUG("STARTED : plunging"); + timer.in( + SWT_PLUNGED, [](App *app) -> void { + if (app->plunger->plunge()) + { + SHRED_DEBUG("STARTED : plunged"); + app->setShredState(PLUNGED_SHREDDING); + } + else + { + SHRED_DEBUG("STARTED : not plunged"); + app->setShredState(STARTED); + } + }, + this); + break; + } + + case PLUNGED: + { + setShredState(WAITING); + SHRED_DEBUG("PLUNGED"); + timer.in( + SWT_PLUNGED, [](App *app) -> void { + if (app->mLoad->shredding()) + { + SHRED_DEBUG("STILL SHREDDING"); + app->setShredState(PLUNGED); + } + else + { + SHRED_DEBUG("SEEMS DONE SHREDDING"); + app->setShredState(UNPOWERED); + } + }, + this); + break; + } + case UNPOWERED: + { + setShredState(WAITING); + SHRED_DEBUG("STOP SHREDDER"); + vfd->stop(); + timer.in( + SWT_UNPOWERED, [](App *app) -> void { + app->setShredState(SHREDDED); + }, + this); + break; + } + case SHREDDED: + { + setShredState(WAITING); + SHRED_DEBUG("SHREDDED : homing"); + plunger->home(); + timer.in( + SWT_SHREDDED, [](App *app) -> void { + if (app->plunger->home()) + { + SHRED_DEBUG("\t back homed, done"); + app->setShredState(DONE); + } + else + { + + if (app->shredState == DONE || app->shredState == RESET) + { + SHRED_DEBUG("\t weird, tried to home after DONE"); + SHRED_DEBUG(app->shredState); + // return; + } + SHRED_DEBUG("\t not back homed , try again"); + app->setShredState(SHREDDED); + } + }, + this); + break; + } + case DONE: + { + SHRED_DEBUG("DONE SHREDDING ----------------------------------------------------"); + + timer.in( + SWT_SHREDDED_POWER_OFF, [](App *app) -> void { + if (app->_state == App::APP_STATE::RESET) + { + app->powerSwitch->off(POWER_PRIMARY); + } + }, + this); + plunger->reset(); + _state = App::APP_STATE::RESET; + shredStateLast = 0; + shredCancelState = 0; + shredState = WAITING; + break; + } + default: + break; + } +} diff --git a/shredder/asterix-pp/firmware/bak/Plunger.cppx b/shredder/asterix-pp/firmware/bak/Plunger.cppx new file mode 100644 index 0000000..3c9f1c2 --- /dev/null +++ b/shredder/asterix-pp/firmware/bak/Plunger.cppx @@ -0,0 +1,414 @@ +#include "Plunger.h" +#include "AccelStepper.h" +#include "MultiStepper.h" + +#include "config.h" +#ifdef HAS_STATES +#include +#endif + +AccelStepper stepper1(AccelStepper::DRIVER, PLUNGER_MOTOR_1_DIR_PIN, PLUNGER_MOTOR_1_STEP_PIN); +AccelStepper stepper2(AccelStepper::DRIVER, PLUNGER_MOTOR_2_DIR_PIN, PLUNGER_MOTOR_2_STEP_PIN); + +MultiStepper steppers; + +// #define HAS_PLUNGER_DEBUG + +#ifdef HAS_PLUNGER_DEBUG +#define PLUNGER_DEBUG(A) Serial.println(A); +#else +#define PLUNGER_DEBUG(A) +#endif + +#ifdef HAS_STATES +String Plunger::state() +{ + const int capacity = JSON_OBJECT_SIZE(3); + StaticJsonDocument doc; + doc[0] = id; + doc[1] = _state; + doc[2] = pFlags; + +#ifdef HAS_PLUNGER_DEBUG + Serial.println("state : "); + Serial.println(_state); + Serial.print("pflags low : "); + Serial.println(pFlags); + Serial.print("limit high : "); + Serial.println(u1.value); + + Serial.print("moving: "); + Serial.println(TEST(pFlags, MOVING)); + Serial.print("retracting: "); + Serial.println(TEST(pFlags, RETRACTING)); + Serial.print("freeing: "); + Serial.println(TEST(pFlags, FREEING)); + Serial.print("done: "); + Serial.println(TEST(pFlags, DONE)); + Serial.print("retracted: "); + Serial.println(TEST(pFlags, RETRACTED)); + Serial.print("retracting on : "); + Serial.println(retracting); +#endif + + /* + Serial.println("pflags"); + Serial.print("moving: "); + Serial.println(TEST(pFlags, MOVING)); + Serial.print("retracting: "); + Serial.println(TEST(pFlags, RETRACTING)); + Serial.print("freeing: "); + Serial.println(TEST(pFlags, FREEING)); + Serial.print("done: "); + Serial.println(TEST(pFlags, DONE)); + Serial.print("retracted: "); + Serial.println(TEST(pFlags, RETRACTED)); + Serial.print("retracting on : "); + Serial.println(retracting);*/ + + return doc.as(); +} +#endif +bool Plunger::change(short newState) +{ + if (newState == _state) + { + return false; + } + _state = newState; + return true; +} +short Plunger::setSpeed(short val = 0) +{ + speed = 1000 * val; +} +short Plunger::setup() +{ + stepper1.setMaxSpeed(PLUNGER_BASE_SPEED); + stepper1.setSpeed(PLUNGER_BASE_SPEED); + stepper1.setAcceleration(5000); + steppers.addStepper(stepper1); + steppers.moveTo(positions); + stepper1.setCurrentPosition(positions[0]); + stepper1.setPinsInverted(false); + + u1.setup(); + u1.loop(); + pFlags = 0; + retracting = false; +} + +short Plunger::plunge(short force) +{ + if (!change(PLUNGING)) + { + if (!TEST(pFlags, DONE)) + { + return TEST(pFlags, DONE); + } + else + { + if (force) + { + reset(); + _state = PLUNGING; + } + else + { + return TEST(pFlags, DONE); + } + } + } + else + { + reset(); + _state = PLUNGING; + } + + SBI(pFlags, INITIATED); + zero(); + + if (u1.value) + { + SBI(pFlags, FREEING); + //goToPos(-PLUNGER_RETRACE_DISTANCE, PLUNGER_RETRACT_SPEED); + return TEST(pFlags, DONE); + } + else + { + SBI(pFlags, MOVING); + //goToPos(PLUNGE_PLUNG_DISTANCE, speed); + } + return TEST(pFlags, DONE); +} +short Plunger::retract() +{ + u1.loop(); + if (u1.value) + { + if (!retracting) + { + retracting = true; + zero(); + stepper1.setMaxSpeed(PLUNGER_RETRACT_SPEED); + positions[0] += (u1.value ? PLUNGER_RETRACE_DISTANCE : -PLUNGER_RETRACE_DISTANCE); + positions[1] += (u1.value ? PLUNGER_RETRACE_DISTANCE : -PLUNGER_RETRACE_DISTANCE); + steppers.moveTo(positions); + PLUNGER_DEBUG("PLUNGER : collision!"); + } + SBI(pFlags, RETRACTING); + return 1; + } + else + { + if (!steppers.hasToGo()) + { + retracting = false; + } + return 0; + } +} +short Plunger::goToPos(long pos, long speed) +{ + zero(); + stepper1.setMaxSpeed(speed); + stepper1.setSpeed(speed); + Serial.println(speed); + positions[0] += pos; + positions[1] += pos; + steppers.moveTo(positions); +} +short Plunger::home(short force = false) +{ + if (!change(HOMING)) + { + PLUNGER_DEBUG("PLUNGER already homing"); + if (!TEST(pFlags, DONE)) + { + PLUNGER_DEBUG("PLUNGER already homing : not done yet"); + return TEST(pFlags, DONE); + } + else + { + if (force == false) + { + return TEST(pFlags, DONE); + } + else + { + PLUNGER_DEBUG("PLUNGER already homing : doing it again"); + reset(); + _state = HOMING; + } + } + } + else + { + reset(); + _state = HOMING; + } + + SBI(pFlags, INITIATED); + zero(); + + if (u1.value) + { + PLUNGER_DEBUG("PLUNGER : frooze up"); + SBI(pFlags, RETRACTING); + retract(); + return TEST(pFlags, DONE); + } + else + { + PLUNGER_DEBUG("PLUNGER : move"); + SBI(pFlags, MOVING); + goToPos(PLUNGE_HOME_DISTANCE, PLUNGER_HOMING_SPEED); + } + return TEST(pFlags, DONE); +} + +short Plunger::moveMotors(short val = 0) +{ + _state = MANUAL; + goToPos(val, PLUNGER_MOVE_SPEED); +} + +short Plunger::moveMotor1(short val = 0) +{ + reset(); + zero(); + stepper1.setMaxSpeed(PLUNGER_MOVE_SPEED); + stepper1.moveTo(val); + _state = MANUAL; +} +short Plunger::moveMotor2(short val = 0) +{ + reset(); + zero(); + stepper2.setMaxSpeed(PLUNGER_MOVE_SPEED); + stepper2.moveTo(val); + _state = MANUAL; +} + +short Plunger::stop(short val) +{ + _state = STOPPED; + pFlags = 0; +} + +void Plunger::zero() +{ + positions[0] = 0; + positions[1] = 0; + stepper1.setCurrentPosition(positions[0]); + stepper2.moveTo(positions); +} +short Plunger::reset(short val) +{ + positions[0] = 0; + positions[1] = 0; + pFlags = 0; + _state = NONE; + retracting = false; + stepper1.setCurrentPosition(positions[0]); +} +short Plunger::loop() +{ + AddonFnPtr ptr = this->check; + short ret = 1; (owner->*ptr)(0); + // u1.loop(); + if (!ret) + { + SBI(pFlags, PAUSED); + return; + } + else + { + CBI(pFlags, PAUSED); + } + + while (steppers.run() && !TEST(pFlags, PAUSED) && !TEST(pFlags, DONE)) + { + // retract(); + + ret = (owner->*ptr)(0); + + if (!ret) + { + SBI(pFlags, PAUSED); + break; + } + + switch (_state) + { + case ERROR: + case MANUAL: + { + break; + } + case STOPPED: + { + break; + } + case HOMING: + case PLUNGING: + { + if (retract()) + { + Serial.print('shit'); + } + break; + } + } + } + + ret = (owner->*ptr)(0); + if (!ret) + { + SBI(pFlags, PAUSED); + return; + } + else + { + SBI(pFlags, PAUSED); + } + + if (!steppers.hasToGo()) + { + if (retracting) + { + retracting = false; + } + + if (TEST(pFlags, RETRACTING)) + { + SBI(pFlags, RETRACTED); + CBI(pFlags, RETRACTING); + } + + switch (_state) + { + case ERROR: + case STOPPED: + { + _state = NONE; + pFlags = 0; + return; + } + break; + case MANUAL: + { + _state = NONE; + pFlags = 0; + break; + } + case PLUNGING: + case HOMING: + { + if (TEST(pFlags, DONE)) + { + // PLUNGER_DEBUG("PLUNGER ::: SET DONE"); + break; + } + + if (TEST(pFlags, FREEING) && TEST(pFlags, RETRACTED)) + { + PLUNGER_DEBUG("PLUNGER : clear retracted after freeing"); + CBI(pFlags, FREEING); + CBI(pFlags, RETRACTED); + CBI(pFlags, RETRACTING); + } + + if (!TEST(pFlags, MOVING) && !TEST(pFlags, RETRACTED) && !TEST(pFlags, RETRACTING)) + { + PLUNGER_DEBUG("PLUNGER : goto"); + SBI(pFlags, MOVING); + goToPos(_state == HOMING ? PLUNGE_HOME_DISTANCE : PLUNGE_PLUNG_DISTANCE, _state == HOMING ? PLUNGER_HOMING_SPEED : PLUNGER_PLUNGE_SPEED); + break; + } + + if (!TEST(pFlags, FREEING) && TEST(pFlags, RETRACTED)) + { + SBI(pFlags, DONE); + PLUNGER_DEBUG("PLUNGER : retracted, set done"); + break; + } + + if (TEST(pFlags, MOVING) && TEST(pFlags, RETRACTED)) + { + PLUNGER_DEBUG("PLUNGER : moved & retracted"); + SBI(pFlags, DONE); + return; + } + + if (!TEST(pFlags, MOVING) && TEST(pFlags, RETRACTED)) + { + PLUNGER_DEBUG("PLUNGER : not moved but retracted"); + SBI(pFlags, DONE); + retracting = false; + } + break; + } + } + } +} \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/bak/Plunger.hpx b/shredder/asterix-pp/firmware/bak/Plunger.hpx new file mode 100644 index 0000000..24237ab --- /dev/null +++ b/shredder/asterix-pp/firmware/bak/Plunger.hpx @@ -0,0 +1,120 @@ +#ifndef PLUNGER_H +#define PLUNGER_H + +#include +#include + +#include "config.h" +#include "Addon.h" +#include "common/macros.h" +#include "config.h" +#include "types.h" +#include "./components/CurrentSensor.h" + +#define STEPS 300 +class Plunger : public Addon +{ +public: + class LimitSwitch + { + public: + LimitSwitch(byte _pin) : pin(_pin), + ts(0){}; + bool value; + byte pin; + millis_t ts; + void loop() + { + if (millis() - ts > LIMIT_SWITCH_INTERVAL) + { + value = digitalRead(pin); + ts = millis(); + } + } + void setup() + { + pinMode(pin, INPUT); + } + }; + + enum E_PLUNGER_STATE + { + NONE = 0, + PLUNGING = 100, + STOPPED = 200, + HOMING = 300, + RETRACT = 350, + MANUAL = 360, + ERROR = 400 + }; + + enum P_FLAGS + { + INITIATED = 1, + MOVING = 2, + RETRACTING = 3, + RETRACTED = 4, + FREEING = 5, + DONE = 6, + PAUSED = 7 + }; + + Plunger(Addon *owner, AddonFnPtr _cb) : Addon(PLUNGER_STR, PLUNGER), + _state(NONE), + _last_state(NONE), + positions({0, 0}), + owner(owner), + check(_cb), + u1(LimitSwitch(PLUNGER_LIMIT_UP_1)) + { + // setFlag(DEBUG); + } +#ifdef HAS_STATES + String state(); +#endif + void debug(Stream *stream) + { + // *stream << id << " : " << cSensor.value << " : " << pcMax; + } + void info(Stream *stream) + { + //*stream << this->name; + } + + short setup(); + short loop(); + + short plunge(short val = 0); + short home(short val = 0); + short resume(short val = 0); + + short test(short val = 0); + + short retract(); + void zero(); + short reset(short val = 0); + short stop(short val = 0); + + short goToPos(long pos, long speed); + short moveMotor1(short val = 0); + short moveMotor2(short val = 0); + short moveMotors(short val = 0); + short setSpeed(short val = 0); + +private: + short _last_state; + bool change(short newState); + long positions[2]; + + LimitSwitch u1; + AddonFnPtr check; + Addon *owner; + short pFlags; + bool retracting; + short _state; + float speed; + +protected: +}; + +#endif diff --git a/shredder/asterix-pp/firmware/bridge.cpp b/shredder/asterix-pp/firmware/bridge.cpp new file mode 100644 index 0000000..b892d6f --- /dev/null +++ b/shredder/asterix-pp/firmware/bridge.cpp @@ -0,0 +1,121 @@ +#include "bridge.h" +#include +#include +#include "constants.h" + +typedef struct +{ + short key; + char *value; +} TAddons; + +const TAddons addonsDict[]{}; + +static VSL *_instance; +class SKeyVal; +SKeyVal *clazzMaps[20]; +Vector clazzes; + +class SKeyValS +{ +public: + void *instance; + ushort id; + SKeyValS() {} + SKeyValS(void *_instance, ushort _id) : instance(_instance), + id(_id) {} +}; + +char *getAddonName(short key) +{ + for (uchar i = 0; i < sizeof(addonsDict) / sizeof(TAddons); ++i) + { + if (addonsDict[i].key == key) + { + return addonsDict[i].value; + } + } + return NULL; +} +short getAddonKey(String name) +{ + for (uchar i = 0; i < sizeof(addonsDict) / sizeof(TAddons); ++i) + { + if (name.equals(String(addonsDict[i].value))) + { + return addonsDict[i].value; + } + } + return -1; +} + +void VSL::init() +{ + _instance = new VSL(); + clazzes.setStorage(clazzMaps); +} + +VSL *VSL::instance() +{ + if (!_instance) + { + VSL::init(); + } + return _instance; +} + +SKeyVal *VSL::hasMethod(ushort id, String methodName) +{ + uchar s = clazzes.size(); + for (uchar i = 0; i < s; i++) + { + + SKeyVal *val = clazzes.at(i); + if (val->key == id && val->methodName.equals(methodName)) + { + return val; + } + } + return NULL; +} +void VSL::debug() +{ +#ifdef BRIDGE_DEBUG + uchar s = clazzes.size(); + for (uchar i = 0; i < s; i++) + { + SKeyVal *val = clazzes.at(i); + Serial.print(val->className); + Serial.print(":"); + Serial.print(val->methodName); + Serial.print("\n"); + } +#endif +} + +SKeyVal *VSL::registerMemberFunction(ushort id, Addon *clazz, char *method, AddonFnPtr ptr, char *ret) +{ + SKeyVal *meth = hasMethod(id, method); + if (meth) + { +#ifdef BRIDGE_DEBUG + Serial << "Register class member: " + << SPACE(name << "::" << method) + << "already registered! \n"; +#endif + } + else + { +#ifdef BRIDGE_DEBUG + if (!getAddonKey(name)) + { + Serial.println("invalid addon key"); + } +#endif + meth = new SKeyVal(id, clazz, method, ptr); + //Serial << "Register member method:" + // << SPACE(meth->className << "::" << meth->methodName) + // << "\n"; + clazzes.push_back(meth); + } +} diff --git a/shredder/asterix-pp/firmware/bridge.h b/shredder/asterix-pp/firmware/bridge.h new file mode 100644 index 0000000..1dc2c83 --- /dev/null +++ b/shredder/asterix-pp/firmware/bridge.h @@ -0,0 +1,81 @@ +#ifndef BRDIGE_H +#define BRIDGE_H + +#include "Addon.h" +#include +class App; +class SKeyVal; +class SKeyValS; + +class SKeyVal +{ +public: + short key; + void *instance; + String methodName; + AddonFnPtr mPtr; + SKeyVal() {} + SKeyVal(ushort _key, void *_instance, String _methodName, AddonFnPtr _mPtr) : key(_key), + instance(_instance), + methodName(_methodName), + mPtr(_mPtr) {} +}; +class VSL +{ +public: + SKeyVal *registerMemberFunction( + ushort id, + Addon *clazz, + char *method, + AddonFnPtr ptr, + char *ret); + + static void init(); + static VSL *instance(); + SKeyVal *VSL::hasMethod(ushort id, String method); + void debug(); +}; + +#define REGISTER_CLASS_MEMBER_FN(id, inst, methodName, method, ret) \ + { \ + VSL::instance()->registerMemberFunction(id, inst, methodName, method, "2"); \ + } +#endif + +namespace Bridge +{ + +static const char *START_STR = "<<"; +static const char *END_STR = ">>"; +static const char RESPONSE_DEL = ';'; +static const char *CreateResponse(short id, short error, short ret) +{ + static char response[1024] = {'\0'}; + snprintf(response, sizeof(response), "%s%d%c%d%c%d%s\r", START_STR, id, RESPONSE_DEL, error, RESPONSE_DEL, ret, END_STR); + return response; +} +static const char *CreateResponse(short id, short error, const char *ret) +{ + static char response[1024] = {'\0'}; + snprintf(response, sizeof(response), "%s%d%c%d%c%s%s\r", START_STR, id, RESPONSE_DEL, error, RESPONSE_DEL, ret, END_STR); + return response; +} + +enum ECALLS +{ + EC_COMMAND = 1, + EC_METHOD = 2, + EC_FUNC = 3, + EC_USER = 10 +}; + +enum MessageFlags +{ + NEW = 1, + PROCESSING = 2, + PROCESSED = 3, + DEBUG = 4, + RECEIPT = 5, + STATE = 6 +}; +} // namespace Bridge diff --git a/shredder/asterix-pp/firmware/common/Pin.h b/shredder/asterix-pp/firmware/common/Pin.h new file mode 100644 index 0000000..1d2688c --- /dev/null +++ b/shredder/asterix-pp/firmware/common/Pin.h @@ -0,0 +1,512 @@ +#ifndef PIN_H +#define PIN_H + +// this class doesn't outperform fastgpio but is works with AtmelMega + +#include + +#define DDR_HIGH (*_DDR |= _offset) ///< Set the DDR register to HIGH for the pin +#define DDR_TOGGLE (*_DDR ^= _offset) ///< Set the DDR register to the inverse for the pin +#define DDR_LOW (*_DDR &= _ioffset) ///< Set the DDR register to LOW for the pin + +#define PORT_HIGH (*_PORT |= _offset) ///< Set the PORT register to HIGH for the pin +#define PORT_TOGGLE (*_PORT ^= _offset) ///< Set the PORT register to the inverse for the pin +#define PORT_LOW (*_PORT &= _ioffset) ///< Set the PORT register to LOW for the pin + +#define DDR_ON (*_DDR & _offset) ///< Get the DDR register for the pin (HIGH, LOW) with other pins forced to 0 +#define DDR_OFF (*_DDR | _ioffset) ///< Get the DDR register for the pin (HIGH, LOW) with other pins forced to 1 + +#define PORT_ON (*_PORT & _offset) ///< Get the PORT register for the pin (HIGH, LOW) with other pins forced to 0 +#define PORT_OFF (*_PORT | _ioffset) ///< Get the PORT register for the pin (HIGH, LOW) with other pins forced to 1 + +#define PIN_ON (*_PIN & _offset) ///< Get the PIN register for the pin (HIGH, LOW) with other pins forced to 0 +#define PIN_OFF (*_PIN | _ioffset) ///< Get the PIN register for the pin (HIGH, LOW) with other pins forced to 1 + +class Pin +{ +public: + Pin(uint8_t number) + { + _number = number; + _offset = digitalPinToBitMask(_number); + _ioffset = ~_offset; + _timer = digitalPinToTimer(_number); + _PIN = portInputRegister(digitalPinToPort(_number)); + _PORT = portOutputRegister(digitalPinToPort(_number)); + _DDR = portModeRegister(digitalPinToPort(_number)); + } + + /** + Custom board constructor + + getAnalogValue() and setDutyCycle(int value) not supported + + @param number pin number written on board + @param offset bit mask used to access pin in registers + @param timer timer for pin + @param PIN input register for pin + @param PORT data register for pin + @param DDR data direction register for pin + */ + Pin(uint8_t number, uint8_t offset, uint8_t timer, volatile uint8_t *PIN, volatile uint8_t *PORT, volatile uint8_t *DDR) + { + _number = number; + _offset = offset; + _ioffset = ~_offset; + _timer = timer; + _PIN = PIN; + _PORT = PORT; + _DDR = DDR; + } + + // ################################# Operators ################################# + + /** + Get the value of the pin from the PIN register + + @return true if the value of the pin is HIGH, false otherwise + */ + operator bool() const + { + return bool(PIN_ON); + } + + /** + Set the pin state + + @param state the state of the pin (HIGH, LOW) + */ + Pin &operator=(uint8_t state) + { + uint8_t oldSREG = SREG; + cli(); + if (state == LOW) + { + PORT_LOW; + } + else + { + PORT_HIGH; + } + SREG = oldSREG; + + return *this; + } + + // ################################# Getters ################################# + + /** + Get the pin number + + @return pin number + */ + uint8_t getNumber() + { + return _number; + } + + /** + Get the pin offset + + @return pin offset + */ + uint8_t getOffset() + { + return _offset; + } + + /** + Get the inverse pin offset + + @return inverse pin offset + */ + uint8_t getInverseOffset() + { + return _ioffset; + } + + /** + Get the pin timer + + @return pin timer + */ + uint8_t getTimer() + { + return _timer; + } + + /** + Get a pointer to the PIN register + + @return pointer to the PIN register + */ + volatile uint8_t *getPIN() + { + return _PIN; + } + + /** + Get a pointer to the PORT register + + @return pointer to the PORT register + */ + volatile uint8_t *getPORT() + { + return _PORT; + } + + /** + Get a pointer to the DDR register + + @return pointer to the DDR register + */ + volatile uint8_t *getDDR() + { + return _DDR; + } + + /** + Get the mode of the pin from the DDR register + + @return mode of the pin (OUTPUT, INPUT) + */ + uint8_t getMode() + { + if (DDR_ON) + { + return OUTPUT; + } + else + { + return INPUT; + } + } + + /** + Get the state of the pin from the PORT register + + @return state of the pin (HIGH, LOW) + */ + uint8_t getState() + { + if (PORT_ON) + { + return HIGH; + } + else + { + return LOW; + } + } + + /** + Get the value of the pin from the PIN register + + @return value of the pin (HIGH, LOW) + */ + uint8_t getValue() + { + if (PIN_ON) + { + return HIGH; + } + else + { + return LOW; + } + } + + /** + Get the analog value of the pin + + @return analog value of the pin (0-1023) + */ + uint16_t getAnalogValue() + { + return analogRead(_number); + } + + /** + Set the pin mode and pin state + + @param mode the mode of the pin (OUTPUT, INPUT) + @param state the state of the pin (HIGH, LOW) + */ + void set(uint8_t mode, uint8_t state) + { + uint8_t oldSREG = SREG; + cli(); + if (mode == INPUT) + { + DDR_LOW; + } + else + { + DDR_HIGH; + } + if (state == LOW) + { + PORT_LOW; + } + else + { + PORT_HIGH; + } + SREG = oldSREG; + } + + /** + Set the pin mode + + @param mode the mode of the pin (OUTPUT, INPUT) + */ + void setMode(uint8_t mode) + { + uint8_t oldSREG = SREG; + cli(); + if (mode == INPUT) + { + DDR_LOW; + } + else + { + DDR_HIGH; + } + SREG = oldSREG; + } + + /** + Set the pin state + + @param state the state of the pin (HIGH, LOW) + */ + void setState(uint8_t state) + { + uint8_t oldSREG = SREG; + cli(); + if (state == LOW) + { + PORT_LOW; + } + else + { + PORT_HIGH; + } + SREG = oldSREG; + } + + // #################### Input #################### + + void setInput() + { + uint8_t oldSREG = SREG; + cli(); + DDR_LOW; + SREG = oldSREG; + } + + /** + Set the pin pullup resistor to on + */ + void setPullupOn() + { + uint8_t oldSREG = SREG; + cli(); + PORT_HIGH; + SREG = oldSREG; + } + + /** + Set the pin pullup resistor to off + */ + void setPullupOff() + { + uint8_t oldSREG = SREG; + cli(); + PORT_LOW; + SREG = oldSREG; + } + + /** + Set the pin mode to input and the pin pullup resistor to on + */ + void setInputPullupOn() + { + uint8_t oldSREG = SREG; + cli(); + DDR_LOW; + PORT_HIGH; + SREG = oldSREG; + } + + /** + Set the pin mode to input and the pin pullup resistor to off + */ + void setInputPullupOff() + { + uint8_t oldSREG = SREG; + cli(); + DDR_LOW; + PORT_LOW; + SREG = oldSREG; + } + + // #################### Output #################### + + /** + Set the pin mode to output + */ + void setOutput() + { + uint8_t oldSREG = SREG; + cli(); + DDR_HIGH; + SREG = oldSREG; + } + + /** + Set the pin output to HIGH + */ + void setHigh() + { + uint8_t oldSREG = SREG; + cli(); + PORT_HIGH; + SREG = oldSREG; + } + + /** + Set the pin output to LOW + */ + void setLow() + { + uint8_t oldSREG = SREG; + cli(); + PORT_LOW; + SREG = oldSREG; + } + + /** + Set the pin mode to output and the pin output to HIGH + */ + void setOutputHigh() + { + uint8_t oldSREG = SREG; + cli(); + DDR_HIGH; + PORT_HIGH; + SREG = oldSREG; + } + + /** + Set the pin mode to output and the pin output to LOW + */ + void setOutputLow() + { + uint8_t oldSREG = SREG; + cli(); + DDR_HIGH; + PORT_LOW; + SREG = oldSREG; + } + + /** + Set the PWM duty cycle + + @param value the duty cycle (0-255) + */ + void setDutyCycle(int value) + { + analogWrite(_number, value); + } + + // ################################# Utilities ################################# + + /** + Toggle the pin mode (OUTPUT -> INPUT, INPUT -> OUTPUT) + */ + void toggleMode() + { + uint8_t oldSREG = SREG; + cli(); + DDR_TOGGLE; + SREG = oldSREG; + } + + /** + Toggle the pin state (HIGH -> LOW, LOW -> HIGH) + */ + void toggleState() + { + uint8_t oldSREG = SREG; + cli(); + PORT_TOGGLE; + SREG = oldSREG; + } + + // #################### RC Timer #################### + + /** + Set the pin mode to input and decrement a counter until the pin goes HIGH or the counter reaches 0 then set the pin mode to output and return the counter value + + @param count the initial value for the counter to start at (0-65535) + + @return the value remaining on the counter when the pin state went to HIGH or 0 if the counter reached 0 + */ + volatile unsigned int rcTimer(volatile unsigned int count) + { + uint8_t status; + asm volatile( + // Save interupt status and disable interupts + "in %[status], __SREG__ \n\t" // Store current interupt status in variable 's' + "cli \n\t" // Disable interupts + + // Set Pin to input mode to start charging capacitor + "ld __tmp_reg__, %a[_DDR] \n\t" // Load the DDR register into r0 (__tmp_reg__) + "and __tmp_reg__, %[_ioffset] \n\t" // Apply the bit mask (offset) to r0 (__tmp_reg__) + "st %a[_DDR], __tmp_reg__ \n\t" // Store r0 (__tmp_reg__) in the DDR register + + // Count time before Pin becomes high + "loop%=: \n\t" // Label for looping + //"ld __tmp_reg__,%a[_PIN] \n\t" // Load the PIN register into r0 (__tmp_reg__) + "and __tmp_reg__, %[_offset] \n\t" // Apply the bit mask (offset) to r0 (__tmp_reg__) + "brne end%= \n\t" // End the loop if r0 (__tmp_reg__) is not equal to zero by branching to label 'end' + "dec %[count] \n\t" // Decrement the value of 'count' by one + "brne loop%= \n\t" // If the value of 'count' is not equal to zero continue the loop by branching to label 'loop' + + // Done counting + "end%=: \n\t" // Label for ending loop + // Set Pin to output mode to start discharging capacitor + "ld __tmp_reg__, %a[_DDR] \n\t" // Load the DDR register into r0 (__tmp_reg__) + "or __tmp_reg__, %[_offset] \n\t" // Apply the bit mask (offset) to r0 (__tmp_reg__) + "st %a[_DDR], __tmp_reg__ \n\t" // Store r0 (__tmp_reg__) in the PORT register + + // Restore interupt status + "out __SREG__, %[status] \n\t" // Load interupt status from variable 's' + + // Outputs + : + [ count ] "+r"(count), // The value the counter was at when the pin went high + [ status ] "=&r"(status) // The interupt status + + // Inputs + : + [ _DDR ] "e"(_DDR), // The address of the DDR register for the pin + [ _PIN ] "e"(_PIN), // The address of the PIN register for the pin + [ _offset ] "r"(_offset), // The bit mask used to access pin in registers + [ _ioffset ] "r"(_ioffset) // The inverse bit mask used to access pin in registers + ); + + return count; + } + +private: + uint8_t _number; + uint8_t _offset; + uint8_t _ioffset; + uint8_t _timer; + volatile uint8_t *_PIN; + volatile uint8_t *_PORT; + volatile uint8_t *_DDR; +}; +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/common/PinGroup.h b/shredder/asterix-pp/firmware/common/PinGroup.h new file mode 100644 index 0000000..dbbab12 --- /dev/null +++ b/shredder/asterix-pp/firmware/common/PinGroup.h @@ -0,0 +1,469 @@ +#ifndef PIN_GROUP_H +#define PIN_GROUP_H + +#include "Pin.h" + +/** + Class for simultaneous operations on Arduino I/O pins + */ +class PinGroup +{ +public: + template + PinGroup(Pin (&pins)[N]) + { + _offset = pins[0].getOffset(); + _PIN = pins[0].getPIN(); + _PORT = pins[0].getPORT(); + _DDR = pins[0].getDDR(); + _numbers[0] = pins[0].getNumber(); + _valid = true; + + for (int i = 1; i < N; i++) + { + if (_DDR != pins[i].getDDR()) + { + _valid = false; + } + _offset |= pins[i].getOffset(); + _numbers[i] = pins[i].getNumber(); + } + _ioffset = ~_offset; + } + + // ################################# Operators ################################# + /** + Compare the value of the pin + + @param value the state of the pin (HIGH, LOW) + + @return true if the value of all of the pins are equal to the value passed in, false otherwise + */ + bool operator==(uint8_t value) + { + uint8_t status = *_PIN; + if ((status & _offset) == _offset) + { + return (value == HIGH); + } + else if ((status | _ioffset) == _ioffset) + { + return (value == LOW); + } + else + { + return false; + } + } + + /** + Compare the value of the pin + + @param value the state of the pin (HIGH, LOW) + + @return true if the value of all of the pins are not equal to the value passed in, false otherwise + */ + bool operator!=(uint8_t value) + { + uint8_t status = *_PIN; + if ((status & _offset) == _offset) + { + return (value == LOW); + } + else if ((status | _ioffset) == _ioffset) + { + return (value == HIGH); + } + else + { + return false; + } + } + + /** + Set the pin state + + @param state the state of the pin (HIGH, LOW) + */ + PinGroup &operator=(uint8_t state) + { + oldSREG = SREG; + cli(); + if (state == LOW) + { + PORT_LOW; + } + else + { + PORT_HIGH; + } + SREG = oldSREG; + + return *this; + } + + // ################################# Getters ################################# + + /** + Get the pin numbers + + @return array of pin numbers + */ + uint8_t *getNumbers() + { + return _numbers; + } + + /** + Get the pin offset + + @return pin offset + */ + uint8_t getOffset() + { + return _offset; + } + + /** + Get the inverse pin offset + + @return inverse pin offset + */ + uint8_t getInverseOffset() + { + return _ioffset; + } + + /** + Get a pointer to the PIN register + + @return pointer to the PIN register + */ + volatile uint8_t *getPIN() + { + return _PIN; + } + + /** + Get a pointer to the PORT register + + @return pointer to the PORT register + */ + volatile uint8_t *getPORT() + { + return _PORT; + } + + /** + Get a pointer to the DDR register + + @return pointer to the DDR register + */ + volatile uint8_t *getDDR() + { + return _DDR; + } + + /** + Get the mode of the pin from the DDR register + + @return mode of the pin (OUTPUT, INPUT, -1) + */ + uint8_t getMode() + { + uint8_t status = *_DDR; + if ((status & _offset) == _offset) + { + return OUTPUT; + } + else if ((status | _ioffset) == _ioffset) + { + return INPUT; + } + else + { + return -1; + } + } + + /** + Get the state of the pin from the PORT register + + @return state of the pin (HIGH, LOW, -1) + */ + uint8_t getState() + { + uint8_t status = *_PORT; + if ((status & _offset) == _offset) + { + return HIGH; + } + else if ((status | _ioffset) == _ioffset) + { + return LOW; + } + else + { + return -1; + } + } + + /** + Get the value of the pin from the PIN register + + @return value of the pin (HIGH, LOW, -1) + */ + uint8_t getValue() + { + uint8_t status = *_PIN; + if ((status & _offset) == _offset) + { + return HIGH; + } + else if ((status | _ioffset) == _ioffset) + { + return LOW; + } + else + { + return -1; + } + } + + /** + Check the group to ensure all pins use the same registers + + @return true if the pins in the group all use the same registers, false otherwise + */ + bool isValid() + { + return _valid; + } + + // ################################# Setters ################################# + + // #################### Generic #################### + + /** + Set the pin mode and pin state + + @param mode the mode of the pin (OUTPUT, INPUT) + @param state the state of the pin (HIGH, LOW) + */ + void set(uint8_t mode, uint8_t state) + { + oldSREG = SREG; + cli(); + if (mode == INPUT) + { + DDR_LOW; + } + else + { + DDR_HIGH; + } + if (state == LOW) + { + PORT_LOW; + } + else + { + PORT_HIGH; + } + SREG = oldSREG; + } + + /** + Set the pin mode + + @param mode the mode of the pin (OUTPUT, INPUT) + */ + void setMode(uint8_t mode) + { + oldSREG = SREG; + cli(); + if (mode == INPUT) + { + DDR_LOW; + } + else + { + DDR_HIGH; + } + SREG = oldSREG; + } + + /** + Set the pin state + + @param state the state of the pin (HIGH, LOW) + */ + void setState(uint8_t state) + { + oldSREG = SREG; + cli(); + if (state == LOW) + { + PORT_LOW; + } + else + { + PORT_HIGH; + } + SREG = oldSREG; + } + + // #################### Input #################### + + /** + Set the pin mode to input + */ + void setInput() + { + oldSREG = SREG; + cli(); + DDR_LOW; + SREG = oldSREG; + } + + /** + Set the pin pullup resistor to on + */ + void setPullupOn() + { + oldSREG = SREG; + cli(); + PORT_HIGH; + SREG = oldSREG; + } + + /** + Set the pin pullup resistor to off + */ + void setPullupOff() + { + oldSREG = SREG; + cli(); + PORT_LOW; + SREG = oldSREG; + } + + /** + Set the pin mode to input and the pin pullup resistor to on + */ + void setInputPullupOn() + { + oldSREG = SREG; + cli(); + DDR_LOW; + PORT_HIGH; + SREG = oldSREG; + } + + /** + Set the pin mode to input and the pin pullup resistor to off + */ + void setInputPullupOff() + { + oldSREG = SREG; + cli(); + DDR_LOW; + PORT_LOW; + SREG = oldSREG; + } + + // #################### Output #################### + + /** + Set the pin mode to output + */ + void setOutput() + { + oldSREG = SREG; + cli(); + DDR_HIGH; + SREG = oldSREG; + } + + /** + Set the pin output to HIGH + */ + void setHigh() + { + oldSREG = SREG; + cli(); + PORT_HIGH; + SREG = oldSREG; + } + + /** + Set the pin output to LOW + */ + void setLow() + { + oldSREG = SREG; + cli(); + PORT_LOW; + SREG = oldSREG; + } + + /** + Set the pin mode to output and the pin output to HIGH + */ + void setOutputHigh() + { + oldSREG = SREG; + cli(); + DDR_HIGH; + PORT_HIGH; + SREG = oldSREG; + } + + /** + Set the pin mode to output and the pin output to LOW + */ + void setOutputLow() + { + oldSREG = SREG; + cli(); + DDR_HIGH; + PORT_LOW; + SREG = oldSREG; + } + + // ################################# Utilities ################################# + + // #################### Toggle #################### + + /** + Toggle the pin mode (OUTPUT -> INPUT, INPUT -> OUTPUT) + */ + void toggleMode() + { + oldSREG = SREG; + cli(); + DDR_TOGGLE; + SREG = oldSREG; + } + + /** + Toggle the pin state (HIGH -> LOW, LOW -> HIGH) + */ + void toggleState() + { + oldSREG = SREG; + cli(); + PORT_TOGGLE; + SREG = oldSREG; + } + +private: + uint8_t _numbers[8]; + uint8_t _offset; + uint8_t _ioffset; + bool _valid; + uint8_t oldSREG; + volatile uint8_t *_PIN; + volatile uint8_t *_PORT; + volatile uint8_t *_DDR; +}; diff --git a/shredder/asterix-pp/firmware/common/macros.h b/shredder/asterix-pp/firmware/common/macros.h new file mode 100644 index 0000000..a253087 --- /dev/null +++ b/shredder/asterix-pp/firmware/common/macros.h @@ -0,0 +1,98 @@ +#ifndef MACROS_H +#define MACROS_H + +#include "../types.h" + +// Macros for adding +#define INC_0 1 +#define INC_1 2 +#define INC_2 3 +#define INC_3 4 +#define INC_4 5 +#define INC_5 6 +#define INC_6 7 +#define INC_7 8 +#define INC_8 9 +#define INCREMENT_(n) INC_ ##n +#define INCREMENT(n) INCREMENT_(n) + +// Macros for subtracting +#define DEC_1 0 +#define DEC_2 1 +#define DEC_3 2 +#define DEC_4 3 +#define DEC_5 4 +#define DEC_6 5 +#define DEC_7 6 +#define DEC_8 7 +#define DEC_9 8 +#define DECREMENT_(n) DEC_ ##n +#define DECREMENT(n) DECREMENT_(n) + +// compiler - & C quirks +#define FORCE_INLINE __attribute__((always_inline)) inline +#define _UNUSED __attribute__((unused)) + +// fallback noop +#define NOOP do{} while(0) + +//Option testing +#define _CAT(a, ...) a ## __VA_ARGS__ +#define SWITCH_ENABLED_ 1 +#define ENABLED(b) _CAT(SWITCH_ENABLED_, b) + +// time +#define PENDING(NOW,SOON) ((long)(NOW-(SOON))<0) +#define ELAPSED(NOW,SOON) (!PENDING(NOW,SOON)) + +#define MMM_TO_MMS(MM_M) ((MM_M)/60.0f) +#define MMS_TO_MMM(MM_S) ((MM_S)*60.0f) +#define HOUR_MS ((millis_t)1000 * (millis_t)(60 * 60)) +#define MIN_MS ((millis_t)1000 * (millis_t)(60)) +#define SECS ((millis_t)1000) + +// bit masks +#undef _BV +#define _BV(b) (1 << (b)) +#define TEST(n,b) !!((n)&_BV(b)) +#define SBI(n,b) (n |= _BV(b)) +#define CBI(n,b) (n &= ~_BV(b)) +#define SET_BIT_TO(N,B,TF) do{ if (TF) SBI(N,B); else CBI(N,B); }while(0) + +#define _BV32(b) (1UL << (b)) +#define TEST32(n,b) !!((n)&_BV32(b)) +#define SBI32(n,b) (n |= _BV32(b)) +#define CBI32(n,b) (n &= ~_BV32(b)) +#define SIGN(a) ((a>0)-(a<0)) + +// math basics + +#define WITHIN(V,L,H) ((V) >= (L) && (V) <= (H)) +#define NUMERIC(a) WITHIN(a, '0', '9') +#define DECIMAL(a) (NUMERIC(a) || a == '.') +#define NUMERIC_SIGNED(a) (NUMERIC(a) || (a) == '-' || (a) == '+') +#define DECIMAL_SIGNED(a) (DECIMAL(a) || (a) == '-' || (a) == '+') +#define COUNT(a) (sizeof(a)/sizeof(*a)) +#define ZERO(a) memset(a,0,sizeof(a)) +#define COPY(a,b) memcpy(a,b,MIN(sizeof(a),sizeof(b))) + + +// #define M_PI 3.14159265358979323846f +#define RADIANS(d) ((d)*M_PI/180.0f) +#define DEGREES(r) ((r)*180.0f/M_PI) +#define CEILING(x,y) (((x) + (y) - 1) / (y)) + +// Macros for initializing arrays +#define ARRAY_6(v1, v2, v3, v4, v5, v6, ...) { v1, v2, v3, v4, v5, v6 } +#define ARRAY_5(v1, v2, v3, v4, v5, ...) { v1, v2, v3, v4, v5 } +#define ARRAY_4(v1, v2, v3, v4, ...) { v1, v2, v3, v4 } +#define ARRAY_3(v1, v2, v3, ...) { v1, v2, v3 } +#define ARRAY_2(v1, v2, ...) { v1, v2 } +#define ARRAY_1(v1, ...) { v1 } + +#define _ARRAY_N(N, ...) ARRAY_ ##N(__VA_ARGS__) +#define ARRAY_N(N, ...) _ARRAY_N(N, __VA_ARGS__) + +#define SPACE(A) " " << A << " " + +#endif diff --git a/shredder/asterix-pp/firmware/common/ppmath.h b/shredder/asterix-pp/firmware/common/ppmath.h new file mode 100644 index 0000000..93ac9d8 --- /dev/null +++ b/shredder/asterix-pp/firmware/common/ppmath.h @@ -0,0 +1,14 @@ +#ifndef PPMATH_H +#define PPMATH_H + +template +T clamp(const T &value, const T &low, const T &high) +{ + return value < low ? low : (value > high ? high : value); +} + +#define RANGE(i, min, max) ((i > min) && (i < max)) ? true : false + +#define NCLAMP(x, min, max) (x - min) / (max - min) + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/common/ppmath_motor.cpp b/shredder/asterix-pp/firmware/common/ppmath_motor.cpp new file mode 100644 index 0000000..9b9eb85 --- /dev/null +++ b/shredder/asterix-pp/firmware/common/ppmath_motor.cpp @@ -0,0 +1,17 @@ +#include "ppmath_motor.h" +int vfd_calc_vsi(int rpm) +{ + return ((rpm * VFD_VSI_MAX_V_SPEED) / MOTOR_FREQ_CMAX); +} +int vfd_calc_vsi_grinder(int rpm){ + return VFD_VSI_SCALE * + vfd_calc_vsi( + clamp(rpm * RPM_GRINDER_SHREDDER_SCALE, RPM_GRINDING_MIN, RPM_GRINDING_MAX) + ); +} +int vfd_calc_vsi_shredder(int rpm){ + return VFD_VSI_SCALE * + vfd_calc_vsi( + clamp(rpm, RPM_SHREDDERING_MIN, RPM_SHREDDERING_MAX) + ); +} \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/common/ppmath_motor.h b/shredder/asterix-pp/firmware/common/ppmath_motor.h new file mode 100644 index 0000000..95acaf6 --- /dev/null +++ b/shredder/asterix-pp/firmware/common/ppmath_motor.h @@ -0,0 +1,18 @@ +#ifndef PPMATH_MOTOR_H +#define PPMATH_MOTOR_H + +#include "ppmath.h" +#include "constants.h" + +// Base calculation for the corresponding V per RPM, +// taking the VFD VSI Voltage level for the max. operating frequency +// into account. The max. operating frequency is set in the VFD ! +int vfd_calc_vsi(int rpm); + +// safe VSI version for grinder +int vfd_calc_vsi_grinder(int rpm); + +// safe VSI version for shredder +int vfd_calc_vsi_shredder(int rpm); + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/common/timer.h b/shredder/asterix-pp/firmware/common/timer.h new file mode 100644 index 0000000..603d758 --- /dev/null +++ b/shredder/asterix-pp/firmware/common/timer.h @@ -0,0 +1,136 @@ +#ifndef TIMER_H +#define TIMER_H + +#if defined(ARDUINO) && ARDUINO >= 100 +#include +#else +#include +#endif + +#include "macros.h" + +#ifndef TIMER_MAX_TASKS +#define TIMER_MAX_TASKS 0x10 +#endif + +template < + size_t max_tasks = TIMER_MAX_TASKS, /* max allocated tasks */ + unsigned long (*time_func)() = millis /* time function for timer */ + > +class Timer +{ +public: + typedef bool (*handler_t)(void *opaque); /* task handler func signature */ + /* Calls handler with opaque as argument in delay units of time */ + bool + in(unsigned long delay, handler_t h, void *opaque = NULL) + { + return add_task(time_func(), delay, h, opaque); + } + + /* Calls handler with opaque as argument at time */ + bool + at(unsigned long time, handler_t h, void *opaque = NULL) + { + const unsigned long now = time_func(); + return add_task(now, time - now, h, opaque); + } + + /* Calls handler with opaque as argument every interval units of time */ + bool + every(unsigned long interval, handler_t h, void *opaque = NULL) + { + return add_task(time_func(), interval, h, opaque, interval); + } + + + /* Ticks the timer forward - call this function in loop() */ + void + tick() + { + tick(time_func()); + } + + /* Ticks the timer forward - call this function in loop() */ + inline void + tick(unsigned long t) + { + for (size_t i = 0; i < max_tasks; ++i) + { + struct task *const task = &tasks[i]; + const unsigned long duration = t - task->start; + + if (task->handler && duration >= task->expires) + { + task->repeat = task->handler(task->opaque) && task->repeat; + + if (task->repeat) + task->start = t; + else + remove(task); + }else{ + } + } + } + +private: + struct task + { + handler_t handler; /* task handler callback func */ + void *opaque; /* argument given to the callback handler */ + unsigned long start, + expires, /* when the task expires */ + repeat; /* repeat task */ + } tasks[max_tasks]; + + inline void + remove(struct task *task) + { + task->handler = NULL; + task->opaque = NULL; + task->start = 0; + task->expires = 0; + task->repeat = 0; + } + + inline struct task * + next_task_slot() + { + for (size_t i = 0; i < max_tasks; ++i) + { + struct task *const slot = &tasks[i]; + if (slot->handler == NULL) + return slot; + } + + return NULL; + } + + inline struct task * + add_task(unsigned long start, unsigned long expires, + handler_t h, void *opaque, bool repeat = 0) + { + struct task *const slot = next_task_slot(); + + if (!slot){ + return NULL; + } + + slot->handler = h; + slot->opaque = opaque; + slot->start = start; + slot->expires = expires; + slot->repeat = repeat; + + return slot; + } +}; + +/* create a timer with the default settings */ +inline Timer<> +timer_create_default() +{ + return Timer<>(); +} + +#endif diff --git a/shredder/asterix-pp/firmware/components/3pos.h b/shredder/asterix-pp/firmware/components/3pos.h new file mode 100644 index 0000000..defa892 --- /dev/null +++ b/shredder/asterix-pp/firmware/components/3pos.h @@ -0,0 +1,81 @@ +#ifndef POS3_H +#define POS3_H + +#include +#include "../enums.h" + +class Pos3 +{ +public: + Pos3(int _upPin, int _downPin) : upPin(_upPin), downPin(_downPin) + { + } + + int setup() + { + + this->debouncerUp = Bounce(); + this->debouncerUp.attach(this->upPin, INPUT_PULLUP); + this->debouncerUp.interval(25); + + this->debouncerDown = Bounce(); + this->debouncerDown.attach(this->downPin, INPUT_PULLUP); + this->debouncerDown.interval(25); + return 0; + } + int loop() + { + int newDirection = this->read(); + + if (newDirection != this->switch_pos) + { + this->last_switch = this->switch_pos; + } + this->switch_pos = newDirection; + + return this->switch_pos; + } + + int last_switch = -1; // Track last switch position + int switch_pos = -1; // Current switch position + +protected: + int upPin; + int downPin; + + Bounce debouncerUp; + Bounce debouncerDown; + +private: + int read() + { + + this->debouncerUp.update(); + this->debouncerDown.update(); + + bool up = this->debouncerUp.read() == 0 ? true : false; + bool down = this->debouncerDown.read() == 0 ? true : false; + + int newDirection = 0; + + if (up) + { + newDirection = POS3_DIRECTION::UP; + } + if (down) + { + newDirection = POS3_DIRECTION::DOWN; + } + if (!up && !down) + { + newDirection = POS3_DIRECTION::MIDDLE; + } + if (up && down) + { + newDirection = POS3_DIRECTION::INVALID; + } + return newDirection; + } +}; + +#endif diff --git a/shredder/asterix-pp/firmware/components/CurrentSensor.h b/shredder/asterix-pp/firmware/components/CurrentSensor.h new file mode 100644 index 0000000..fd85f7c --- /dev/null +++ b/shredder/asterix-pp/firmware/components/CurrentSensor.h @@ -0,0 +1,39 @@ +#ifndef CURRENT_SENSOR_H +#define CURRENT_SENSOR_H + +#include "../config.h" +#include "../common/macros.h" +class CurrentSensor +{ + +public: + CurrentSensor(short _pin, short _interval) : pin(_pin), + interval(_interval), + ts(0) {} + + bool ok() + { + + } + + bool setup() + { + } + + void loop(millis_t now) + { + if (now - ts > interval) + { + value = analogRead(pin); + ts = now; + } + } + float value; +private: + short interval; + short pin; + millis_t ts; + +}; + +#endif diff --git a/shredder/asterix-pp/firmware/components/IRSensor.cpp b/shredder/asterix-pp/firmware/components/IRSensor.cpp new file mode 100644 index 0000000..ab2b98a --- /dev/null +++ b/shredder/asterix-pp/firmware/components/IRSensor.cpp @@ -0,0 +1,96 @@ +#include "IRSensor.h" +#include "config.h" +#include + +IRSensor::IRSensor() +{ + this->highTS = 0; + this->lowTS = 0; + this->dt = 0; + this->now = 0; + this->ir_moving = 0; +} + +void IRSensor::debug(Stream &stream) +{ +#ifdef IR_SPEED + stream + << "IR-MOVING : " << ir_moving << "IR-SPEED: " << (int)this->velocity; +#else + stream << "IR-MOVING : " << (int)this->ir_moving; +#endif +} + +void IRSensor::count() +{ +#ifdef IR_SPEED + if (digitalRead(IR_PIN) && (micros() - this->debounce > IR_INTERVAL) && digitalRead(IR_PIN)) + { + // Check again that the encoder sends a good signal and then check that the time is greater than 1000 microseconds and check again that the signal is correct. + this->debounce = micros(); // Store the time to verify that we do not count the rebound in the signal. + pulses++; + } +#endif +} + +short IRSensor::setup() +{ +#ifdef IR_SPEED + pinMode(IR_PIN, INPUT); + attachInterrupt(0, ir_count, RISING); // Configuration of interrupt 0, where it is connected. + this->pulses = 0; + this->rpm = 0; + this->timeold = 0; +#endif +} + +short IRSensor::loop() +{ +#ifdef IR_SPEED + if (millis() - this->timeold >= IR_INTERVAL) + { + noInterrupts(); // Don't process interrupts during calculations // We disconnect the interrupt so it doesn't act in this part of the program. + this->rpm = (minute / this->pulsesperturn) / (millis() - timeold) * pulses; // Calculate the revolutions per minute + this->velocity = this->rpm * 3.1416 * this->wheel_diameter * 60 / 1000000; // Speed ​​calculation in [Km / h] + timeold = millis(); // We store the current time. + this->pulses = 0; // Initialize the pulses. + this->interrupts(); // Restart the interrupt processing // Reiniciamos la interrupción + } +#endif + + this->ir_value = digitalRead(IR_PIN); + this->now = millis(); + if (this->ir_value == HIGH) + { + this->highTS = this->now; + } + else + { + this->lowTS = this->now; + } + + if (this->highTS <= this->lowTS) + { + this->dt = this->lowTS - this->highTS; + } + else + { + this->dt = this->highTS - this->lowTS; + } + + this->dt = abs(this->dt); + + if (this->dt > IR_TIMEOUT) + { + this->ir_moving = 0; + } + else + { + this->ir_moving = 1; + } +} + +short IRSensor::ok() +{ + return this->ir_moving == 1; +} \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/components/IRSensor.h b/shredder/asterix-pp/firmware/components/IRSensor.h new file mode 100644 index 0000000..686219a --- /dev/null +++ b/shredder/asterix-pp/firmware/components/IRSensor.h @@ -0,0 +1,42 @@ +#ifndef IRSENSOR_H +#define IRSENSOR_H + +#include +#include "types.h" + +/*/ + @link : http://androminarobot-english.blogspot.com/2017/03/encoder-and-arduinotutorial-about-ir.html +*/ + +class IRSensor +{ + +public: + + IRSensor(); +#ifdef IR_SPEED + unsigned int rpm; // RPM + volatile byte pulses; // Pulses per secs + millis_t timeold; + millis_t minute; + unsigned int pulsesperturn; // Number of notches the encoder disc has + const int wheel_diameter; // diameter [mm] + static volatile unsigned long debounce; // poor man's debouncer +#endif + + short ir_value; + bool ir_moving; + short ok(); + void debug(Stream &stream); + void count(); + short setup(); + short loop(); + +protected: + millis_t highTS; // Last HIGH TS + millis_t lowTS; // Last LOW TS + millis_t dt; // Last delta time between HIGH / LOW + millis_t now; // Temp. variable to store tick TS +}; + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/components/PhotoElectricSensor.h b/shredder/asterix-pp/firmware/components/PhotoElectricSensor.h new file mode 100644 index 0000000..ed4b35a --- /dev/null +++ b/shredder/asterix-pp/firmware/components/PhotoElectricSensor.h @@ -0,0 +1,89 @@ +#ifndef PHOTO_ELECTRIC_SENSOR +#define PHOTO_ELECTRIC_SENSOR + +// Typical photo electric sensor. This needs debouncing. +// Currently used : OMRON - E3FB-DN22, see vendor files + +#include "../types.h" +#include "../common/macros.h" +#include "../common/ppmath.h" + +#define PES_TIMEOUT 1600 +class PhotoElectricSensor +{ +public: + PhotoElectricSensor(short pin, short interval) + { + this->pin = pin; + this->interval = interval; + this->highTS = 0; + this->lowTS = 0; + this->dt = 0; + this->now = 0; + this->moving = 0; + this->setup(); + } + + short setup(){} + short loop() + { + now = millis(); + if (now - dt > 500) + { + this->value = RANGE(analogRead(this->pin), 50 - 10, 50 + 10); + dt = now; + } + /* + this->debouncer.update(); + this->value = !this->debouncer.read(); + + if (this->last != this->value) + { + this->last = this->value; + this->highTS = 0; + this->lowTS = 0; + } + + this->now = millis(); + + if (this->value == HIGH) + { + this->highTS = this->now; + } + else + { + this->lowTS = this->now; + } + + if (this->highTS <= this->lowTS) + { + this->dt = this->lowTS - this->highTS; + } + else + { + this->dt = this->highTS - this->lowTS; + } + + this->dt = abs(this->dt); +*/ + return this->value; + } + short ok() + { + return this->value; + } + short value; + short moving; + + millis_t highTS; // Last HIGH TS + millis_t lowTS; // Last LOW TS + millis_t dt; // Last delta time between HIGH / LOW + millis_t now; // Temp. variable to store tick TS + bool last; + +protected: + short pin; + short interval; +}; + +#endif diff --git a/shredder/asterix-pp/firmware/components/Proximity_Sensor.h b/shredder/asterix-pp/firmware/components/Proximity_Sensor.h new file mode 100644 index 0000000..6decb92 --- /dev/null +++ b/shredder/asterix-pp/firmware/components/Proximity_Sensor.h @@ -0,0 +1,39 @@ +#ifndef PROXIMITY_SENSOR_H +#define PROXIMITY_SENSOR_H + +// Typical proximity switch. This needs debouncing. +// Wiring : +// Blue -> GND +// Brown -> 6 - 36 V +// Black -> Digital In + +#include +#include "../types.h" + +class ProximitySensor +{ +public: + ProximitySensor(short _pin) : pin(_pin){} + + short setup() + { + this->debouncer = Bounce(); + this->debouncer.attach(this->pin, INPUT_PULLUP); + this->debouncer.interval(25); + this->loop(); + return this->value; + } + short loop() + { + this->debouncer.update(); + this->value = !this->debouncer.read(); + return this->value; + } + bool value; + +protected: + uchar pin; + Bounce debouncer; +}; + +#endif diff --git a/shredder/asterix-pp/firmware/components/TemperatureSensor.h b/shredder/asterix-pp/firmware/components/TemperatureSensor.h new file mode 100644 index 0000000..e17f995 --- /dev/null +++ b/shredder/asterix-pp/firmware/components/TemperatureSensor.h @@ -0,0 +1,42 @@ +#ifndef TEMPERATURE_SENSOR_H +#define TEMPERATURE_SENSOR_H + +#include +#include "../config.h" +#include "../macros.h" +#include "../time.h" + +class TemperatureSensor +{ + +public: + TemperatureSensor(short sck, short cs, short so, short _max, short _interval) : ktc(MAX6675(sck, cs, so)), + temperature(), + temperature_TS(millis()), + maxTemp(_max), + interval(_interval) {} + + bool ok() + { + return temperature < maxTemp; + } + + void loop() + { + + if (millis() - temperature_TS > interval) + { + temperature_TS = millis(); + temperature = ktc.readCelsius(); + } + } + +private: + MAX6675 ktc; + short temperature; + short maxTemp; + short interval; + millis_t temperature_TS; +}; + +#endif diff --git a/shredder/asterix-pp/firmware/components/s151.h b/shredder/asterix-pp/firmware/components/s151.h new file mode 100644 index 0000000..85e42f0 --- /dev/null +++ b/shredder/asterix-pp/firmware/components/s151.h @@ -0,0 +1,120 @@ +#ifndef S514_H +#define S514_H + +#include +#include "../enums.h" +#include + +#define SI514 0x55 + +// note that the s514 needs different settings for higher freqs, @see vendor/SiliconLabs +#define FREQ 10000 + +class S514 +{ +public: + Pos3() + { + } + + short setup() + { + Wire.begin(); + setFreq(FREQ); + } + int loop() + { + } + +protected: + void writeReg(unsigned char reg, unsigned char d) + { + Wire.beginTransmission(SI514); + Wire.write(reg); + Wire.write(d); + Wire.endTransmission(); + } + + void setFreq(unsigned char m_int, + unsigned long m_frac, + unsigned short hs_div, + unsigned char ls_div, + unsigned char lp1, + unsigned char lp2) + { + // 1: Clear OE (bit 2) in register 132 register + writeReg(0x84, 0x00); + + // 2: Write LP1 and LP2, reg 0, [7:4],[3:0] + writeReg(0x00, uint8_t(((lp1 << 4) | (lp2)))); + + // 3: Write MFRAC[7:0], reg 5 + writeReg(0x05, (m_frac & 0xFF)); + + // 4: Write MFRAC[15:8], reg 6 + writeReg(0x06, (m_frac >> 8) & 0xFF); + + // 5: Write MFRAC[23:16], reg 7 + writeReg(0x07, (m_frac >> 16) & 0xFF); + + // 6: Write (M_Int[2:0] M_Frac[28:24]) reg 8 + writeReg(0x08, (m_int & 0x05) << 5 | (m_frac >> 24) & 0x1F); + + // 7: Write (M_Int[8:3]) reg 9 + writeReg(0x09, (m_int >> 3) & 0x1F); + + // 8: Write HS_DIV[7:0] reg 10 + writeReg(0x0A, hs_div & 0xFF); + + // 9: Write LS_DIV[2:0] HS_DIV[9:8] reg 11 + writeReg(0x0B, ((ls_div & 0x05) << 4) | ((hs_div >> 8) & 0x03)); + + // 10: start freq cal process, set reg 132 bit 0 + writeReg(0x84, 0x01); + + // 11: output enable + writeReg(0x84, 0x04); + } + setFreq(double freq) + { + unsigned char m_int = 5; + unsigned long m_frac; + unsigned short hs_div = 650; + unsigned char ls_div = 5; + unsigned char lp1 = 2; + unsigned char lp2 = 2; + double M = (freq * hs_div) / 31980000.0; + m_frac = (float)(M - m_int) * pow(2, 29); + Si514SetFreq(m_int, m_frac, hs_div, ls_div, lp1, lp2); + } +#ifdef HAS_DEBUG + void readRegs(unsigned char reg, unsigned char numBytes) + { + int i = reg; + Wire.beginTransmission(SI514); + Wire.write(reg); + Wire.endTransmission(); + Wire.requestFrom(SI514, numBytes); + while (Wire.available() && i - reg < numBytes) + { + byte b = Wire.read(); + Serial.print("Reg "); + Serial.print(i); + Serial.print(":"); + Serial.println(b, HEX); + i++; + } + } + void read() + { + readRegs(0x00, 1); + readRegs(0x05, 7); + readRegs(0x0B, 1); + readRegs(0x0E, 1); + readRegs(0x80, 1); + readRegs(0x84, 1); + } +#endif +}; + +#endif diff --git a/shredder/asterix-pp/firmware/config.h b/shredder/asterix-pp/firmware/config.h new file mode 100644 index 0000000..f6c7b9c --- /dev/null +++ b/shredder/asterix-pp/firmware/config.h @@ -0,0 +1,302 @@ +#ifndef CONFIG_H +#define CONFIG_H + +#include "enums.h" +#include "common/macros.h" +#include +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// +// Core settings +// + +#define LOOP_DELAY 10 // Our frame time, exluding delays in some places +#define BOOT_DELAY 4000 // Wait at least this amount in ms after boot before doing anything + +// Please consider to set this to false for production - especially with the full feature set since this is requiring extra +// time for the serial communication and will affect the overall framerate/performance +// #define DEBUG true + +#define DEBUG_INTERVAL 1000 +#define DEBUG_BAUD_RATE 19200 // Serial port speed + +#define RELAY_ON 0 // The relay bank's on value (eg: normally closed) +#define RELAY_OFF 255 // The relay bank's off value (eg: normally closed) + +#define DIR_SWITCH_UP_PIN 8 // The 3 position's up output +#define DIR_SWITCH_DOWN_PIN 9 // The 3 position's down output +// #define IGNORE_FIRST_DIRECTION // Uncomment to ignore the 3pos switch (forward/reverse) after booting. This prevents surprises but possibly also accidents. +//#define DIR_SWITCH_DELAY 500 // If defined, add this as blocking delay between direction changes. Needed for some types of relays. + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// +// Machine settings +// + +// #define USE_MEGA // On Arduino Uno we have only limited ports which are not enough to enable all features. +#define USE_CONTROLLINO +// #define HAS_AUTOREVERSE + +// Power +// if defined, it enables the power addon which currently can control 2 contactors via relay + +#define POWER_0 CONTROLLINO_R10 // Primary power circuit +#define POWER_1 CONTROLLINO_R11 // Secondary power circuit + +// the relay type, please toggle if needed +#define POWER_NC true + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// +// VFD related +// + +// #define HAS_MODBUS_BRIDGE + +// VFD FWD Pin. This goes into the relay and then into the VFD. +#define FWD_PIN CONTROLLINO_R12 + +// VFD REV Pin. This goes into the relay and then into the VFD. +#define REV_PIN CONTROLLINO_R13 + +// Motor overload pin, if defined, this will be used to detect jamming +// On an OmronM2X, set the output via C21 (for output pin 11) to 03 for +// 'Overload' (which is set in C41 ) +#define MOTOR_LOAD_PIN CONTROLLINO_A2 + +// Some VFDs have an error signal. Consume this to set FATAL state - Not impl. - uncomment to activate +// #define VFD_ERROR_PIN 13 + +// Some VFDs have a reset signal. Consume this in case we have a reset button - Not impl. - uncomment to activate +// #define VFD_RESET_PIN 12 + +// Many VFDs accept speed regulation between 0 - 10V, uncomment - activate. This makes +// only sense when a local quick speed dial or a remote operator is present +// #define VFD_VSI_PIN A4 + + +// the time needed to boot up the VDF, only used when we control also the power via POWER_0 +#define VFD_BOOT_TIME 500 + +// Some VFDs have outputs for 'run', 'power up'. If uncommented, we use this set the state 'ready' +#define VFD_UP_PIN 46 + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// +// Motor related +// +// IR sensor ( LM393 ) used together with a rotary encoder disc - uncomment to activate +// #define HAS_MOTOR_IR_SENSOR +#define IR_PIN 2 // Arduino has fixed pins for using interrupts, don't change this +#define IR_INTERVAL 500 // Recompute values in this interval +#define IR_TIMEOUT 1600 // Max. delta time between the sensor's on/off. This is used to recognize a jamming +// #define IR_SPEED // Calculate also the speed - needed for addons: injection & printer extension - uncomment to activate + +// Motor temperature sensor - uncomment to activate. If the TEMPERTURE_MAX has been exceeded, it will stop the motor and goes into fatal mode. +// #define MOTOR_HAS_TEMPERTURE +#define MOTOR_TEMPERTURE_SCK_PIN 5 +#define MOTOR_TEMPERTURE_CS_PIN 6 +#define MOTOR_TEMPERTURE_SO_PIN 7 + +#define MOTOR_TEMPERTURE_INTERVAL 1000 // Sensor read interval, MAX6675 wants it over 1000 +#define MOTOR_TEMPERTURE_MAX 50 // Max. motor temperature, in C + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// +// Extrusion related +// + +// Extrusion temperature sensor - uncomment to activate. If the EX_TEMPERTURE_MIN isn't reached yet, it won't allow the motor to run and goes into fatal mode. +// This will be only evaluated if the AUTO_REVERSE_MODE is set to AR_MODE::EXTRUSION; +// #define HAS_EXTRUDER_TEMPERATUR +#define EX_TEMPERTURE_SCK_PIN 5 +#define EX_TEMPERTURE_CS_PIN 6 +#define EX_TEMPERTURE_SO_PIN 7 +#define EX_TEMPERTURE_INTERVAL 1000 // Sensor read interval, MAX6675 wants it over 1000 +#define EX_TEMPERTURE_MIN 170 // Min. extrusion temperature, in C +#define EX_TEMPERTURE_MIN_TIME MIN_MS * 5 // Min. time to have EX_TEMPERTURE_MIN present, second safety check + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// +// Auto-Reverse +// +static int AUTO_REVERSE_MODE = AR_MODE::NONE; // See enums.h :: AR_MODE. This value will be controlled by a 2 or 3 state switch. + +// Threshold, if after this time the motor doesn't spin, abort! +// That can happen when the shredder or extrusion heavily jammed. Uncomment to activate this feature. +#define STARTING_MIN_TIME 1800 +// Threshold, time needed to have the motor on target speed but incl. some time to have shredded some material. +// This may depend also on the VFDs primary acceleration time. +#define STARTING_TIMEOUT 3000 + +// Threshold, if after that time the motor doesn't spin, abort ! +// That can happen when the shredder or extrusion heavily jammed. Uncomment to activate this feature. +#define REVERSE_MIN_TIME 1800 +// Threshold, time needed to have the motor on target speed but also rotated for some time. +#define REVERSING_TIMEOUT 3200 + +// When shredding, stop all after this time. Uncomment to activate. +// This will be only used when AUTO_REVERSE_MODE is not AR_MODE::EXTRUSION. +// That means of course that shredding will always stop after one hour. +// I considered this a safety feature and will be of importance when the operator is absent unexpectly. +// @TODO: in case there is a VFD speed sensor, or a hall sensor : augment mean deltas to determine 'activity' which +// will then extend the time. It may make sense to apply this feature also for extruding then. +#define MAX_SHRED_TIME MIN_MS +#define MAX_IDLE_TIME SECS * 20 + +#define MAX_REVERSE_TRIALS 5 // Max. trials to reverse before aborting (goes in FATAL state, unlock via 3pos switch = 0 or reset button) + +#define AUTO_REVERSE_DELAY 1000 // When instructing direction changes, put this as delay in between. This is needed with certain relays which may require a delay. + +// The pin to disable/enable auto-reverse - uncomment to activate +// This is for a 2 state toggle switch and is intented for using this on a shredder only. +// For extrusion & shredder combos, please use a 3 state switch instead ('HAS_AUTO_REVERSE_MODE') +// #define ENABLE_AUTO_REVERSE_PIN 10 +#define SHOW_REVERSE_STATUS // If defined and there are status lights, toggle the OK LED for indicating reversing +// #define HAS_AUTO_REVERSE_MODE // 3pos switch to switch between: auto-reverse, extruding and none +// #define AUTO_REVERSE_MODE_UP_PIN 9 +// #define AUTO_REVERSE_MODE_DOWN_PIN 8 + +// In some cases it makes sense to disable extrusion reverse entirely. Set this to false otherwise. +// This setting will be only used if AUTO_REVERSE_MODE is set to AR_MODE::EXTRUSION. +// In later versions this will be refined with the MachineFeatures flags. +#define ALLOW_EXTRUSION_REVERSE true + +#define HAS_AUTO_REVERSE + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// +// General switches + +// Reset button - uncomment to activate. This will unlock the fatal state in case of jamming or other problems. +//#define HAS_RESET +#define RESET_PIN 3 +#define RESET_DELAY 1000 // Time to wait when reset has been hit or hold. This is good to give the system some time +#define RESET_FATAL true // Makes the reset button act as emergency button. User has to go into stop positon first to unlock it again otherwise it keeps spinning after the RESET_DELAY +#define RESET_INTERVAL 300 // Interval to read the NC reset button +#define RESET_NC true // Toggles the reset button type between NC and NO + +// Operation Mode Switch + +#define OP_MODE_1_PIN CONTROLLINO_A0 +#define OP_MODE_ANALOG +// #define OP_MODE_2_PIN 39 +// #define OP_MODE_3_PIN 40 + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// +// Feedback + +// Status LEDS (ok, error) - uncomment to activate +//#define HAS_STATUS +#define STATUS_OK_PIN A3 // This goes into the relay +#define STATUS_ERROR_PIN A2 // This goes into the relay + + +// Alarm sound - uncomment to activate +// #define HAS_SOUND +// #define SOUND_PIN 4 + + +// Hopper - Sensors (For hopper with flip back joint and/or door) - uncomment to activate +// #define HOPPER_DOOR_PIN 11 // uncomment to activate - sets the input pin for the proximity sensor of the hopper door +// #define HOPPER_PIN 12 // uncomment to activate - sets the input pin for the proximity sensor of the hopper (if with flip joint) + +// Hopper - feed sensor +// uncomment to activate - sets the input pin for the PIR sensor - signaling that there is something to shred. +// This is under development and being used in v3.5 builds. This is being used to power up the shredding system +// when anything is tossed in the feeder. +// Not impl. ! +// #define HOPPER_FEED_SENSOR 13 + +#define FEED_READ_INTERVAL 1000 // Interval to read the feed sensor + +#define FIRMWARE_VERSION 0.5 + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Plastic Hub Studio - internals : used by external controller setups +// Make sure it's matching +#define FIRMATA_BAUD_RATE 19200 + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// Plastic Hub related sensors and addons + +// #define ENCLOSURE_SENSOR_PIN_1 13 +// #define ENCLOSURE_SENSOR_PIN_2 12 + +// #define CARTRIDGE_FULL_1 35 +// #define CARTRIDGE_FULL_1_INTERVAL 100 + +#define HOPPER_LOADED_0 CONTROLLINO_A3 +// #define HOPPER_LOADED_1 28 +#define HOPPER_LOADED_INTERVAL 50 + +// Addon which drives a plunger up & down +// uncomment to activate + +//////////////////////////////////////////////////////////////// +// Auto-plunge +#define HAS_PLUNGER + +#ifdef HAS_PLUNGER + // motors + + #define PLUNGER_MOTOR_1_DIR_PIN CONTROLLINO_R15 + #define PLUNGER_MOTOR_1_STEP_PIN CONTROLLINO_R14 + #define PLUNGER_MOTOR_2_STEP_PIN CONTROLLINO_R9 + + // limit switches + #define PLUNGER_LIMIT_UP_1 CONTROLLINO_A13 + // limit switches + #define PLUNGER_LIMIT_DOWN_1 CONTROLLINO_A12 + + // online and overload check (hall effect sensor) + #define PLUNGER_CURRENT_PIN CONTROLLINO_A16 +#endif + +//////////////////////////////////////////////////////////////// +// +// HMI Bridge +// +// uncomment to activate HMI uplink, this will process messages sent over serial +#define HAS_BRIDGE + +// select serial (currently the only supported protocol) +#define HAS_SERIAL +// uncomment to send states, only needed for HMI +#define BRIDGE_ONLINE_PIN CONTROLLINO_D17 + + +#ifdef HAS_BRIDGE + // #define HAS_STATES +#endif +#define HAS_STATES + +//////////////////////////////////////////////////////////////// +// +// Instrumentation +// +// #define MEARSURE_PERFORMANCE + + + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// +// externals +// + +// pull in internal constants +#include "constants.h" + +// pull in internal configs +#include "config_adv.h" + +// The user_config.h is initially added to the github repository but changes will be ignored via .gitignore. Please keep this file safe and possibly +// on a per tenant base stored. You can override parameters in this file by using #undef SOME_PARAMETER and then re-define again if needed, otherwise disable +// default features by using #undef FEATURE_OR_PARAMETER. +// This presents the possibilty to play with the code whilst staying in the loop with latest updates. +#include "user_config.h" + +// At last we check all configs and spit compiler errors +#include "config_validator.h" + +#endif diff --git a/shredder/asterix-pp/firmware/config/known_16bit_timers.h b/shredder/asterix-pp/firmware/config/known_16bit_timers.h new file mode 100644 index 0000000..bdae330 --- /dev/null +++ b/shredder/asterix-pp/firmware/config/known_16bit_timers.h @@ -0,0 +1,153 @@ +#ifndef known_16bit_timers_header_ +#define known_16bit_timers_header_ + +// Wiring-S +// +#if defined(__AVR_ATmega644P__) && defined(WIRING) + #define TIMER1_A_PIN 5 + #define TIMER1_B_PIN 4 + #define TIMER1_ICP_PIN 6 + +// Teensy 2.0 +// +#elif defined(__AVR_ATmega32U4__) && defined(CORE_TEENSY) + #define TIMER1_A_PIN 14 + #define TIMER1_B_PIN 15 + #define TIMER1_C_PIN 4 + #define TIMER1_ICP_PIN 22 + #define TIMER1_CLK_PIN 11 + #define TIMER3_A_PIN 9 + #define TIMER3_ICP_PIN 10 + +// Teensy++ 2.0 +#elif defined(__AVR_AT90USB1286__) && defined(CORE_TEENSY) + #define TIMER1_A_PIN 25 + #define TIMER1_B_PIN 26 + #define TIMER1_C_PIN 27 + #define TIMER1_ICP_PIN 4 + #define TIMER1_CLK_PIN 6 + #define TIMER3_A_PIN 16 + #define TIMER3_B_PIN 15 + #define TIMER3_C_PIN 14 + #define TIMER3_ICP_PIN 17 + #define TIMER3_CLK_PIN 13 + +// Teensy 3.0 +// +#elif defined(__MK20DX128__) + #define TIMER1_A_PIN 3 + #define TIMER1_B_PIN 4 + #define TIMER1_ICP_PIN 4 + +// Teensy 3.1 / Teensy 3.2 +// +#elif defined(__MK20DX256__) + #define TIMER1_A_PIN 3 + #define TIMER1_B_PIN 4 + #define TIMER1_ICP_PIN 4 + #define TIMER3_A_PIN 32 + #define TIMER3_B_PIN 25 + #define TIMER3_ICP_PIN 32 + +// Teensy 3.5 / Teensy 3.6 +// +#elif defined(__MK64FX512__) || defined(__MK66FX1M0__) + #define TIMER1_A_PIN 3 + #define TIMER1_B_PIN 4 + #define TIMER1_ICP_PIN 4 + #define TIMER3_A_PIN 29 + #define TIMER3_B_PIN 30 + #define TIMER3_ICP_PIN 29 + +// Teensy-LC +// +#elif defined(__MKL26Z64__) + #define TIMER1_A_PIN 16 + #define TIMER1_B_PIN 17 + #define TIMER1_ICP_PIN 17 + #define TIMER3_A_PIN 3 + #define TIMER3_B_PIN 4 + #define TIMER3_ICP_PIN 4 + +// Arduino Mega +// +#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) + #define TIMER1_A_PIN 11 + #define TIMER1_B_PIN 12 + #define TIMER1_C_PIN 13 + #define TIMER3_A_PIN 5 + #define TIMER3_B_PIN 2 + #define TIMER3_C_PIN 3 + #define TIMER4_A_PIN 6 + #define TIMER4_B_PIN 7 + #define TIMER4_C_PIN 8 + #define TIMER4_ICP_PIN 49 + #define TIMER5_A_PIN 46 + #define TIMER5_B_PIN 45 + #define TIMER5_C_PIN 44 + #define TIMER3_ICP_PIN 48 + #define TIMER3_CLK_PIN 47 + +// Arduino Leonardo, Yun, etc +// +#elif defined(__AVR_ATmega32U4__) + #define TIMER1_A_PIN 9 + #define TIMER1_B_PIN 10 + #define TIMER1_C_PIN 11 + #define TIMER1_ICP_PIN 4 + #define TIMER1_CLK_PIN 12 + #define TIMER3_A_PIN 5 + #define TIMER3_ICP_PIN 13 + +// Uno, Duemilanove, LilyPad, etc +// +#elif defined (__AVR_ATmega168__) || defined (__AVR_ATmega328P__) + #define TIMER1_A_PIN 9 + #define TIMER1_B_PIN 10 + #define TIMER1_ICP_PIN 8 + #define TIMER1_CLK_PIN 5 + +// Sanguino +// +#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) + #define TIMER1_A_PIN 13 + #define TIMER1_B_PIN 12 + #define TIMER1_ICP_PIN 14 + #define TIMER1_CLK_PIN 1 + +// Wildfire - Wicked Devices +// +#elif defined(__AVR_ATmega1284P__) && defined(WILDFIRE_VERSION) && WILDFIRE_VERSION >= 3 + #define TIMER1_A_PIN 5 // PD5 + #define TIMER1_B_PIN 8 // PD4 + #define TIMER1_ICP_PIN 6 // PD6 + #define TIMER1_CLK_PIN 23 // PB1 + #define TIMER3_A_PIN 12 // PB6 + #define TIMER3_B_PIN 13 // PB7 + #define TIMER3_ICP_PIN 9 // PB5 + #define TIMER3_CLK_PIN 0 // PD0 +#elif defined(__AVR_ATmega1284P__) && defined(WILDFIRE_VERSION) && WILDFIRE_VERSION < 3 + #define TIMER1_A_PIN 5 // PD5 + #define TIMER1_B_PIN 4 // PD4 + #define TIMER1_ICP_PIN 6 // PD6 + #define TIMER1_CLK_PIN 15 // PB1 + #define TIMER3_A_PIN 12 // PB6 + #define TIMER3_B_PIN 13 // PB7 + #define TIMER3_ICP_PIN 11 // PB5 + #define TIMER3_CLK_PIN 0 // PD0 + +// Mighty-1284 - Maniacbug +// +#elif defined(__AVR_ATmega1284P__) + #define TIMER1_A_PIN 12 // PD5 + #define TIMER1_B_PIN 13 // PD4 + #define TIMER1_ICP_PIN 14 // PD6 + #define TIMER1_CLK_PIN 1 // PB1 + #define TIMER3_A_PIN 6 // PB6 + #define TIMER3_B_PIN 7 // PB7 + #define TIMER3_ICP_PIN 5 // PB5 + #define TIMER3_CLK_PIN 8 // PD0 + +#endif + +#endif diff --git a/shredder/asterix-pp/firmware/config_adv.h b/shredder/asterix-pp/firmware/config_adv.h new file mode 100644 index 0000000..74e7b80 --- /dev/null +++ b/shredder/asterix-pp/firmware/config_adv.h @@ -0,0 +1,537 @@ +#ifndef CONFIG_ADV_H +#define CONFIG_ADV_H + +#ifdef HAS_DIP + +#ifdef USE_MEGA +#define DIP_START 30 +#else +#ifdef USE_UNO +#error "No Dip support for now" +#endif +#endif // HAS_DIP + +#endif + +// enable bridge debugging +//#define BRIDGE_DEBUG + +//////////////////////////////////////////////////////////////////////////////// +// +// Auto reverse time settings + +// the time used to reverse after jamming +#define AR_REVERSE_TIME 2000 + +// after reversing came to stop, this is the delay +// before it's forwarding +#define AR_FORWARD_WAIT_TIME 1000 + +// after the delay AR_FORWARD_WAIT_TIME, we set the VFD to forward +// by this time, motor / VFD specifc +#define AR_FORWARDING_TIME 1500 + +//////////////////////////////////////////////////////////////////////////////// +// +// Power settings + +// optional current sensor to validate primary power is there +// #define POWER_CSENSOR_PRIMARY CONTROLLINO_A15 + +// optional current sensor to validate primary power is there +#define POWER_CSENSOR_SECONDARY CONTROLLINO_A14 + +//////////////////////////////////////////////////////////////////////////////// +// +// Shredding cycle timings +// this times are mainly delays to switch between +// different cycle states: +// +// enum SHRED_STATE +// { +// WAITING = 0, +// INIT = 1, --> cycle start +// POWERED = 2, +// STARTED = 3, +// HOMED = 4, +// PLUNGED = 5, +// SHREDDED = 6, +// UNPOWERED = 7, +// DONE = 8, --> cycle end +// CANCELLING = 10, +// JAMMED = 11, --> auto reverse begin +// REVERSING = 12, +// REVERSED = 13, +// STOPPING = 14, +// FORWARDING = 15, +// CANCELLED = 16 +// }; + +// the time to wait before checking the power status +// if you experiencing weird behavior, please increase this +// time, there can be spikes when powering and unpowering the VFD +#define SWT_INIT 1000 + +// after the VFD powered up, wait this time to proceed with shredding +// or start the homing procedure if there is a plunger present +#define SWT_POWERED 2500 + +// the time interval to use for checking whether the plunger is homed +#define SWT_HOMING 2500 + +// the time interval to use for checking whether the plunger is homed +#define SWT_HOMING 2500 + +// after everything is ready, eg: +// 1. powered +// 2. homed (optinal, plunger present) +// 3. vfd is set to forward +// this is the time to wait before we activate the plunger +#define SWT_STARTED 500 + +// the interval used to check the 'PLUNGED' state (fixed or limit switches) +#define SWT_PLUNGED 2500 + +// as soon it's plunged - if plunger present - this is the time to wait +// before it's stops the VFD. this time depends on the plunger distance to +// the shredder blades. in some cases it's good to leave it spinning by exactly +// this time +#define SWT_UNPOWERED 2000 + +// the interval to use to checking the HOMED state of the plunger after +// it stopped the shredder; when it reaches the 'homed' state, the shredding cycle +// is complete +#define SWT_SHREDDED 3000 + +#define SWT_SHREDDED_POWER_OFF 10000 + +//////////////////////////////////////////////////////////////////////////////// +// +// Plunger settings and timings +// +// Times are base on observations rather than calculations. Calculating it +// will affect plunger speed drasitcally even more lower spec boards. + +// interval before reading the limit switch +// this setting will affect your plunging speed since analogRead will +// consume some time and we do have only one thread. +#define LIMIT_SWITCH_INTERVAL 100 + +// base speed and use as factor to scale settings to your hardware +#define PLUNGER_BASE_SPEED 1000 + +// manual move speed +#define PLUNGER_MOVE_SPEED PLUNGER_BASE_SPEED * 3000 + +// homing speed +#define PLUNGER_HOMING_SPEED PLUNGER_BASE_SPEED * 200 + +// retract speed +#define PLUNGER_RETRACT_SPEED PLUNGER_BASE_SPEED * 200 + +// plunge speed +#define PLUNGER_PLUNGE_SPEED PLUNGER_BASE_SPEED * 1600 + +// plunge/homing travel +#define PLUNGE_PLUNG_DISTANCE 145000 + +// inverted travel +#define PLUNGE_HOME_DISTANCE -PLUNGE_PLUNG_DISTANCE + +// retract travel +#define PLUNGER_RETRACE_DISTANCE 1500 + +// in case limit switch broke +#define PLUNGE_MAX_MOVE_TIME SECS * 12 + +/// Optional : current monitor for the plunger stepper motor + +// the current when the drives have no power +#define PLUNGER_STEPPER_OFFLINE_1 163 +// the current when the drives have power +#define PLUNGER_STEPPER_ONLINE_1 166 + +///////////////////////////////////////////////////////////// +// +// Motor load settings, this requires a current sensor or can be +// taken from the VFD's output. + +// the interval to read the current +#define MOTOR_LOAD_READ_INTERVAL 100 + +// the current measured when the motor runs idle, min - max range +#define MOTOR_IDLE_LOAD_RANGE_MIN 30 +#define MOTOR_IDLE_LOAD_RANGE_MAX 50 + +// the current measured when the motor is under load, min - max range +#define MOTOR_SHREDDING_LOAD_RANGE_MIN 60 +#define MOTOR_SHREDDING_LOAD_RANGE_MAX 300 + +// the current measured when the motor is overloaded, min - max range +#define MOTOR_OVERLOAD_RANGE_MIN 160 +#define MOTOR_OVERLOAD_RANGE_MAX 400 + +#define MOTOR_MIN_DT 2500 + +///////////////////////////////////////////////////////////// +// +// Bridge related +#define STATE_RESPONSE_CODE 1000 +// #define BRIDGE_HAS_RESPONSE +///////////////////////////////////////////////////////////// +// +// Error codes +// +#define E_MSG_OK "Ok" +#define E_MSG_STUCK "Shredder is stuck" + +// common operating failures +#define E_OK 0 //all good +#define E_STUCK 100 //Shredder stuck + +// power failures + +#define E_POWER_PRIM_ON 145 // Power is on whilst it shouldn't be +#define E_POWER_PRIM_OFF 146 // Power is off whilst it should be + +#define E_POWER_SEC_ON 147 // Power is on whilst it shouldn't be +#define E_POWER_SEC_OFF 148 // Power is off whilst it should be +#define E_POWER 150 // Nothing is online + +#define E_VFD_OFFLINE E_POWER_PRIM_OFF // VFD should be online +#define E_PLUNGER_OFFLINE E_POWER_SEC_OFF // Plunger should be online + +// sensor failures +#define E_VFD_CURRENT 200 // VFD current abnormal: below or above average +#define E_PLUNGER_CURRENT 210 // Plunger current abnormal: below or above average +#define E_OPERATING_SWITCH 220 // Operating switch invalid value + +#define E_PLUNGER_LIMIT 230 // Something is wrong with the limit switches, should +#define E_PLUNGER_OVERLOAD 235 // Stepper above average + +#define E_CARTRIDGE_OPEN 240 // Cartridge open sensor doesn't work +#define E_SERVICE_OPEN 241 // Sensor open sensor doesn't work + +//////////////////////////// +// +// sub system failures +// +#define E_USER_START 1000 // base offset for sub system errors + +// vfd +#define E_VFD_RUN 300 // Motor should spin but doesnt +#define E_VFD_LOSS 301 // Motor should not spin but does +#define E_VFD_CUSTOM(A) E_USER_START + A // Custom VFD error + +// plunger +#define E_PLUNGER_RUN 400 310 // Plungers runs with weird limit/homing switch activity + +// motor +#define E_MOTOR_DT_IDLE 320 // Motor runs idle longer as defined +#define E_MOTOR_DT_OVERLOAD 321 // Motor runs overloaded longer as defined + +#define E_BRIDGE_LOSS 400 // bridge poll timeout + +// bridge +#define E_BRIDGE_START 2000 // base offset for custom bridge errors +#define E_BRIDGE_CUSTOM(A) E_USER_START + A // Custom bridge error +#define E_BRIDGE_PARITY E_BRIDGE_CUSTOM(1) // @todo, parity check failure +#define E_BRIDGE_CRC E_BRIDGE_CUSTOM(2) // @todo, crc failure +#define E_BRIDGE_FLOOD E_BRIDGE_CUSTOM(3) // @todo, msg queue + +// extrusion +#define E_EX_BASE 3000 // base offset extruder +#define E_EX_CUSTOM(A) E_EX_BASE + A // Custom bridge error + +#ifdef CONTROLLINO_MEGA_H + +#define CONTROLLINO_ETHERNET_CHIP_SELECT 70 +#define CONTROLLINO_ETHERNET_INTERRUPT 71 +#define CONTROLLINO_RTC_CHIP_SELECT 72 +#define CONTROLLINO_RTC_INTERRUPT 73 +#define CONTROLLINO_OVERLOAD 74 +#define CONTROLLINO_RS485_DE 75 +#define CONTROLLINO_RS485_nRE 76 + +#define CONTROLLINO_PIN_HEADER_PWM_00 2 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_00 2 +#define CONTROLLINO_SCREW_TERMINAL_PWM_00 2 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_00 2 + +#define CONTROLLINO_PIN_HEADER_PWM_01 3 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_01 3 +#define CONTROLLINO_SCREW_TERMINAL_PWM_01 3 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_01 3 + +#define CONTROLLINO_PIN_HEADER_PWM_02 4 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_02 4 +#define CONTROLLINO_SCREW_TERMINAL_PWM_02 4 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_02 4 + +#define CONTROLLINO_PIN_HEADER_PWM_03 5 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_03 5 +#define CONTROLLINO_SCREW_TERMINAL_PWM_03 5 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_03 5 + +#define CONTROLLINO_PIN_HEADER_PWM_04 6 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_04 6 +#define CONTROLLINO_SCREW_TERMINAL_PWM_04 6 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_04 6 + +#define CONTROLLINO_PIN_HEADER_PWM_05 7 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_05 7 +#define CONTROLLINO_SCREW_TERMINAL_PWM_05 7 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_05 7 + +#define CONTROLLINO_PIN_HEADER_PWM_06 8 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_06 8 +#define CONTROLLINO_SCREW_TERMINAL_PWM_06 8 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_06 8 + +#define CONTROLLINO_PIN_HEADER_PWM_07 9 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_07 9 +#define CONTROLLINO_SCREW_TERMINAL_PWM_07 9 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_07 9 + +#define CONTROLLINO_PIN_HEADER_PWM_08 10 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_08 10 +#define CONTROLLINO_SCREW_TERMINAL_PWM_08 10 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_08 10 + +#define CONTROLLINO_PIN_HEADER_PWM_09 11 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_09 11 +#define CONTROLLINO_SCREW_TERMINAL_PWM_09 11 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_09 11 + +#define CONTROLLINO_PIN_HEADER_PWM_10 12 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_10 12 +#define CONTROLLINO_SCREW_TERMINAL_PWM_10 12 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_10 12 + +#define CONTROLLINO_PIN_HEADER_PWM_11 13 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_11 13 +#define CONTROLLINO_SCREW_TERMINAL_PWM_11 13 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_OUT_11 13 + +#define CONTROLLINO_RS485_TX 14 + +#define CONTROLLINO_RS485_RX 15 + +#define CONTROLLINO_UART_TX 16 + +#define CONTROLLINO_UART_RX 17 + +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_16 18 +#define CONTROLLINO_PIN_HEADER_INT_00 18 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_16 18 +#define CONTROLLINO_SCREW_TERMINAL_INT_00 18 + +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_17 19 +#define CONTROLLINO_PIN_HEADER_INT_01 19 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_17 19 +#define CONTROLLINO_SCREW_TERMINAL_INT_01 19 + +#define CONTROLLINO_PIN_HEADER_SDA 20 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_25 20 + +#define CONTROLLINO_PIN_HEADER_SCL 21 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_24 21 + +#define CONTROLLINO_RELAY_00 22 + +#define CONTROLLINO_RELAY_01 23 + +#define CONTROLLINO_RELAY_02 24 + +#define CONTROLLINO_RELAY_03 25 + +#define CONTROLLINO_RELAY_04 26 + +#define CONTROLLINO_RELAY_05 27 + +#define CONTROLLINO_RELAY_06 28 + +#define CONTROLLINO_RELAY_07 29 + +#define CONTROLLINO_RELAY_08 30 + +#define CONTROLLINO_RELAY_09 31 + +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_12 42 + +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_13 43 + +#define CONTROLLINO_PIN_HEADER_PWM_12 44 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_14 44 + +#define CONTROLLINO_PIN_HEADER_PWM_13 45 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_15 45 + +#define CONTROLLINO_PIN_HEADER_MISO 50 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_29 50 + +#define CONTROLLINO_PIN_HEADER_MOSI 51 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_28 51 + +#define CONTROLLINO_PIN_HEADER_SCK 52 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_27 52 + +#define CONTROLLINO_PIN_HEADER_SS 53 +#define CONTROLLINO_PIN_HEADER_DIGITAL_OUT_26 53 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_00 54 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_00 54 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_00 54 +#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_00 54 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_00 54 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_00 54 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_01 55 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_01 55 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_01 55 +#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_01 55 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_01 55 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_01 55 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_02 56 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_02 56 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_02 56 +#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_02 56 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_02 56 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_02 56 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_03 57 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_03 57 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_03 57 +#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_03 57 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_03 57 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_03 57 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_04 58 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_04 58 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_04 58 +#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_04 58 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_04 58 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_04 58 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_05 59 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_05 59 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_05 59 +#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_05 59 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_05 59 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_05 59 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_06 60 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_06 60 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_06 60 +#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_06 60 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_06 60 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_06 60 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_07 61 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_07 61 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_07 61 +#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_07 61 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_07 61 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_07 61 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_08 62 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_08 62 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_08 62 +#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_08 62 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_08 62 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_08 62 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_09 63 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_09 63 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_ADC_IN_09 63 +#define CONTROLLINO_SCREW_TERMINAL_ANALOG_ADC_IN_09 63 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_09 63 +#define CONTROLLINO_SCREW_TERMINAL_DIGITAL_IN_09 63 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_10 64 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_10 64 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_10 64 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_11 65 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_11 65 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_11 65 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_12 66 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_12 66 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_12 66 + +#define CONTROLLINO_PIN_HEADER_ANALOG_ADC_IN_13 67 +#define CONTROLLINO_PIN_HEADER_DIGITAL_ADC_IN_13 67 +#define CONTROLLINO_PIN_HEADER_DIGITAL_IN_13 67 + +#define CONTROLLINO_D0 2 +#define CONTROLLINO_D1 3 +#define CONTROLLINO_D2 4 +#define CONTROLLINO_D3 5 +#define CONTROLLINO_D4 6 +#define CONTROLLINO_D5 7 +#define CONTROLLINO_D6 8 +#define CONTROLLINO_D7 9 +#define CONTROLLINO_D8 10 +#define CONTROLLINO_D9 11 +#define CONTROLLINO_D10 12 +#define CONTROLLINO_D11 13 +#define CONTROLLINO_D12 42 +#define CONTROLLINO_D13 43 +#define CONTROLLINO_D14 44 +#define CONTROLLINO_D15 45 +#define CONTROLLINO_D16 46 +#define CONTROLLINO_D17 47 +#define CONTROLLINO_D18 48 +#define CONTROLLINO_D19 49 +#define CONTROLLINO_D20 77 +#define CONTROLLINO_D21 78 +#define CONTROLLINO_D22 79 +#define CONTROLLINO_D23 80 + +#define CONTROLLINO_A0 54 +#define CONTROLLINO_A1 55 +#define CONTROLLINO_A2 56 +#define CONTROLLINO_A3 57 +#define CONTROLLINO_A4 58 +#define CONTROLLINO_A5 59 +#define CONTROLLINO_A6 60 +#define CONTROLLINO_A7 61 +#define CONTROLLINO_A8 62 +#define CONTROLLINO_A9 63 +#define CONTROLLINO_A10 64 +#define CONTROLLINO_A11 65 +#define CONTROLLINO_A12 66 +#define CONTROLLINO_A13 67 +#define CONTROLLINO_A14 68 +#define CONTROLLINO_A15 69 +#define CONTROLLINO_I16 38 +#define CONTROLLINO_I17 39 +#define CONTROLLINO_I18 40 +#define CONTROLLINO_IN0 18 +#define CONTROLLINO_IN1 19 + +#define CONTROLLINO_MINUS 14 +#define CONTROLLINO_PLUS 15 + +#define CONTROLLINO_R0 22 +#define CONTROLLINO_R1 23 +#define CONTROLLINO_R2 24 +#define CONTROLLINO_R3 25 +#define CONTROLLINO_R4 26 +#define CONTROLLINO_R5 27 +#define CONTROLLINO_R6 28 +#define CONTROLLINO_R7 29 +#define CONTROLLINO_R8 30 +#define CONTROLLINO_R9 31 +#define CONTROLLINO_R10 32 +#define CONTROLLINO_R11 33 +#define CONTROLLINO_R12 34 +#define CONTROLLINO_R13 35 +#define CONTROLLINO_R14 36 +#define CONTROLLINO_R15 37 + +#endif + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/config_validator.h b/shredder/asterix-pp/firmware/config_validator.h new file mode 100644 index 0000000..3382f9e --- /dev/null +++ b/shredder/asterix-pp/firmware/config_validator.h @@ -0,0 +1,21 @@ +#ifndef CONFIG_VALIDATOR +#define CONFIG_VALIDATOR + +#include "common/macros.h" + +#if defined(ENABLE_AUTO_REVERSE_PIN) && defined(HAS_AUTO_REVERSE_MODE) + #error "You can not have auto-revese toggle and a 3 pos mode switch" +#endif + +#if DEBUG == true && USE_FIRMATA && DEBUG_BAUD_RATE !=FIRMATA_BAUD_RATE + #error "Debug baud rate must match firmata baud rate" +#endif + + +#if defined(USE_UNO) && defined(IR_SPEED) + #if IR_PIN !=2 && IR_PIN !=3 + #error "For speed computation on the UNO, you need to use pins D2 or D3!" + #endif +#endif + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/constants.h b/shredder/asterix-pp/firmware/constants.h new file mode 100644 index 0000000..9f720d0 --- /dev/null +++ b/shredder/asterix-pp/firmware/constants.h @@ -0,0 +1,127 @@ +#ifndef CONSTANTS_H +#define CONSTANTS_H + +#include "enums.h" + +///////////////////////////////////////////////////////////////////////// +// +// Primary - Motor related (shredder, extrusion, grinder) + +#define MOTOR_FREQ_NORMAL 50 // set this to 60 Hz if needed +#define MOTOR_RPM 1480 // the actual motor speed +#define MOTOR_REDUCTION 0.03 // ie: 0.03 means 1:30 + +// Thresholds + +// the maximum override in %, eg: 0.5 = 50% and it's not recommeded to run +// the motor below 50% of it's designed operating frequency - it's getting hot +#define MOTOR_LOW_FREQ_LIMIT 0.50 +// the maximum override in %, eg: 0.5 = 50% and it's not recommeded to run +// the motor above 50% of it's designed operating frequency +#define MOTOR_HIGH_FREQ_LIMIT 0.50 + +// - PRE-CALCS +#define MOTOR_FREQ_CMIN MOTOR_FREQ_NORMAL - (MOTOR_FREQ_NORMAL * MOTOR_LOW_FREQ_LIMIT) +#define MOTOR_FREQ_CMAX MOTOR_FREQ_NORMAL + (MOTOR_FREQ_NORMAL * MOTOR_HIGH_FREQ_LIMIT) + +///////////////////////////////////////////////////////////////////////// +// +// Shredder related + +// default shredding speed, when chaning machine mode, it will snap to this +// value - if quick speed dial is available or other reasons (eg: remote) +// those values are currently based on v3 observations +#define RPM_SHREDDERING_DEFAULT 60 + +// min. shredding speed - when in shredder only mode, it won't go below +#define RPM_SHREDDERING_MIN 30 + +// max. shredding speed - when in shredder only mode, it won't go above +#define RPM_SHREDDERING_MAX 130 + +///////////////////////////////////////////////////////////////////////// +// +// Grinder related - Standalone/Combo + +// default grinding speed, when chaning machine mode, it will snap to this +// value - if quick speed dial is available or other reasons (eg: remote) +// those values are currently for a 28 mm hexbar +#define RPM_GRINDING_DEFAULT 440 + +// min. grinding speed - when in grinder only mode, it won't go below +#define RPM_GRINDING_MIN 400 + +// max. grinding speed - when in grinder only mode, it won't go above +#define RPM_GRINDING_MAX 500 + +// user - land scaler (ie: radius) +#define RPM_GRINDER_SCALE 1 + +// transmission ratio from motor to grinder +// ie: 0.03 means 1:30 +#define RPM_GRINDER_SHREDDER_SCALE 1 + +///////////////////////////////////////////////////////////////////////// +// +// Extrusion related - Standalone + +// default extrusion speed, when chaning machine mode, it will snap to this +// value - if quick speed dial is available or other reasons (eg: remote) +#define RPM_EXTRUSION_DEFAULT 50 + +// min. extrusion speed - when in extrusion only mode, it won't go below +#define RPM_EXTRUSION_MIN 25 + +// max. extrusion speed - when in extrusion only mode, it won't go above +#define RPM_EXTRUSION_MAX 150 + +// user - land scaler +#define RPM_EXTRUSION_SCALE 1 + +///////////////////////////////////////////////////////////////////////// +// +// VFD - Standalone + +// Speed in (VSI) +#define VFD_VSI_MIN_V_SPEED 0 // +#define VFD_VSI_MAX_V_SPEED 5 // most VFDs take speed regulation from 0 - 10 +#define VFD_VSI_SCALE 1.0 // For noise, ie: voltage loss + +#define VFD_QSPEED_1 1 // VFD quick speed dial profile 1 +#define VFD_QSPEED_2 2 // VFD quick speed dial profile 2 +#define VFD_QSPEED_3 3 // VFD quick speed dial profile 3 +#define VFD_QSPEED_4 4 // VFD quick speed dial profile 4 +#define VFD_QSPEED_5 5 // VFD quick speed dial profile 5 +#define VFD_QSPEED_6 6 // VFD quick speed dial profile 5 + +#define ADDON_MOTOR_IDLE "MotorIdle" + +///////////////////////////////////////////////////////////////////////// +// +// Plastic type related scaling +// @TODO : RPM scaling per plastic type + +#define RPM_GRINDING_PET 440 + +///////////////////////////////////////////////////////////////////////// +// +// Addons +// + +#define HOPPER_LOADED_STR "HopperLoaded" +#define MOTOR_IDLE_STR "MotorIdle" +#define VFD_STR "VDF" +#define DIRECTION_SWITCH_STR "DirectionSwitch" +#define MOTOR_LOAD_STR "MotorLoad" +#define ENCLOSURE_SENSOR_STR "EnclosureSensor" +#define MOTOR_TEMPERATURE_STR "MotorTemperature" +#define POWER_STR "Power" +#define PLUNGER_STR "Plunger" +#define CARTRDIGE_FULL_STR "CartridgeFull" +#define MOTOR_IR_SPEED_STR "MotorIRSpeed" +#define AUTO_REVERSE_STR "AutoReverse" +#define OPERATION_MODE_SWITCH_STR "OperationModeSwitch" +#define APP_STR "App" +#define RMOTOR_CONTROL_STR "RMotorControl" + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/docs/Constant.h__ b/shredder/asterix-pp/firmware/docs/Constant.h__ new file mode 100644 index 0000000..45bdab8 --- /dev/null +++ b/shredder/asterix-pp/firmware/docs/Constant.h__ @@ -0,0 +1,1329 @@ +// ------------------------------------------------ -------------------------------- +// Project constants that describe the specifics of the CONFIGURATION TN +// ------------------------------------------------ -------------------------------- +#ifndef Constant_h +#define Constant_h +#include " Config.h " // Catch the configuration right away +#include " Util.h " + +// OPTIONS FOR COMPILING THE PROJECT --------------------------------------------- ---------- +#define VERSION " 1.070 " // Firmware version +#define VER_SAVE 141 // Version of the format of the stored data in I2C memory +#ifndef UART_SPEED +#define UART_SPEED 115200 // Debug port speed +#endif +#ifdef DEBUG_NATIVE_USB // Where to output debugging +#define SerialDbg SerialUSB +#else +#define SerialDbg Serial +#endif +// #define LOG // Sends a web server log to the serial port (requests are logged) +#define FAST_LIB // use the dopped ezernet library Usually used +#define TIME_ZONE 3 // DEFAULT time zone correction +#define NTP_SERVER " time.nist.gov " // NTP server for synchronizing time by DEFAULT (preparing to disable the bourgeois Internet - "ntp2.stratum2.ru") +#define NTP_SERVER_LEN 60 // maximum length of the NTP server address +#define NTP_PORT 123 +#define NTP_LOCAL_PORT 8888 // local port that will be listened for UDP packets of the NTP server +#define NTP_REPEAT 3 // Number of attempts of NTP server requests +#define NTP_REPEAT_TIME 1000 // (ms) Time between retries of ntp packets +#define PING_SERVER " 192.168.0.1 " // ping server by DEFAULT +#define WDT_TIME 10 // Watchdog period of the second timer but no more than 16 seconds !!! IF set to 0 then Watchdog will be disabled !!! +#ifndef INDEX_FILE +#define INDEX_FILE " index.html " // default start file for a large face +#endif +#define INDEX_MOB_FILE INDEX_FILE // default start file for the mobile face +#define MOB_PATH " / mob / " // Path to the mobile face +#define HEADER_BIN " HP-SAVE-DATA " // The title (beginning) of the file when saving the settings. Required to search for data in the data buffer when recovering from a file +#define MAX_LEN_PM 250 // maximum length of a string parameter in a request (boiler schedule 175 bytes) profile description encoding 40 letters one letter 6 bytes (double encoding) +#ifndef CHART_POINT // You can define your own special chart size in your config +#define CHART_POINT 300 // Maximum number of graph points, one dot is 2 bytes * number of graphs // 300 - works +#endif +#ifndef ADC_PRESCAL +#define ADC_PRESCAL 2 // ADCClock = MCK / ((PRESCAL + 1) * 2) +#endif + +// NETWORK SETTINGS ---------------------------------------------- ---------------- +// By default and in demo mode (valid there and there) +// In operating mode, the settings are taken from EEPROM, if it was not possible to read, then the default settings apply +byte defaultMAC[] = {0xDE, 0xA1, 0x1E, 0x01, 0x02, 0x03}; // do not change +const uint16_t defaultPort = 80; + +// Byte bit macros, used for flags +#define GETBIT (b, f)((b & (1 << (f))) ? true : false) // get the bit status +#define SETBIT1 (b, f)(b | = (1 << (f))) // set the bit to 1 +#define SETBIT0 (b, f)(b & = ~(1 << (f))) // set the bit to 0 + +// ------------------- SPI ---------------------------- ------ +// memory card +#define SD_REPEAT 3 // Number of attempts to read the card, open files, if it fails, switch to work without a card + +// W5200 chip (more precisely, any chip used) +#ifndef W5200_THREAD +#define W5200_THREAD 3 // The number of threads for the w5200 network chip is valid for 1-4 threads, most likely 4 is not enough space in the RAM +#endif +#define W5200_NUM_PING 4 // The number of ping attempts before determining the loss of communication +#define W5200_TIME_PING 1000 // ms Time between ping attempts (if not luck) +#define W5200_MAX_LEN 2048 // = W5100.SSIZE // Maximum buffer length, determined by W5200 no more than 2048 bytes +#define W5200_NUM_LINK 2 // The number of attempts to reset the w5500 chip and check for a connection (cable stuck) is used to initialize the chip +#define W5200_TIME_LINK 4000 // Maximum time to wait for a connection to be established (raising Link) a plugged in cable is used to initialize the chip (ms) +#define W5200_TIME_WAIT 3000 // Mutex capture timeout (thread switching) ms +// #define W5200_STACK_SIZE 230 renamed and moved to config // Stack size (words !!! - 4 bytes) before trimming stacks was 340 - works +#define W5200_SPI_SPEED SPI_RATE // THIS DIVIDER (SPI_RATE is defined in w5100.h) !!! SPI frequency w5200 = 84 / W5200_SPI_SPEED i.e. 2-42MHz 3-28MHz 4-21MHz 6-14MHz Range 2-6 +#define W5200_SOCK_SYS (MAX_SOCK_NUM - 1) // The system socket number that is not used in the web server, this is the last socket, DO NOT CHANGE +#define W5200_RTR (2 * 0x07D0) // timeout time in 100 μs intervals (default 200ms (100us X 2000 (0x07D0))) is relevant for the commands CONNECT, DISCON, CLOSE, SEND, SEND_MAC, SEND_KEEP +#define W5200_RCR (0x04) // number of retransmissions (default 0x08 times)) +#define MAIN_WEB_TASK 0 // which stream of the web server is the main one (the stream in which MQTT and notifications are sent), usually 0 + +// ------------------- SERIAL ---------------------------- ---- +// Nextion display +// #define NEXTION_DEBUG // Display information in the debug port from the display +#define NEXTION_PORT Serial1 // Hardware port where the display is attached +#define NEXTION_PORT_SPEED 9600 // Port speed, baud +#define NEXTION_UPDATE 5000 // Time for updating information on the Nextion display (ms) +#define NEXTION_BOOT_TIME 300 // Time to load the display, if the display is not found during reset, increase (ms) +#define NEXTION_READ 50 // Nextion display polling time (ms) parsing the input queue + +// Configure Modbus for inverter and SDM counter +#ifndef MODBUS_PORT_NUM +#define MODBUS_PORT_NUM Serial2 // Hardware port where Modbus is attached +#define MODBUS_PORT_SPEED 9600 // Port speed where the frequency counter and counter are attached +#define MODBUS_PORT_CONFIG SERIAL_8N1 // Port configuration where the frequency counter and counter are attached +#define MODBUS_TIME_WAIT 2000 // Mutex capture timeout for modbus ms +#ifndef MODBUS_TIME_TRANSMISION +#define MODBUS_TIME_TRANSMISION 4 // The pause (msec) between the request and the response for modbass was 4 +#endif +#endif +// #define MODBUS_FREERTOS // Set the lib to multitask must be defined in the lib. +#if RADIO_SENSORS_PORT == 2 +#define RADIO_SENSORS_SERIAL Serial2 // Hardware port +#elif RADIO_SENSORS_PORT == 3 +#define RADIO_SENSORS_SERIAL Serial3 // Hardware port +#endif +#define RADIO_LOST_TIMEOUT 30 * 60 * 1000 // after how many to assume that the connection is lost with the sensor, ms + +// Global parameters of the inverter inverter on modbas depend on the compressor !!!!!!!!! +#define FC_MODBUS_ADR 1 // Address of the frequency converter on the bus must not match SMD_MODBUS_ADR +#define FC_TIME_READ (8 * 1000) // Inverter polling time in Moscow time (it was 6) +#define FC_NUM_READ 4 // The number of attempts to read the inverter (in a row) by modbass before it stopped the VT in error +#define FC_DELAY_REPEAT 40 // ms The time between REPEAT read attempts was 100 +#define FC_DELAY_READ 5 // ms The time between consecutive requests was 20 +#define FC_WRITE_READ 10 // ms Time between sequential recording + +// Global counter variables SDM120 on modbas +// communication settings with the counter by default (out of the box, see instructions) is required for programming it to work +#define DEFAULT_SDM_SPEED 2400 // Baud rate for default counter +#define DEFAULT_SDM_MODBUS_ADR 1 // The address of the counter on the bus must not coincide with FC_MODBUS_ADR when programming the inverter OFF (address 1) +// Required communication settings (after programming) +#define SDM_SPEED 2 // counter speed in constants 0 = 2400 bps. 1 = 4800 bps. 2 = 9600 bps 5 = 1200 bps Baud rates must match, see MODBUS_PORT_SPEED +#define SDM_MODBUS_ADR 2 // The counter address on the bus must not match FC_MODBUS_ADR +#ifndef SDM_READ_PERIOD +#define SDM_READ_PERIOD (10 * 1000) // Counter polling time in Moscow time +#endif +#define SDM_NUM_READ 3 // The number of attempts to read the counter (in a row) by modbass before it is turned off (no error is generated) +#define SDM_DELAY_REPEAD 100 // ms The time between REPEAT read attempts was 40 (less does not make sense - the counter may not be in time) +// #define SDM_BLOCK // Block the counter reading when the connection is lost, otherwise attempts will be made to restore the connection periodically + +// ------------------- TIME & DELAY -------------------------- -------- +// Times and delays +#define cDELAY_DS1820 750 // ms. DS1820 read delay (conversion time) +#ifndef TIME_READ_SENSOR +#define TIME_READ_SENSOR 4000 // ms. Sensor Polling Period +#endif +#define TIME_WEB_SERVER 2 // ms. Web servera survey period was 5 +#define TIME_CONTROL (10 * 1000) // ms. Heat pump control period (hysteresis control cycle) +#define TIME_EEV (1 * 1000) // ms. VUpdateEEV task period in transient VT states +#define TIME_EEV_BEFORE_PID (4 * 1000) // ms. +#define TIME_COMMAND 500 // ms. Period of analysis of VT control commands (rather a pause before processing a command) +#define TIME_I2C_UPDATE (60 * 60) * 1000 // ms. Time for updating the internal clock according to I2C hours (if of course it is necessary) +#define TIME_MESSAGE_TEMP 300 // 1/10 seconds, Checking boundary temperatures for notifications +#define TIME_LED_OK 1500 // LED blinking period at OK (ms) +#define TIME_LED_ERR 200 // The blinking period of the LED on error (ms). +#define TIME_BEEP_ERR 1000 // Period of the sound signal upon error, ms +#define cDELAY_START_MESSAGE 60 // Delay (sec) after starting to send messages +#define UPDATE_HP_WAIT_PERIOD 5000 // Period of vUpdate call while waiting or error, ms +#define NO_POWER_ON_DELAY_CNT 10 // Delay on after power on, * TIME_READ_SENSOR + +// ------------------- I2C ---------------------------- ------ +// i2c devices I2C_EEPROM_64KB and I2C_FRAM_MEMORY The size and type of memory are defined in config.h since he often changes +#define I2C_SPEED twiClock400kHz // I2C bus frequency +#define I2C_NUM_INIT 3 // Number of bus initialization attempts +#define I2C_TIME_WAIT 2000 // I2C bus mutex capture timeout ms +#define I2C_ADR_RTC 0x68 // rtc chip address on the I2C bus +#define I2C_ADR_DS2482 0x18 // OneWire chip address on I2C bus 3-wire +#define I2C_ADR_DS2482_2 0x19 // OneWire chip address on the 2nd I2C bus +#define I2C_ADR_DS2482_3 0x1A // OneWire chip address on the 3rd I2C bus +#define I2C_ADR_DS2482_4 0x1B // OneWire chip address on the 4th I2C bus + +// ------------------------------------------------ -------------------------------------------------- ------------------------ +#ifdef I2C_EEPROM_64KB +// Start addresses ---------------------------------------------- ------- +// MEMORY CARD in i2c chip with a capacity of 64 kbytes +// 0x0000 - I2C_COUNT_EEPROM storage of counters, maximum size 0x79 (127) bytes. 52 bytes are currently in use +// 0x0080 - I2C_SETTING_EEPROM storage of VT settings maximum size 0x980 (2432) bytes. Currently using 1095 bytes +// 0x0A00 - I2C_PROFILE_EEPROM storage of profiles, the maximum size is 0x1000 (4096) bytes. Number of profiles 10 pcs. Profile size now 301 bytes (3010) +// 0x1A00 - I2C_SCHEDULER_EEPROM for storing schedules, maximum 0x5FE (1534) bytes (now 377 bytes) +// 0x1FFE - I2C_JOURNAL_EEPROM log storage log size area must be a multiple of W5200_MAX_LEN +#define I2C_PROFIL_NUM 10 // Maximum number of profiles to be stored +#define I2C_COUNT_EEPROM 0x0000 // Address inside the eeprom chip from where the counters are written from the beginning of the chip 0 +#define I2C_SETTING_EEPROM 0x0080 // Address inside the eeprom chip from where the VT settings are written and before it the counters are written +#define I2C_PROFILE_EEPROM 0x0A00 // Address inside the eeprom chip from where profiles are (address of the first profile) +#define I2C_SCHEDULER_EEPROM 0x1A00 // Address inside the eeprom chip for Schedules +#define MAX_CALENDARS 9 // maximum 9 +#define TIMETABLES_MAXSIZE 500 // bytes +#define DAILY_SWITCH_MAX 10 // Maximum number of entries for daily turning on devices (DailySwitch). MAX = 10 +#define I2C_JOURNAL_EEPROM 0x1FFE // The address from which the log starts in the i2c memory, in the end there is a sign of formatting the log. Log Length JOURNAL_LEN +#define I2C_JOURNAL_START (I2C_JOURNAL_EEPROM + 2) // Address from which DATA starts the log in i2c memory ATTENTION - 2 bytes is a sign of log formatting +#The define I2C_JOURNAL_EEPROM_NEXT(I2C_MEMORY_TOTAL * 1024 / 8) // Address after the log size = EEPROM +// Journal +#define JOURNAL_LEN ((I2C_JOURNAL_EEPROM_NEXT - I2C_JOURNAL_START) / W5200_MAX_LEN * W5200_MAX_LEN) // Journal size - rounding an integer number of pages W5200_MAX_LEN +#define I2C_JOURNAL_HEAD (0x01) // Sign of the head of the journal +#define I2C_JOURNAL_TAIL (0x02) // Log Tail Sign +#define I2C_JOURNAL_FORMAT (0xff) // The character that fills the log when formatting +#define I2C_JOURNAL_READY (0x55aa) // A sign of creating a journal - if it is not at I2C_JOURNAL_START-2 then you need to format the journal (initialization) +#else // 4KB eeprom +// 0x0000 - I2C_COUNT_EEPROM storage of counters, maximum size 0x79 (127) bytes. 52 bytes are currently in use +// 0x0080 - I2C_SETTING_EEPROM storage of VT settings maximum size 0x580 (1408) bytes. +// 0x0600 - I2C_PROFILE_EEPROM storage of profiles, the maximum size is 0x860 (2144) bytes. +// 0x0E60 - I2C_SCHEDULER_EEPROM storing schedules, maximum 0x1A0 (416) bytes +#define I2C_PROFIL_NUM 6 // Maximum number of profiles to be stored +#define I2C_COUNT_EEPROM 0x00 // Address inside the eeprom chip from where the counters are written from the beginning of the chip 0 +#define I2C_SETTING_EEPROM 0x080 // Address inside the eeprom chip from where the VT settings are written and before it the counters are written +#define I2C_PROFILE_EEPROM 0x600 // Address inside the eeprom chip from where profiles are (address of the first profile) +#define I2C_SCHEDULER_EEPROM 0xE60 // Address inside the eeprom chip for Schedules +#define MAX_CALENDARS 4 // maximum 9 +#define TIMETABLES_MAXSIZE 214 // bytes +#define DAILY_SWITCH_MAX 5 // Maximum number of daily device enable entries (DailySwitch) +#define JOURNAL_LEN (2 * W5200_MAX_LEN) // The size of the system log MUST BE a multiple of W5200_MAX_LEN, Increase accurately, may not have enough memory - hangs when loading +#endif +// Type of save record, 16bit +#define SAVE_TYPE_END 0 +#define SAVE_TYPE_sTemp -1 +#define SAVE_TYPE_sADC -2 +#define SAVE_TYPE_sInput -3 +#define SAVE_TYPE_sFrequency -4 +#define SAVE_TYPE_sIP -5 +#define SAVE_TYPE_dEEV -6 +#define SAVE_TYPE_dSDM -7 +#define SAVE_TYPE_clMQTT -8 +#define SAVE_TYPE_PwrCorr -9 +#define SAVE_TYPE_LIMIT -100 + +// ------------------- EEV ---------------------------- ------ +// Constants of the phases of the movement of the electric propulsion, three options (do not change the constants of options!) +#define PHASE_4 0 // 4 phases, step +#define PHASE_8 1 // 8 phases, step +#define PHASE_8s 2 // 8 phases, half-step main option (pav2000) + +#ifndef DEFAULT_RULE_EEV +#define DEFAULT_RULE_EEV 0 // Default formula +#define DEFAULT_FREON_TYPE 0 // Default Front Type +#define DEFAULT_OVERHEAT 400 // Overheating by default (hundredths of a degree) +#endif +#define EEV_MAX_INT_PID 1 // Maximum contribution of the integral component in steps + +#define EEV_START_POS_LOW_TEMP 1000 // Lower limit temperature for setting the position at start, in hundred +#define EEV_START_POS_HIGH_TEMP 4500 // Upper limit temperature for setting position at start, in hundred +#define EEV_STAT_ARRAY_SIZE 4 +#ifndef EEV_SET_ZERO_OVERRIDE +#define EEV_SET_ZERO_OVERRIDE 40 // Add to full close when zeroing , steps +#endif +#ifndef EEV_OVERHEAT2_CRITICAL +#define EEV_OVERHEAT2_CRITICAL 30 // Critical value of superheat 2, hundredths of a degree +#endif + +// ----------------------- EVI ------------------------ ------ +#define EVI_TEMP_CON 4000 // Condenser temperature to enable EVI +#define EVI_TEMP_EVA 300 // Evaporator temperature to enable EVI + +// ------------------- GENERAL SETTINGS --------------------------- ------- +#define TEMP_WEATHER 0 // Temperature at which the target flow temperature for heating is set (weather dependence) +#define MIN_WEATHER (7 * 100) // Minimum feed temperature for weather dependence +#define MAX_WEATHER (50 * 100) // Maximum flow temperature during weather dependence +#define HYSTERESIS_RHEAD 20 // Hysteresis of the additional heating ten (subtracted from the target) in hundredths of a degree +#define HYSTERESIS_RBOILER 30 // Hysteresis of the operation of the additional DHW heating ten (subtracted from the target) in hundredths of a degree +#define HYSTERESIS_BoilerTogetherHeatSt 500 // Hysteresis of co-heating the boiler with heating in hundredths of a degree +#define HYSTERESIS_BoilerTogetherHeatEn 200 // Hysteresis of co-heating the boiler with heating in hundredths of a degree +#define HYSTERESIS_BoilerAddHeat 300 // Hysteresis of boiler heating to a preheat temperature, in hundredths of a degree +#define HYSTERESIS_HeatFloor 30 // Hysteresis for separate control of the underfloor heating relay +#define SALLMONELA_DAY 3 // Day when the water disinfection algorithm is activated (Monday 1 Sunday 7) +#define SALLMONELA_HOUR 1 // Hour when the water disinfection algorithm is turned on (should be 0 minutes) +#define SALLMONELA_TEMP (70 * 100) // Temperature that is maintained for disinfection (hundredths of a degree) +#define SALLMONELA_TIME (240 * 60) // Maximum cycle time (sec), so that the cycle does not last indefinitely if it is not possible to achieve SALLMONELA_TEMP +// #define SALLMONELA_HARD // If defined, then maintaining the temperature SALLMONELA_TEMP works until the end of the SALLMONELA_TIME time, if it is NOT DEFINED then shutting down immediately after reaching SALLMONELA_TEMP but the cycle does not exceed SALLMONELA_TIME +// #define NIGHT_START_HOUR 23 // Beginning of the night tariff +// #define NIGHT_END_HOUR 7 // End of exact tariff +// Heat dissipation during DHW heating +#ifndef BOILER_TEMP_FEED_RESET +#define BOILER_TEMP_FEED_RESET 100 // How much does the supply temperature exceed the target during DHW heating, at which the heat is released into the heating system +#endif +#ifndef BOILER_TEMP_COMP_RESET +#define BOILER_TEMP_COMP_RESET 500 // How much is the discharge temperature (TCOMP) lower than the maximum when heating the DHW, during which the heat is released into the heating system +#endif +// ------------------- SENSOR TEMP --------------------------- ------- +#ifndef T_NUMSAMLES +#define T_NUMSAMLES 1 // Number of values ​​for averaging temperature readings +#define GAP_TEMP_VAL 300 // Permissible difference (in hundredths of C) of readings between two readings (anti-interference) - no error occurs when overshot, but data is skipped. +#define GAP_NUMBER 3 // The maximum number of consecutive readings exceeding GAP_TEMP_VAL, after which these readings are issued as valid +#define GAP_TEMP_VAL_CRC 200 // Sensors with a flag ignore CRC. The permissible difference (in hundredths of C) of the readings between two readings (anti-interference) - no error occurs when overshot, but data is skipped. +#define GAP_NUMBER_CRC 5 // Sensors with a flag ignore CRC. The maximum number of consecutive readings exceeding GAP_TEMP_VAL, after which these readings are issued as valid +#endif +#define MAX_TEMP_ERR 700 // Maximum systematic error of the temperature sensor (hundredths of a degree) +#define NUM_READ_TEMP_ERR 10 // The number of errors in a row reading the temperature sensor after which it is considered that the sensor is not working +#define RES_ONEWIRE_ERR 3 // Number of attempts to reset the temperature sensors before generating a bus error + +#define BASE_TIME_READ 10 // 20 // Frequency sensors - time (sec) at which the number of pulses is measured, at the end there is a conversion to frequency + +#define UPDATE_IP 120 // Time since the last packet was received from the remote sensor (in seconds) after which it is considered that the sensor is inactive and is not used in calculations + +// ------------------- MQTT ---------------------------- ------ +#define MQTT_REPEAT // Try to reconnect to the server +#define MQTT_NUM_ERR_OFF 8 // The number of sending errors in a row at which the MQTT sending service is disabled (the flag is reset) + +#define DEFAULT_PORT_MQTT 1883 // Default MQTT server port address +#define DEFAULT_TIME_MQTT (3 * 60) // period of sending to the server in seconds. 10 ... 60,000 +#define DEFAULT_ADR_MQTT " mqtt.thingspeak.com " // Default MQTT server address +#define DEFAULT_ADR_NARMON " narodmon.ru " // Address of the popular monitoring server +#define TIME_NARMON (5 * 60) // (sec) Do not set the period of sending to the national monitoring (constant) for less than 5 minutes + +// ------------------- HEAP ---------------------------- ------ +#define PASS_LEN 10 // Maximum password length for entering the controller +#define NAME_USER " user " // username +#define NAME_ADMIN " admin " // admin name +// #define FILE_STATISTIC "statistic.csv" // name of the statistics file for the CURRENT period + +#define HOUR_SIGNAL_LIFE 12 // Hour when a life signal is generated + +#define ATOF_ERROR -9876543.00 // Error code converting a string to float +#define K_VCC_POWER 338.2 // conversion factor of the ADC to volts for power control (metering of the support) (UT71E results of spare parts 284.02 ТР338.2) +#define HEAT_CAPACITY 4174 // heat capacity of the liquid in the contour by default at 30 degrees [Cp, J / (kg · deg)] + +// ----------------------- WEB ------------------------ ---- +const char WEB_HEADER_OK_CT[] = " HTTP / 1.1 200 OK \ r \ n Access-Control-Allow-Origin: * \ r \ n Content-Type: "; +const char WEB_HEADER_TEXT_ATTACH[] = " text / plain \ r \ n Content-Disposition: attachment; filename = \" "; +const char WEB_HEADER_BIN_ATTACH[] = " application / x-binary \ r \ n Content-Disposition: attachment; filename = \" "; +const char WEB_HEADER_TXT_KEEP[] = " text / html \ r \ n Connection: keep-alive "; +const char WEB_HEADER_END[] = " \ r \ n \ r \ n "; +const char *HEADER_FILE_NOT_FOUND = {" HTTP / 1.1 404 Not Found \ r \ n \ r \ n \ r \ n 404 NOT FOUND \ r \ n

404 NOT FOUND \ r \ n \ r \ n \ r \ n " }; + // const char * HEADER_FILE_WEB = {"HTTP / 1.1 200 OK \ r \ nContent-Type: text / html \ r \ nConnection: keep-alive \ r \ n \ r \ n"}; // CACHE DO NOT USE + const char *HEADER_FILE_WEB = {" HTTP / 1.1 200 OK \ r \ n Content-Type: text / html \ r \ n Connection: keep-alive \ r \ n Cache-Control: max-age = 3600, must-revalidate \ r \ n \ r \ n "}; // CACHE USE +const char *HEADER_FILE_CSS = {" HTTP / 1.1 200 OK \ r \ n Content-Type: text / css \ r \ n Connection: keep-alive \ r \ n Cache-Control: max-age = 3600, must-revalidate \ r \ n \ r \ n "}; // CACHE USE +const char *HEADER_ANSWER = {" HTTP / 1.1 200 OK \ r \ n Content-Type: text / ajax \ r \ n Access-Control-Allow-Origin: * \ r \ n \ r \ n "}; // start of the response to the request +static uint8_t fWebUploadingFilesTo = 0; // Where to load the files: 1 - SPI flash, 2 - SD card + +// SOPC SAM3x Power Controller Register Constants --------------------------------------- +// SMMR register +// Kernel power control level +#define SUPC_SMMR_SMTH_1_9V (0x0u << 0) +#define SUPC_SMMR_SMTH_2_0V (0x1u << 0) +#define SUPC_SMMR_SMTH_2_1V (0x2u << 0) +#define SUPC_SMMR_SMTH_2_2V (0x3u << 0) +#define SUPC_SMMR_SMTH_2_3V (0x4u << 0) +#define SUPC_SMMR_SMTH_2_4V (0x5u << 0) +#define SUPC_SMMR_SMTH_2_5V (0x6u << 0) +#define SUPC_SMMR_SMTH_2_6V (0x7u << 0) +#define SUPC_SMMR_SMTH_2_7V (0x8u << 0) +#define SUPC_SMMR_SMTH_2_8V (0x9u << 0) +#define SUPC_SMMR_SMTH_2_9V (0xAu << 0) +#define SUPC_SMMR_SMTH_3_0V (0xBu << 0) +#define SUPC_SMMR_SMTH_3_1V (0xCu << 0) +#define SUPC_SMMR_SMTH_3_2V (0xDu << 0) +#define SUPC_SMMR_SMTH_3_3V (0xEu << 0) +#define SUPC_SMMR_SMTH_3_4V (0xFu << 0) +// Power monitoring time +#define SUPC_SMMR_SMSMPL_SMD (0x0u << 8) // not allowed +#define SUPC_SMMR_SMSMPL_CSM (0x1u << 8) // continuously +#define SUPC_SMMR_SMSMPL_32SLCK (0x2u << 8) +#define SUPC_SMMR_SMSMPL_256SLCK (0x3u << 8) +#define SUPC_SMMR_SMSMPL_2048SLCK (0x4u << 8) +#define SUPC_SMMR_SMRSTEN (0x1u << 12) / ** <\ brief(SUPC_SMMR) Supply Monitor Reset Enable * / +#define SUPC_SMMR_SMRSTEN_NOT_ENABLE (0x0u << 12) / ** <\ brief(SUPC_SMMR) the core reset signal "vddcore_nreset" is not affected when a supply monitor detection occurs.* / +#define SUPC_SMMR_SMRSTEN_ENABLE (0x1u << 12) / ** <\ brief(SUPC_SMMR) the core reset signal, vddcore_nreset is asserted when a supply monitor detection occurs.* / +#define SUPC_SMMR_SMIEN (0x1u << 13) / ** <\ brief(SUPC_SMMR) Supply Monitor Interrupt Enable * / +#define SUPC_SMMR_SMIEN_NOT_ENABLE (0x0u << 13) / ** <\ brief(SUPC_SMMR) the SUPC interrupt signal is not affected when a supply monitor detection occurs.* / +#define SUPC_SMMR_SMIEN_ENABLE (0x1u << 13) / ** <\ brief(SUPC_SMMR) the SUPC interrupt signal is asserted when a supply monitor detection occurs.* / +// MR register +#define SUPC_MR_KEY_Pos 24 +#define SUPC_MR_KEY_Msk (0xffu << SUPC_MR_KEY_Pos) // Key for writing !!! +#define SUPC_MR_KEY (value)((SUPC_MR_KEY_Msk & ((value) << SUPC_MR_KEY_Pos))) +#define SUPC_MR_BODRSTEN (0x1u << 12) / ** <\ brief(SUPC_MR) Brownout Detector Reset Enable * / +#define SUPC_MR_BODRSTEN_NOT_ENABLE (0x0u << 12) / ** <\ brief(SUPC_MR) the core reset signal "vddcore_nreset" is not affected when a brownout detection occurs.* / +#define SUPC_MR_BODRSTEN_ENABLE (0x1u << 12) / ** <\ brief(SUPC_MR) the core reset signal, vddcore_nreset is asserted when a brownout detection occurs.* / +#define SUPC_MR_BODDIS (0x1u << 13) // Here it is / ** <\ brief (SUPC_MR) Brownout Detector Disable * / +#define SUPC_MR_BODDIS_ENABLE (0x0u << 13) / ** <\ brief(SUPC_MR) the core brownout detector is enabled.* / +#define SUPC_MR_BODDIS_DISABLE (0x1u << 13) / ** <\ brief(SUPC_MR) the core brownout detector is disabled.* / + +#ifndef FORMAT_DATE_STR_CUSTOM +const char *FORMAT_DATE_STR = {" % 02d / % 02d / % 04d "}; +#endif + +// ------------------------------------------------ -------------------------------------------------- ------------------------------ +// String constants reusable across all files ----------------------------------------- --------------------------- +const char *cYes = {" Yes "}; +const char *cNo = {" No "}; +const char *cOne = {" 1 "}; +const char *cZero = {" 0 "}; +const char *cOk = {" Ok "}; +const char *cError = {" error "}; +const char *cInvalid = {" invalid "}; +const char *cStrEnd = {" \ n "}; +const char *cErrorRS485 = {" % s : Read error % s , code = % d repeat ... \ n "}; // name, function, code +const char *cErrorMutex = {" Function % s : % s , mutex is buzy \ n "}; // function, mutex +const char *cAddHeat = {" + "}; // Icon for heating hot water +const char http_get_str1[] = " GET "; +const char http_get_str2[] = " HTTP / 1.0 \ r \ n Host: "; +const char http_get_str3[] = " \ r \ n Accept: text / html \ r \ n \ r \ n "; +const char http_key_ok1[] = " HTTP / "; // "1.1" +const char http_key_ok2[] = " 200 OK \ r \ n "; +const uint8_t save_end_marker[1] = {0}; +#define WEBDELIM " \ x7f " // ALT + 127 line separator on the web +const char SendMessageTitle[] = " Popular heat pump controller "; +const char SendSMSTitle[] = " Control "; + +// Multitasking, dividing hardware resources +const char *nameFREERTOS = {" FreeRTOS "}; // Name of the source of the error (needed for passing to the function) - operating system +const char *nameHeatPump = {" Heat Pump "}; // Name of the heat pump (for the error log) Here you can change it +const char *MutexI2CBuzy = {" I2C "}; +const char *MutexModbusBuzy = {" Modbus "}; +const char *MutexWebThreadBuzy = {" WebThread "}; +const char *MutexSPIBuzy = {" SPI "}; +const char *MutexCommandBuzy = {" Command "}; + +// Description of the names of the ERV parameters for the get_pEEV functions set_pEEV +const char *eev_POS = {" POS "}; // Position ERV steps +const char *eev_POSp = {" POSp "}; // Position ERV% +const char *eev_POSpp = {" POSpp "}; // Position ERV steps +% +const char *eev_OVERHEAT = {" OH "}; // The current overheating of the ERV, if +const char *eev_ERROR = {" ERROR "}; // ERV error +const char *eev_MIN = {" MIN "}; // Minimum ERV +const char *eev_MAX = {" MAX "}; // Maximum ERV +const char *eev_TIME = {" TIME "}; // PID time in seconds ERV SECONDS +const char *eev_TARGET = {" TRG "}; // Overheating GOAL (hundredths of a degree) +const char *eev_tOverheatTCOMP = {" TRG2 "}; // Overheat2 target (hundredths of a degree) +const char *eev_tOverheat2_low = {" T2L "}; +const char *eev_tOverheat2_low_hyst = {" T2H "}; +const char *eev_tOverheatTCOMP_delta = {" TRG2D "}; // Overheat2 delta target (hundredths of a degree) +const char *eev_KP = {" KP "}; // PID Ratio Ratio IN THOUSAND !!! +const char *eev_KI = {" KI "}; // PID Coef integr. to configure Ki = 0 THOUSAND !!! +const char *eev_KD = {" KD "}; // PID Coeff. Diff. IN THOUSAND !!! +const char *eev_KP2 = {" KP2 "}; // PID Ratio Ratio IN THOUSAND !!! +const char *eev_KI2 = {" KI2 "}; // PID Coef integr. to configure Ki = 0 THOUSAND !!! +const char *eev_KD2 = {" KD2 "}; // PID Coeff. Diff. IN THOUSAND !!! +const char *eev_PID2_delta = {" P2D "}; // Delta for conservative PID calculations (For formula 1, this is an error in which the proportional starts to decrease) +const char *eev_PID_MAX = {" PMAX "}; // PID restriction in the steps of the EEC +const char *eev_CONST = {" CONST "}; // Overheat correction (permanent error) +const char *eev_MANUAL = {" MANUAL "}; // The number of steps to open the ERV for the rules of operation of the ERM "Manual" +const char *eev_FREON = {" FREON "}; // Freon type +const char *eev_RULE = {" RULE "}; // The rule of the ERV +const char *eev_NAME = {" NAME "}; // ERV name +const char *eev_NOTE = {" NOTE "}; // ERV Description +const char *eev_REMARK = {" REMARK "}; // Description of the ERV algorithm +const char *eev_PINS = {" PINS "}; // Listing the legs where the ERV is attached +const char *eev_cCORRECT = {" cCORRECT "}; // Flag for enabling over-correction from the temperature difference between the condenser and the evaporator +const char *eev_cDELAY = {" cDELAY "}; // Delay after compressor start, sec +const char *eev_cPERIOD = {" cPERIOD "}; // Period in ERV cycles, how much to skip +const char *eev_cDELTA = {" cD "}; // TDIS_TCON: Discharge - condensation temperature (hundredths of a degree) +const char *eev_cDELTA_Thr = {" cDT "}; // Threshold, after exceeding which we begin to change the overheating, in hundredths of a degree +const char *eev_cOH_cDELTA_MAX = {" cDM "}; // upper limit for a proportional increase in overheating,% of OHCor_TDIS_TCON +const char *eev_cOH_MIN = {" cOH_MIN "}; // Minimum overheating (hundredths of a degree) +const char *eev_cOH_START = {" cOH_START "}; // Starting overheating (hundredths of a degree) +const char *eev_cOH_MAX = {" cOH_MAX "}; // Maximum overheating (hundredths of a degree) +const char *eev_cOH_TDELTA = {" cTDELTA "}; // Calculated Target Delta-Condensation Delta +#ifndef PID_FORMULA2 +const char *eev_ERR_KP = {" ERR_KP "}; // Error (in hundredths of a degree) at which there is a decrease in the proportional component of the PID of the ERV +#endif +const char *eev_SPEED = {" SPEED "}; // The speed of the stepper motor ERV (pulses in sec.) +const char *eev_PRE_START_POS = {" PSP "}; // START-UP position ERV (THAT that at the start of the compressor during the spin) +const char *eev_START_POS = {" SP "}; // START position of ERV after compressor unwinding i.e. POSITION FROM WHICH THE WORK BEGINS passes DelayStartPos sec +const char *eev_DELAY_ON_PID = {" DOP "}; // Delay on EEV after compressor on (sec). More precisely, after reaching the working position Total time = delayOnPid + DelayStartPos +const char *eev_DELAY_START_POS = {" DSP "}; // Time after the compressor starts when the EEV reaches the start position - facilitating the start of the ERV at the beginning +const char *eev_DELAY_OFF = {" DOFF "}; // Delay closing EEV after turning off the pumps (sec). The time from the stop compressor command to closing the EEC = delayOffPump + delayOff +const char *eev_DELAY_ON = {" DON "}; // Delay between the opening (for start) of the electric propulsion and the compressor on, to equalize the pressure (sec). If the ERV shuts down when stopped +const char *eev_HOLD_MOTOR = {" HM "}; // Flag hold motor +const char *eev_PRESENT = {" PRESENT "}; // Flag of the presence of ERV in VT +const char *eev_SEEK_ZERO = {" ZERO "}; // Flag of a single search "0" ERV (only when the VT is switched on for the first time) +const char *eev_CLOSE = {" CLOSE "}; // Flag closes the ERV when the compressor is turned off +const char *eev_LIGHT_START = {" LST "}; // flag Facilitate the start of the compressor ajar ERV at the time of starting the compressor +const char *eev_START = {" START "}; // flag Always start operation of the EDS with a stratum position +const char *eev_PID_P_ON_M = {" POM "}; // PID flag proportional to dimension +const char *eev_fEEVStartPosByTemp = {" SPT "}; // flag fEEVStartPosByTemp +const char *eev_PosAtHighTemp = {" PHT "}; // PosAtHighTemp +const char *eev_fEEV_DirectAlgorithm = {" DIR "}; // flag fEEV_DirectAlgorithm +const char *eev_trend_threshold = {" TTH "}; +const char *eev_trend_mul_threshold = {" TMT "}; +const char *eev_DebugToLog = {" DBG "}; + +// Description of the MQTT parameter names for the get_paramMQTT functions set_paramMQTT +const char *mqtt_USE_TS = {" USE_TS "}; // use flag ThingSpeak - transfer format for the client +const char *mqtt_USE_MQTT = {" USE_MQTT "}; // flag for using MQTT +const char *mqtt_BIG_MQTT = {" BIG_MQTT "}; // flag for sending ADDITIONAL data on MQTT +const char *mqtt_SDM_MQTT = {" SDM_MQTT "}; // flag of sending electric meter data to MQTT +const char *mqtt_FC_MQTT = {" FC_MQTT "}; // flag sending inverter data to MQTT +const char *mqtt_COP_MQTT = {" COP_MQTT "}; // flag to send COP data to MQTT +const char *mqtt_TIME_MQTT = {" TIME_MQTT "}; // period of sending to the server in seconds. 10 ... 60,000 +const char *mqtt_ADR_MQTT = {" ADR_MQTT "}; // server address +const char *mqtt_IP_MQTT = {" IP_MQTT "}; // IP address of the server +const char *mqtt_PORT_MQTT = {" PORT_MQTT "}; // Server port address +const char *mqtt_LOGIN_MQTT = {" LOGIN_MQTT "}; // server login +const char *mqtt_PASSWORD_MQTT = {" PASSWORD_MQTT "}; // server password +const char *mqtt_ID_MQTT = {" ID_MQTT "}; // Client ID on the MQTT server + // national monitoring +const char *mqtt_USE_NARMON = {" USE_NARMON "}; // flag of sending data for national monitoring +const char *mqtt_BIG_NARMON = {" BIG_NARMON "}; // flag of sending data for national monitoring, large version +const char *mqtt_ADR_NARMON = {" ADR_NARMON "}; // Address of the server of national monitoring +const char *mqtt_IP_NARMON = {" IP_NARMON "}; // IP address of the public monitoring server +const char *mqtt_PORT_NARMON = {" PORT_NARMON "}; // Port address of the public monitoring server +const char *mqtt_LOGIN_NARMON = {" LOGIN_NARMON "}; // login of the national monitoring server +const char *mqtt_PASSWORD_NARMON = {" PASSWORD_NARMON "}; // password of the public monitoring server +const char *mqtt_ID_NARMON = {" ID_NARMON "}; // Client ID on the MQTT server + +// Description of the names of the parameters of the SDM counter for the functions get_paramSDM ("get_SDM"), set_paramSDM ("set_SDM") +const char *sdm_NAME = {" NAME "}; // counter name +const char *sdm_NOTE = {" NOTE "}; // Counter Description +const char *sdm_MAX_VOLTAGE = {" MAXV "}; // Maximum voltage control +const char *sdm_MIN_VOLTAGE = {" MINV "}; // Minimum voltage control +const char *sdm_MAX_POWER = {" MAXP "}; // Maximum power control +const char *sdm_VOLTAGE = {" VOLT "}; // voltage +const char *sdm_CURRENT = {" CURRENT "}; // Current +const char *sdm_REPOWER = {" REPOWER "}; // Reactive power +const char *sdm_ACPOWER = {" ACPOWER "}; // Active power +const char *sdm_POWER = {" POWER "}; // Full power +const char *sdm_POW_FACTOR = {" PF "}; // power factor +const char *sdm_PHASE = {" PHASE "}; // phase angle (degrees) +const char *sdm_FREQ = {" FREQ "}; // Frequency +const char *sdm_ACENERGY = {" ACENERGY "}; // Total active energy +const char *sdm_LINK = {" LINK "}; // Status of communication with the counter +const char *sdm_ERRORS = {" ERR "}; // Modbus read errors + +// Description of profile parameter names for get_paramProfile functions set_paramProfile +const char *prof_NAME_PROFILE = {" NAME "}; // Profile name up to 10 Russian letters +const char *prof_ENABLE_PROFILE = {" ENABLE "}; // permission to use in the list +const char *prof_ID_PROFILE = {" ID "}; // profile number, numbering c 1 +const char *prof_NOTE_PROFILE = {" NOTE "}; // profile description +const char *prof_DATE_PROFILE = {" DATE "}; // profile date +const char *prof_CRC16_PROFILE = {" CRC16 "}; // profile checksum +const char *prof_NUM_PROFILE = {" NUM "}; // maximum number of profiles +const char *prof_SEL_PROFILE = {" SEL "}; // list of profiles (not yet used) +const char prof_DailySwitch[] = " DS "; +const char prof_DailySwitchDevice = ' D '; // DSD +const char prof_DailySwitchOn = ' S '; // DSS +const char prof_DailySwitchOff = ' E '; // DSE + +// Description of notification parameter names for set_messageSetting functions get_messageSetting +const char *mess_MAIL = {" MAIL "}; // drop the notification flag to the mail +const char *mess_MAIL_AUTH = {" MAIL_AUTH "}; // flag of the need for authorization on the mail server +const char *mess_MAIL_INFO = {" MAIL_INFO "}; // flag of the need to add information about the state of the VT in the letter +const char *mess_SMS = {" SMS "}; // throw notification flag on SMS +const char *mess_MESS_RESET = {" MESS_RESET "}; // reset flag +const char *mess_MESS_ERROR = {" MESS_ERROR "}; // error flag +const char *mess_MESS_LIFE = {" MESS_LIFE "}; // notification flag Life signal +const char *mess_MESS_TEMP = {" MESS_TEMP "}; // notification flag Reaching limit temperature +const char *mess_MESS_SD = {" MESS_SD "}; // flag flag "Problems with sd card" +const char *mess_MESS_WARNING = {" MESS_WARNING "}; // flag of the notification "Other notifications" +const char *mess_SMTP_SERVER = {" SMTP_SERVER "}; // server address +const char *mess_SMTP_IP = {" SMTP_IP "}; // IP address of the server +const char *mess_SMTP_PORT = {" SMTP_PORT "}; // Server port address +const char *mess_SMTP_LOGIN = {" SMTP_LOGIN "}; // server login if authorization is enabled +const char *mess_SMTP_PASS = {" SMTP_PASS "}; // server password if authorization is enabled +const char *mess_SMTP_MAILTO = {" SMTP_MAILTO "}; // sender address +const char *mess_SMTP_RCPTTO = {" SMTP_RCPTTO "}; // recipient address +const char *mess_SMS_SERVICE = {" SMS_list "}; // SMS sending service +const char *mess_SMS_IP = {" SMS_IP "}; // IP address of the server for sending SMS +const char *mess_SMS_PHONE = {" SMS_PHONE "}; // phone where SMS is sent +const char *mess_SMS_P1 = {" SMS_P1 "}; // first parameter to send SMS +const char *mess_SMS_P2 = {" SMS_P2 "}; // second parameter for sending SMS +const char *mess_SMS_NAMEP1 = {" SMS_NAMEP1 "}; // description of the first parameter for sending SMS +const char *mess_SMS_NAMEP2 = {" SMS_NAMEP2 "}; // description of the second parameter for sending SMS +const char *mess_MESS_TIN = {" MESS_TIN "}; // Critical temperature in the house (if less then a notification is generated) +const char *mess_MESS_TBOILER = {" MESS_TBOILER "}; // Critical boiler temperature (if less, a notification is generated) +const char *mess_MESS_TCOMP = {" MESS_TCOMP "}; // Critical compressor temperature (if more then a notification is generated) +const char *mess_MAIL_RET = {" scan_MAIL "}; // Reply to test mail +const char *mess_SMS_RET = {" scan_SMS "}; // Reply to test sms + +// Description of boiler parameter names for set_Boiler get_Boiler functions +const char *boil_BOILER_ON = {" ON "}; // flag Turn on the boiler +const char *boil_SCHEDULER_ON = {" SCH_ON "}; // flag Use schedule +const char *boil_SCHEDULER_ADDHEAT = {" SCH_AH "}; // flag Use of the schedule only for the heater +const char *boil_TURBO_BOILER = {" TURBO "}; // flag TURBO DHW heating (heating = TH + TEN) +const char *boil_SALLMONELA = {" SLMN "}; // Salmonel flag once a week to warm the boiler +const char *boil_CIRCULATION = {" CIRC "}; // DHW circulation pump control flag +const char *boil_TEMP_TARGET = {" TRG "}; // Target boiler temperature +const char *boil_DTARGET = {" DTRG "}; // hysteresis of the target temperature +const char *boil_TEMP_MAX = {" MAX "}; // Maximum flow temperature +const char *boil_SCHEDULER = {" SCHEDULER "}; // Schedule +const char *boil_CIRCUL_WORK = {" CIRCW "}; // DHW pump run time seconds (fCirculation) +const char *boil_CIRCUL_PAUSE = {" CIRCP "}; // Pause in the operation of the DHW pump for a second (fCirculation) +const char *boil_RESET_HEAT = {" RESH "}; // flag Reset excess heat in CO +const char *boil_RESET_TIME = {" RESHT "}; // time for the discharge of excess heat in CO in seconds (fResetHeat) +const char *boil_BOIL_TIME = {" PT "}; // Integration time constant in seconds PID VT +const char *boil_BOIL_PRO = {" PP "}; // Proportional component of the DHW PID +const char *boil_BOIL_IN = {" PI "}; // Integral component of the PID DHW +const char *boil_BOIL_DIF = {" PD "}; // Differential component of the DHW PID +const char *boil_BOIL_TEMP = {" TEMP "}; // Target DHW PID temperature +const char *boil_ADD_HEATING = {" ADDH "}; // flag DHW heating +const char *boil_fAddHeatingForce = {" AHF "}; // flag Enable reheat if the compressor has not heated the boiler to the reheat temperature +const char *boil_TEMP_RBOILER = {" TEMPR "}; // temperature for switching on the boiler pre-heating +const char *boil_TOGETHER_HEAT = {" TGHEAT "}; // flag Warm in conjunction with heating, if the heating circuit is operating for heating +const char *boil_fBoilerPID = {" PID "}; // PID on / off +const char *boil_dAddHeat = {" dAH "}; // Hysteresis of boiler heating to the temperature of heating, in hundredths of a degree +const char *boil_HeatUrgently = {" URG "}; // Urgently need hot water + +// Date Time +const char *time_TIME = {" TIME "}; // current time 12:45 without seconds +const char *time_DATE = {" DATE "}; // current date of type 12/04/2016 +const char *time_NTP = {" NTP "}; // NTP server address string up to 60 characters. +const char *time_UPDATE = {" UPDATE "}; // Time synchronization with the NTP server. +const char *time_TIMEZONE = {" TIMEZONE "}; // time zone +const char *time_UPDATE_I2C = {" UPDATE_I2C "}; // Synchronize time once an hour with i2c clock + +// Network +const char *net_IP = {" IP "}; // Address +const char *net_DNS = {" DNS "}; // DNS +const char *net_GATEWAY = {" GATEWAY "}; // Gateway +const char *net_SUBNET = {" SUBNET "}; // subnet mask +const char *net_DHCP = {" DHCP "}; // DHCP usage flag +const char *net_MAC = {" MAC "}; // MAC address of the chip +const char *net_RES_SOCKET = {" NSLS "}; // Reset time of hung sockets +const char *net_RES_W5200 = {" NSLR "}; // Time to regularly reset the network chip +const char *net_PASS = {" PASS "}; // Use passwords (flag) +const char *net_PASSUSER = {" PASSUSER "}; // user password +const char *net_PASSADMIN = {" PASSADMIN "}; // admin password +const char *net_SIZE_PACKET = {" SIZE "}; // packet size +const char *net_INIT_W5200 = {" INIT "}; // Minute SPI monitoring for network chip +const char *net_PORT = {" PORT "}; // Port of the web server +const char *net_NO_ACK = {" NO_ACK "}; // Do Not Expect Ack Answer +const char *net_DELAY_ACK = {" DELAY_ACK "}; // Delay before sending the next packet +const char *net_PING_ADR = {" PING "}; // ping address +const char *net_PING_TIME = {" NSLP "}; // ping time in seconds +const char *net_NO_PING = {" NO_PING "}; // prohibit the ping of the controller +const char *net_fWebLogError = {" WLOG "}; // log web request errors +const char *net_fWebFullLog = {" WFLOG "}; // display the full log + +// Description of the inverter parameter names for the get_paramFC ("get_pFC") functions set_paramFC ("set_pFC") +const char *fc_ON_OFF = {" ON_OFF "}; // Flag for turning on / off (frequency control) +const char *fc_INFO = {" INFO "}; // Get information from the inverter (table !!) +const char *fc_NAME = {" NAME "}; // Inverter name +const char *fc_NOTE = {" NOTE "}; // Get a description of the frequency converter. Line 80 + 1 +const char *fc_PIN = {" PIN "}; // Get the pin number where analog FC is attached +const char *fc_PRESENT = {" PRESENT "}; // The presence of FC in the configuration. +const char *fc_STATE = {" STATE "}; // Status of the inverter (read) +const char *fc_FC = {" FC "}; // The target frequency of the inverter is 0.01 +const char *fc_cFC = {" cFC "}; // Current inverter frequency (read) +const char *fc_cPOWER = {" cPOWER "}; // Current power (read) +const char *fc_INFO1 = {" INFO1 "}; // The first line below the inverter picture in the circuit +const char *fc_cCURRENT = {" cCURRENT "}; // Current current (read) +const char *fc_AUTO_RESET_FAULT = {" ARSTFLT "}; // Flag to automatically reset non-critical inverter error +const char *fc_LogWork = {" LOGW "}; // flag log while running +const char *fc_ANALOG = {" AN "}; // Flag of analog control +const char *fc_DAC = {" DAC "}; // Get the current DAC value +const char *fc_LEVEL0 = {" L0 "}; // Frequency level 0 in the DAC samples +const char *fc_LEVEL100 = {" L100 "}; // Frequency level 100% in the DAC samples +const char *fc_LEVELOFF = {" LOFF "}; // Minimum power at which the chastotnik turns off (minimum power limit) +const char *fc_BLOCK = {" BLOCK "}; // flag inverter global error - inverter operation is disabled; blocking can be reset by setting 0 +const char *fc_ERROR = {" ERROR "}; // Get the error code +const char *fc_UPTIME = {" UPTIME "}; // Pid controller update algorithm time (ms) The main control loop +const char *fc_PID_STOP = {" PID_STOP "}; // Percentage of the level of protection (power, current, pressure, temperature) at which the frequency increase is blocked by the pid +const char *fc_PID_FREQ_STEP = {" PID_STEP "}; // The maximum step (to increase) the frequency change with PID control of 0.01 Hz It is necessary that the ERV be in time +const char *fc_START_FREQ = {" FRQ "}; // Inverter starting frequency (cm compressor) at 0.01 Hz +const char *fc_START_FREQ_BOILER = {" FRQB "}; // Starting frequency of the inverter (cm compressor) in 0.01 GHz of hot water +const char *fc_MIN_FREQ = {" MIN "}; // Minimum inverter frequency (cm compressor) in 0.01 Hz +const char *fc_MIN_FREQ_COOL = {" MINC "}; // The minimum frequency of the inverter during cooling at 0.01 Hz +const char *fc_MIN_FREQ_BOILER = {" MINB "}; // The minimum frequency of the inverter when heating the hot water in 0.01 Hz +const char *fc_MIN_FREQ_USER = {" MINU "}; // Minimum inverter frequency MANUAL MODE (cm compressor) at 0.01 Hz +const char *fc_MAX_FREQ = {" MAX "}; // Maximum inverter frequency (cm compressor) at 0.01 Hz +const char *fc_MAX_FREQ_COOL = {" MAXC "}; // Maximum inverter frequency in cooling mode at 0.01 Hz +const char *fc_MAX_FREQ_BOILER = {" MAXB "}; // The maximum frequency of the inverter in the DHW mode at 0.01 Hz the absorption of the boiler is usually less than CO +const char *fc_MAX_FREQ_USER = {" MAXU "}; // Maximum inverter frequency MANUAL MODE (cm compressor) at 0.01 Hz +const char *fc_STEP_FREQ = {" STEP "}; // Step to decrease the inverter when reaching the maximum temperature, power and current (cm compressor) at 0.01 Hz +const char *fc_STEP_FREQ_BOILER = {" STEPB "}; // Step to decrease the inverter when reaching the maximum temperature, power and dhw current of 0.01 Hz +const char *fc_DT_COMP_TEMP = {" DTC "}; // Protection by compressor temperature - how many degrees does not reach the maximum (TCOMP) and at the same time there is a decrease in frequency +const char *fc_DT_TEMP = {" DT "}; // Exceeding the temperature from the settings (feed) at which the protection is triggered (frequency decreases) in hundredths of a degree +const char *fc_DT_TEMP_BOILER = {" DTB "}; // Exceeding the temperature from the settings (supply) at which the DHW protection in hundredths of a degree is triggered +const char *fc_MB_ERR = {" MB_ERR "}; // Modbus errors +const char *fc_FC_TIME_READ = {" TR "}; // Poll time +const char *fc_fFC_RetOil = {" FRO "}; // Flag oil return +const char *fc_FC_RETOIL_FREQ = {" FRF "}; // Frequency +const char *fc_ReturnOilPeriod = {" ROP "}; // Oil return time +const char *fc_ReturnOilPerDivHz = {" ROPH "}; // The frequency at which oil returns +const char *fc_ReturnOilEEV = {" ROE "}; // Steps of the EDS at which oil is returned + +// Description of the names of the options options for the VT functions get_optionHP ("get_oHP") set_optionHP ("set_oHP") +const char *option_ADD_HEAT = {" HEAT_list "}; // use an additional heater (values ​​1 and 0) +const char *option_TEMP_RHEAT = {" TEMP_RHEAT "}; // temperature for controlling RHEAT (degrees) +const char *option_PUMP_WORK = {" PUMP_WORK "}; // condenser pump operation with compressor off seconds +const char *option_PUMP_PAUSE = {" PUMP_PAUSE "}; // pause between the operation of the condenser pump with the compressor off (seconds) +const char *option_ATTEMPT = {" ATTEMPT "}; // number of start attempts +const char *option_TIME_CHART = {" TIME_CHART "}; // statistics collection period +const char *option_BEEP = {" BEEP "}; // enable sound +const char *option_NEXTION = {" NXT "}; // use nextion display +const char *option_NEXTION_WORK = {" NXTW "}; // Turn on the display when the VT is working +const char *option_History = {" HIST "}; // write history to SD card +const char *option_SDM_LOG_ERR = {" SDM_LOGER "}; // flag write to the log irregular errors of the SDM counter +const char *option_SAVE_ON = {" SAVE_ON "}; // flag of writing in the EEPROM of switching on the VT (restoration of work after reboot) +const char *option_NEXT_SLEEP = {" NXTS "}; // Sleep Time Second NEXTION +const char *option_NEXT_DIM = {" NXTD "}; // Brightness% NEXTION +const char option_SGL1W[] = " SGL1W_ "; // SGLOW_n, On the bus n (1-Wire, DS2482) there is only one sensor +const char *option_DELAY_ON_PUMP = {" DLONP "}; // Delay on the compressor after turning on the pumps (sec). +const char *option_DELAY_OFF_PUMP = {" DLOFP "}; // Delay for turning off the pumps after turning off the compressor (sec). +const char *option_DELAY_START_RES = {" DLSR "}; // Delay turning on the VT after a sudden reset of the controller (sec.) +const char *option_DELAY_REPEAD_START = {" DLRS "}; // Delay before switching on the VT again after an error (attempt to start) seconds +const char *option_DELAY_DEFROST_ON = {" DLDON "}; // FOR AIR THROUGH Delay after the sensor is triggered before defrosting is activated (seconds) +const char *option_DELAY_DEFROST_OFF = {" DLDOFF "}; // FOR Aerial VT Delay before turning off the defrost (seconds) +const char *option_DELAY_R4WAY = {" DLTRV "}; // Delay between switching the 4-way valve and turning on the compressor, for pressure equalization (sec). If these options are enabled (heat-cold switching) +const char *option_DELAY_BOILER_SW = {" DLBSW "}; // Pause (sec) after switching the hot water supply - equalize the temperature in the heating / hot water circuit so that the protection does not work immediately +const char *option_DELAY_BOILER_OFF = {" DLBOFF "}; // Time (sec) how much protection is blocked when switching from DHW to heating and cooling too hot after DHW +const char *option_SunTempOn = {" STO "}; // Temperature above which SK opens +const char *option_SunTempOff = {" STF "}; // Temperature below which SC closes +const char *option_SunRegGeo = {" SCG "}; // Use the solar collector to regenerate the geocontour into idle time +const char *option_SunRegGeoTemp = {" SCGT "}; // Temperature of the beginning of the regeneration of the geocontour using SC, in degrees +const char *option_SunRegGeoTempGOff = {" SCGO "}; // Temperature of the fluid at the end of the regeneration of the geocontour using SC, in degrees +const char *option_SunTDelta = {" STD "}; // Delta of temperatures for inclusion, hundredths of a degree +const char *option_SunGTDelta = {" SGD "}; // Delta temperature of the fluid to turn off, hundredths of a degree +const char *option_WebOnSPIFlash = {" WSPIF "}; // flag that the web face is on SPI Flash, otherwise on the SD card +const char *option_LogWirelessSensors = {" LOGWS "}; // Log exchange between wireless sensors +const char *option_PAUSE = {" PAUSE "}; // minimum compressor downtime +const char *option_MinCompressorOn = {" MCON "}; // Minimum compressor run time in seconds +const char *option_Charts_when_comp_on = {" CWCO "}; // Graphs in memory only during compressor operation +const char *option_fBackupPower = {" BPOW "}; // flag Use backup power from the generator (power limitation) +const char *option_maxBackupPower = {" MAXPOW "}; // Maximum power when powered by a generator + +// Heating / cooling parameters +const char *hp_RULE = {" RULE "}; // operation algorithm +const char *hp_TEMP1 = {" TEMP1 "}; // target temperature in the house +const char *hp_TEMP2 = {" TEMP2 "}; // target return temperature +const char *hp_TARGET = {" TARGET "}; // what is the purpose of PID - values ​​0 (temperature in the house), 1 (return temperature). +const char *hp_DTEMP = {" DTEMP "}; // hysteresis of the target temperature +const char *hp_HP_TIME = {" HP_TIME "}; // Integration time constant in seconds PID VT +const char *hp_HP_PRO = {" HP_PRO "}; // Proportional component of PID TH +const char *hp_HP_IN = {" HP_IN "}; // Integral component of PID TH +const char *hp_HP_DIF = {" HP_DIF "}; // Differential component of PID TH +const char *hp_TEMP_IN = {" TEMP_IN "}; // feed temperature (minimum for cooling or maximum for heating) +const char *hp_TEMP_OUT = {" TEMP_OUT "}; // return temperature (maximum for cooling or minimum for heating) +const char *hp_D_TEMP = {" D_TEMP "}; // maximum temperature difference of the capacitor. +const char *hp_TEMP_PID = {" TEMP_PID "}; // Target PID temperature +const char *hp_WEATHER = {" W "}; // Use weather +const char *hp_HEAT_FLOOR = {" HFL "}; // Use underfloor heating +const char *hp_SUN = {" SUN "}; // Use the solar collector +const char *hp_K_WEATHER = {" KW "}; // Weather coefficient +const char *hp_targetPID = {" TP "}; // Target PID + +// Valid for heating and domestic hot water +const char *ADD_DELTA_TEMP = {" ADT "}; // Add temperature to the unit, in degrees +const char *ADD_DELTA_HOUR = {" ADH "}; // Initial Hour of adding temperature to the installation +const char *ADD_DELTA_END_HOUR = {" ADEH "}; // End Hour of adding temperature to the installation + +#ifdef SENSOR_IP // remote sensor parameters get_sensorIP +const char *ip_SENSOR_TEMP = {" SENSOR_TEMP "}; // Tempeartura +const char *ip_SENSOR_NUMBER = {" SENSOR_NUMBER "}; // Number +const char *ip_RSSI = {" RSSI "}; // signal strength +const char *ip_VCC = {" VCC "}; // supply voltage +const char *ip_SENSOR_USE = {" SENSOR_USE "}; // Use +const char *ip_SENSOR_RULE = {" SENSOR_RULE "}; // Rule of use +const char *ip_SENSOR_IP = {" SENSOR_IP "}; // Address +const char *ip_SENSOR_COUNT = {" SENSOR_COUNT "}; // counter +const char *ip_STIME = {" STIME "}; // time since the last sensor read +const char *ip_SENSOR = {" SENSOR "}; // ------- +#endif + +// Names Freon Types +const char *noteFreon[] = {" R22 ", " R410A ", " R600 ", " R134a ", " R407C ", " R12 ", " R290 ", " R404A ", " R717 "}; +// The names of the rules of the work of the ERV for the web +const char noteRuleEEV[] = " TEVAOUT-T [PEVA]: 0; " +#ifdef TCOMPIN + " TCOMPIN-T [PEVA]: 0; " +#ifdef TEVAIN + " TEVAOUT-TEVAIN: 0; " + " TCOMPIN-TEVAIN: 0; " + " TABLE [EVA, CON]: 0; " +#endif +#endif + " MANUAL: 0; "; + +// Description of the operation rules +const char *noteRemarkEEV[] = {" Overheating is equal to: temperature at the exit of the evaporator - temperature according to pressure at the exit of the evaporator. ", +#ifdef TCOMPIN + " Overheating is equal to: compressor inlet temperature - temperature by pressure at the outlet of the evaporator. ", +#ifdef TEVAIN + " Overheating is equal to: evaporator outlet temperature - evaporator inlet temperature. ", + " Overheating is equal to: compressor inlet temperature - evaporator inlet temperature. ", + " Overheating is not calculated. ERV is opened by the value of the step from the temperature table of the evaporator and condenser. ", +#endif +#endif + " Overheating is not calculated. Manual mode, ERV opens by a specified number of steps. "}; + +// warnings +#define WARNING_VALUE 1 // Attempt to set a value outside the range of the query type SET + +// GPBR - eight 32x bit registers not reset at reset, volatile! +// addresses - 0x90-0xDC General Purpose Backup Register GPBR +// The System Controller embeds Eight general-purpose backup registers. +// Map of GPBR usage in NK +// GPBR-> SYS_GPBR [0] current task (shift by 8 to the left) + RTOS error numbers +// GPBR-> SYS_GPBR [1] reason for the controller reset +// GPBR-> SYS_GPBR [4] last debug point before reset, the maximum value of the debug point is 56 now (update!) +#define STORE_DEBUG_INFO (s) GPBR->SYS_GPBR[4] = s // Saving the debug point number in the volatile memory sam3 +#define WEB_STORE_DEBUG_INFO (s) GPBR->SYS_GPBR[5] = s // Saving the debug point number in the volatile memory sam3 + +// ------------------------------------------------ -------------------------------- +// ERRORS are the same for everything - an end-to-end list +// ------------------------------------------------ -------------------------------- +#define OK 0 // No errors +#define ERR_MINTEMP -1 // Exit the lower limit of the temperature sensor +#define ERR_MAXTEMP -2 // Exit the upper limit of the temperature sensor +#define ERR_MINPRESS -3 // Exit the lower limit of the pressure sensor +#define ERR_MAXPRESS -4 // Go beyond the upper limit of the pressure sensor +#define ERR_SENSOR -5 // Sensor is not allowed in the current configuration +#define ERR_ADDRESS -6 // Temperature sensor address not set +#define ERR_DINPUT -7 // Contact sensor trips - alarm +#define ERR_MAX_EEV -8 // Going out of range (in steps) at the top +#define ERR_MIN_EEV -9 // Out of range (in steps) at the bottom +#define ERR_DEVICE -10 // The device is prohibited in the current configuration +#define ERR_ONEWIRE -11 // Reset error on the OneWire bus (open or short) +#define ERR_OVERHEAT -12 // ERV received a negative overheat +#define ERR_MEM_FREERTOS -13 // Free RTOS cannot create a task - not enough memory +#define ERR_PEVA_EEV -14 // There is no pressure sensor, and the ERV algorithm that uses it is selected +#define ERR_SAVE_EEPROM -15 // Error writing settings to eeprom I2C +#define ERR_LOAD_EEPROM -16 // Error reading settings from eeprom I2C +#define ERR_CRC16_EEPROM -17 // Checksum error for settings +#define ERR_BAD_LEN_EEPROM -18 // Data size mismatch while reading settings +#define ERR_HEADER_EEPROM -19 // Settings data not found in eeprom I2C +#define ERR_SAVE1_EEPROM -20 // Error writing status to eeprom I2C +#define ERR_LOAD1_EEPROM -21 // Error reading state from eeprom I2C +#define ERR_HEADER1_EEPROM -22 // Status data not found in eeprom I2C +#define ERR_SAVE2_EEPROM -23 // Error writing counters to eeprom I2C +#define ERR_LOAD2_EEPROM -24 // Error reading counters from eeprom I2C +#define ERR_WRONG_HARD_STATE -25 // Invalid VT state +#define ERR_DTEMP_CON -26 // The temperature difference on the condenser has been increased +#define ERR_DTEMP_EVA -27 // Excessive temperature difference on the evaporator +#define ERR_PUMP_CON -28 // There is no pump on the condenser, check the configuration +#define ERR_PUMP_EVA -29 // There is no pump on the evaporator, check the configuration +#define ERR_READ_PRESS -30 // Error reading pressure sensor (data not ready) +#define ERR_NO_COMPRESS -31 // There is no compressor, check the configuration +#define ERR_NO_WORK -32 // Everything is off and VT is on +#define ERR_COMP_ERR -33 // Attempt to turn on the compressor on error (contact the developer) +#define ERR_CONFIG -34 // Internal configuration failed (contact the developer) +#define ERR_SD_INIT -35 // Error initializing the SD card +#define ERR_SD_INDEX -36 // Index.xxx file not found on SD card +#define ERR_SD_READ -37 // Error reading file from SD card +#define ERR_TYPE_OVERHEAT -38 // The rule for calculating overheating does not match the sensors (contact the developer) +#define ERR_485_INIT -39 // Inverter on Modbus was not found (inverter operation is prohibited) +#define ERR_485_BUZY -40 // When accessing port 485, the waiting time for its release was exceeded +// Errors described in the modbus protocol +#define ERR_MODBUS_0x01 -41 // Modbus 0x01 protocol illegal function exception +#define ERR_MODBUS_0x02 -42 // Modbus 0x02 protocol illegal data address exception +#define ERR_MODBUS_0x03 -43 // Modbus 0x03 protocol illegal data value exception +#define ERR_MODBUS_0x04 -44 // Modbus 0x4 protocol slave device failure exception +#define ERR_MODBUS_0xe0 -45 // Modbus 0xe0 Master invalid response slave ID exception +#define ERR_MODBUS_0xe1 -46 // Modbus 0xe1 Master invalid response function exception +#define ERR_MODBUS_0xe2 -47 // Modbus 0xe2 Master response timed out exception +#define ERR_MODBUS_0xe3 -48 // Modbus 0xe3 Master invalid response CRC exception +#ifdef FC_VACON // Vocon 10 specific errors +#define ERR_MODBUS_VACON_0x05 -49 // The slave device has accepted the request and is processing it, but it takes a lot of time. This response prevents the master from generating a timeout error. +#define ERR_MODBUS_VACON_0x06 -50 // The slave is busy processing the command. The master must retry the message later when the slave is free. +#define ERR_MODBUS_VACON_0x07 -52 // The slave cannot execute the program function specified in the request. +#define ERR_MODBUS_VACON_0x08 -52 // The slave device while reading extended memory detected a parity error +#define ERR_MODBUS_VACON_0000 -53 // empty to save numbering +#define ERR_MODBUS_VACON_0001 -54 // empty to save numbering +#define ERR_MODBUS_VACON_0002 -55 // empty to save numbering +#else // OMRON specific errors +#define ERR_MODBUS_MX2_0x01 -49 // Omron mx2 Exception code 0x01 The specified function is not supported +#define ERR_MODBUS_MX2_0x02 -50 // Omron mx2 Exception code 0x02 The specified function was not found. +#define ERR_MODBUS_MX2_0x03 -52 // Omron mx2 Exception code 0x03 Unacceptable data format +#define ERR_MODBUS_MX2_0x05 -52 // Omron mx2 communication error over Modbus (function communication check 0x08 Omron mx2) +#define ERR_MODBUS_MX2_0x21 -53 // Omron mx2 Exception code 0x21 Data written to the storage register is outside the inverter +#define ERR_MODBUS_MX2_0x22 -54 // Omron mx2 Exception code 0x22 These functions are not available for the inverter +#define ERR_MODBUS_MX2_0x23 -55 // Omron mx2 Exception code 0x23 The register (bit) into which the value should be written is read-only +#endif +#define ERR_MODBUS_UNKNOW -56 // Modbus unknown error (protocol failure) +#define ERR_MODBUS_STATE -57 // Forbidden ( invalid ) state of the inverter +#define ERR_MODBUS_BLOCK -58 // Attempt to turn on the VT with the inverter locked +#define ERR_PID_FEED -59 // PID algorithm - reaching the maximum flow temperature (protection) The flow is the objective function, the protection is higher, and this should not be +#define ERR_OUT_OF_MEMORY -60 // Not enough memory to allocate arrays +#define ERR_SAVE_PROFILE -61 // Error writing profile in eeprom I2C +#define ERR_LOAD_PROFILE -62 // Error reading profile from eeprom I2C +#define ERR_CRC16_PROFILE -63 // Checksum error for profile +#define ERR_BAD_LEN_PROFILE -64 // Data size mismatch while reading profile +#define ERR_DS2482_NOT_FOUND -65 // DS2482 master was not found on the bus, I2C bus error is possible +#define ERR_DS2482_ONEWIRE -66 // DS2482 master cannot reset the OneWire bus PPD bit is 0 +#define ERR_I2C_BUZY -67 // When accessing the I2C bus, the waiting time for its release was exceeded +#define ERR_DRV_EEV -68 // Driver L9333 ERV failed (driver protection worked) +#define ERR_HEADER2_EEPROM -69 // Counter header error in eeprom I2C +#define ERR_OPEN_I2C_JOURNAL -70 // Error opening the log in I2C memory (chip initialization) +#define ERR_READ_I2C_JOURNAL -71 // Error reading the log in I2C memory +#define ERR_WRITE_I2C_JOURNAL -72 // Error writing log in I2C memory +// #define ERR_ -73 // +#define ERR_MIN_FLOW -74 // The flow in the VET is below the set level +#define ERR_MAX_VOLTAGE -75 // Mains voltage too high (SDM120 data) +#define ERR_MAX_POWER -76 // Too much portable power (SDM120 data) +#define ERR_NO_MODBUS -77 // Modbus is required but not in the configuration +#define ERR_RESET_FC -78 // Failed to reset the inverter after an error +#define ERR_SEVA_FLOW -79 // There is no flow in the evaporator (SEVA operation) +#define ERR_COMP_NO_PUMP -80 // Attempt to turn on the compressor when the circuit pumps are not working. +#define ERR_DEFROST_R4WAY -81 // Erroneous configuration - attempt to defrost if it is not possible to switch to cooling (no R4WAY) +#define ERR_DEFROST -82 // Defrosting is required (there are conditions) during cooling +#define ERR_FC_CONF_ANALOG -83 // Error using analog control of the inverter without output +#define ERR_READ_TEMP -84 // Error reading the temperature sensor (read limit exceeded ) +// #define ERR_ -85 // +#define ERR_ONEWIRE_CRC -86 // CRC error while reading OneWire +#define ERR_ONEWIRE_RW -87 // error while reading / writing OneWire +#define ERR_FC_FAULT -88 // inverter failure +#define ERR_FC_ERROR -89 // inverter control program error +#define ERR_SD_WRITE -90 // error writing to SD card +#define ERR_FC_RCOMP -91 // It is not possible to stop the inverter using RCOMP + +#define ERR_ERRMAX -91 // Last error + +// Description of ALL Errors description length not more than 160 bytes (limitation of the main class note_error [160 + 1]) +const char *noteError[] = {" Ok ", // 0 + " Exit the lower limit of the temperature sensor ", // -1 + " Going beyond the upper limit of the temperature sensor ", // -2 + " Going beyond the lower boundary of the pressure sensor ", // -3 + " Going beyond the upper limit of the pressure sensor ", // -4 + " Sensor disabled in current configuration ", // -5 + " Temperature sensor address not set ", // -6 + " Contact sensor trips - accident ", // -7 + " ERV out of range (steps) up (ERV failure?) ", // -8 + " ERV out of range (in steps) down (ERV failure?) ", // -9 + " The device is prohibited in the current configuration ", // -10 + " Reset Error on OneWire Bus (Open or Short) ", // -11 + " ERV received a negative overheating ", // -12 + " Free RTOS cannot create a task, not enough memory ", // -13 + " No pressure sensor, and ERV selected algorithm which uses it ", // -14 length of 132 bytes + " Error writing settings ", // -15 + " Error reading settings ", // -16 + " Checksum error for settings in I2C ", // -17 + " Data size mismatch while reading settings ", // -18 + " Settings data not found in I2C ", // -19 + " Error writing status in I2C ", // -20 + " Error reading state in I2C ", // -21 + " Status data not found in I2C ", // -22 + " Error writing counters in I2C ", // -23 + " Error reading counters from I2C ", // -24 + " Invalid condition of VT ", // -25 + " Excessive temperature difference on the condenser ", // -26 + " Exceeded the temperature difference on the evaporator ", // -27 + " There is no pump on the condenser, check the configuration ", // -28 + " There is no pump on the evaporator, check the configuration ", // -29 + " Error reading pressure sensor (data not ready) ", // -30 + " No compressor, check configuration (RCOMP and FC) ", // -31 + " There is no work for VT, check the settings of the domestic hot water and heating ", // -32 + " Attempting to turn on the compressor in case of error (contact the developer) ", // -33 + " Internal configuration failed (contact the developer) ", // -34 + " Error initializing the SD card ", // -35 + " Index.xxx file not found on SD card ", // -36 + " Error reading file from SD card ", // -37 + " The rule for calculating overheating does not match the sensors ", // -38 + " Inverter on Modbus was not found (inverter operation is prohibited) ", // -39 + " When referring to the 485 port privysheno standby time of his release ", // -40 + " Modbus error 0x01 protocol illegal function exception ", // -41 + " Modbus error 0x02 protocol illegal data address exception ", // -42 + " Modbus error 0x03 protocol illegal data value exception ", // -43 + " Modbus error 0x4 protocol slave device failure exception ", // -44 + " Modbus error 0xe0 Master invalid response slave ID exception ", // -45 + " Modbus error 0xe1 Master invalid response function exception ", // -46 + " Modbus error 0xe2 Master response timed out exception ", // -47 + " Modbus error 0xe3 Master invalid response CRC exception ", // -48 +#ifdef FC_VACON // Vocon 10 specific errors + "The slave device has accepted the request and is processing it (0x05) ", // -49 + "The slave is busy processing the command (0x06) ", // -50 + "The slave cannot execute the program function (0x07) ", // -51 + "The slave detected a parity error (0x08) ", // -52 + " ", // -53 + " ", // -54 + " ", // -55 +#else // OMRON specific errors + " Exception code 0x01 The specified function is not supported ", // -49 + " Exception code 0x02 The specified function was not detected ", // -50 + " Exception code 0x03 Unacceptable format for the specified data ", // -51 + " Omron mx2 0x05 communication error on Modbus (function communication check 0x08) ", // -52 + " Exception code 0x21 Data written to the register is outside the inverter ", // -53 + " Exception code 0x22 The indicated functions are not available for the inverter ", // -54 + " Exception code 0x23 Register (bit), read-only ", // -55 +#endif + " Modbus unknown error (protocol failure) ", // -56 + " Forbidden (incorrect) state of the inverter ", // -57 + " Attempt to turn on the VT with a locked inverter ", // -58 + " PID algorithm - achieving the maximum flow temperature (protection) ", // -59 + " There is not enough memory to allocate for data (see configuration). ", // -60 + " Error writing profile in I2C ", // -61 + " Error reading profile from I2C ", // -62 + " Checksum error for profile ", // -63 + " Data size mismatch while reading profile ", // -64 + " DS2482 master was not found on the bus, I2C bus error is possible ", // -65 + " The DS2482 master cannot reset the OneWire bus PPD bit is 0 ", // -66 + " When referring to the I2C bus is exceeded while waiting for her release ", // -67 + " L9333 ERV driver failure (driver protection worked) ", // -68 + " Counter header error in I2C ", // -69 + " Error opening the log in I2C (chip initialization) ", // -70 + " Error reading the log from I2C memory ", // -71 + " Error writing log to I2C memory ", // -72 + " ", // -73 + " The flow in the VET is below the set level (the problem is the pump, filter) ", // -74 + " Mains voltage too high (SDM counter data) ", // -75 + " Too much power consumption (SDM counter data) ", // -76 + " Modbus is required, but not in the configuration ", // -77 + " Failed to reset the inverter after an error ", // -78 + " There is no duct in the evaporator (SEVA operation) ", // -79 + " Attempt to turn on the compressor when the circuit pump is idle ", // -80 + " An attempt to defrost if it is not possible to switch to cooling (no R4WAY) ", // -81 + " Defrosting is required (there are conditions for temperatures) during cooling ", // -82 + " Error using the analog control of the inverter without the STROKE output ", // -83 + " Error reading temperature sensor (limit of attempts to read has been exhausted) ", // -84 + " ", // -85 + " OneWire Read CRC Error , " // -86 + " OneWire Read / Write Error ", // -87 + " Inverter Failure ", // -88 + " Inverter control program error ", // -89 + " Error writing to the SD card ", // -90 + " It is not possible to stop the inverter using RCOMP ", // -91 + + " NULL "}; +// --------------------------------- LISTED TYPES ------------- -------------------------------- +// Enumerated type - download source for web muzzle +enum TYPE_SOURSE_WEB +{ + pMIN_WEB, // It is necessary to load the minimum face + pSD_WEB, // You must load the face from the card + pFLASH_WEB, // You must load the face from the flash drive + pERR_WEB // Internal error? +}; + +// Enumerated type - Response types of POST requests +enum TYPE_RET_POST +{ + pSETTINGS_OK, // Settings from the selected file are restored, CRC16 OK + pSETTINGS_ERR, // Error restoring settings from a file (see log) + pNULL, // "" - empty string + pLOAD_OK, // Files uploaded, see the log for details + pLOAD_ERR, // Error loading file, see the log for details + pPOST_ERR, // Internal error of the parser of post requests + pNO_DISK, // No flash disk + pSETTINGS_MEM // Settings do not fit into the internal buffer +}; + +// Enumerated type - Heat pump states +enum TYPE_STATE_HP +{ + pOFF_HP, // 0 VT off + pSTARTING_HP, // 1 Starts + pSTOPING_HP, // 2 Stops + pWORK_HP, // 3 Works + pWAIT_HP, // 4 Waiting for VT (schedule - empty space) + pERROR_HP, // 5 Error TN + pERROR_CODE, // 6 - This error should not occur! + pEND15 // Must be the last, add BEFORE !!! +}; + +// Enumerated type - return point from the control algorithm (state decryption) +// Decryption of the code (example Bp12 Boiler - PID algorithm - frequency change by PID) +// The code has three fields +// Source: B-boiler, H-heating, C-cooling +// Algorithm: h - hysteresis, p - PID +// Algorithm Code +// 1 - power off +// 2 - hysteresis inclusion +// 3 - hysteresis shutdown +// 4 - inside the hysteresis (continued: heating or cooling) +// 5 - pause inside the hysteresis +// 6 - feed frequency reset +// 7 - power frequency reset +// 8 - frequency reset by compressor temperature +// 9 - pressure frequency reset +// 10 - acceleration, pid does not work +// 11 - pid time has not come +// 12 - reached the PID, adjustable +// 13 - switching on by return; the minimum return temperature is reached +// 14 - operation of the super-boiler PID DHW (entry into the boiler) +// 15 - The boiler is heated from the pre-condenser (entry into the heating) +// 16 - frequency inverter current reset +// 17 - blocking the frequency increase by the PID when approaching the protection levels +// 18 - blocking the frequency increase by PID when approaching the protection levels +// 19 - blocking the frequency increase by the PID when approaching the current protection levels +// 20 - blocking the increase in frequency by the PID when approaching the TCOMP protection levels +// 21 - blocking the frequency increase by the PID when approaching the protection levels PRESSURE +// 22 - Turning off the heating of the boiler for switching to the HEATING mode by its heating element +// 23 - Turn off the VT mode when reaching the level of protection for the feed (reaching the border) +// 24 - Switching off the VT mode when reaching the level of protection by power (reaching the border) +// 25 - Turn off the VT mode when reaching the level of protection by compressor temperature (reaching the border) +// 26 - Switching off the VT mode when reaching the level of protection by pressure (reaching the border) +// 27 - Switching off the VT mode when reaching the current protection level (reaching the border) +// 28 - Power limitation when working from a backup power source (frequency reset) +// 29 - Turn off the VT mode when the minimum frequency is reached when working from the backup power source. + +enum TYPE_RET_HP +{ + pNone, // At the beginning + pMinPauseOn, // Ensuring a minimum pause between inclusions + // Boiler + pBh1, + pBh2, + pBh3, + pBh4, + pBh5, + pBh22, + + pBp3, + pBp1, + pBp2, + pBp6, + pBp7, + pBp8, + pBp9, + pBp5, + pBp10, + pBp11, + pBp12, + pBp14, + pBp16, + + pBp17, // pid limits + pBp18, + pBp19, + pBp20, + pBp21, + pBp22, + pBp23, + pBp24, + pBp25, + pBp26, + pBp27, + pBp28, + pBp29, + + // Heating + pHh3, + pHh1, + pHh2 + pHh13, + pHh4, + + pHp3 + pHp1 + pHp2 + pHp6, + pHp7 + pHp8 + pHp9 + pHp5, + pHp10 + pHp11, + pHp12, + pHp15, + pHp16, + + pHp17, // pid limits + pHp18, + pHp19, + pHp20 + pHp21, + pHp23, + pHp24, + pHp25, + pHp26, + pHp27, + pHp28 + pHp29 + + // Cooling + pCh3, + pCh1, + pCh2, + pCh13, + pCh4, + + pCp3, + pCp1, + pCp2, + pCp6, + pCp7, + pCp8, + pCp9, + pCp5, + pCp10, + pCp11, + pCp12, + pCp15, + pCp16, + + pCp17, // pid limits + pCp18, + pCp19, + pCp20, + pCp21, + pCp23, + pCp24, + pCp25, + pCp26, + pCp27, + pCp28, + pCp29, + + pEND18 // Must be the last, add BEFORE !!! +}; +// To output the codes +const char *codeRet[] = {" none ", " MinPause ", " Bh1 ", " Bh2 ", " Bh3 ", " Bh4 ", " Bh5 ", " Bh22 ", " Bp3 ", " Bp1 ", " Bp2 ", " Bp6 ", "Bp7 ", " bp8", " BP9 ", " BP5 ", " BP10 ", " BP11 ", " BP12 ", " BP14 ", " BP16 ", " BP17 ", " BP18 ", " BP19 ", " BP20 ", " BP21 ", " Bp22 ", " Bp23 ", " BP24 ", " BP25 ", " BP26 ", " BP27 ", " BP28 ", " BP29 ", + " Hh3 ", " Hh1 ", " Hh2 ", " Hh13 ", " Hh4 ", " Hp3 ", " Hp1 ", " Hp2 ", " Hp6 ", " Hp7 ", " Hp8 ", " Hp9 ", " Hp5 ", "Hp10 ", " Hp11 ", " Hp12 ", " Hp15 ", " Hp16 ", " Hp17 ", " Hp18 ", " Hp19 ", " Hp20 ", " Hp21 ", " Hp23 ", " Hp24 ", " Hp25 ", " Hp26 ", " Hp27 ", " Hp28 ", "Hp29 ", + " Ch3 ", " Ch1 ", " Ch2 ", " Ch13 ", " Ch4 ", " Cp3 ", " Cp1 ", " Cp2 ", " Cp6 ", " Cp7 ", " Cp8 ", " Cp9 ", " Cp5 ", "Cp10 ", " Cp11 ", " Cp12 ", " Cp15 ", " Cp16 ", " Cp17 ", " Cp18 ", " Cp19 ", " Cp20 ", " Cp21 ", " Cp23 ", " Cp24 ", " Cp25 ", " Cp26 ", " Cp27 ", " Cp28 ", "Cp29 ", " null "}; + +// Enumerated type - actions on the compressor +enum MODE_COMP +{ + pCOMP_OFF, // compressor was turned off + pCOMP_ON, // compressor was turned on + pCOMP_NONE, // compressor do nothing - do not change the status + pEND9 // Must be the last, add BEFORE !!! +}; + +// Enumerated type - what to do or what heating mode is selected (first three) +#define MODE_HP uint8_t +#define pOFF 0 // Disable +#define pHEAT 0x01 // Heating +#define pCOOL 0x02 // Cooling +#define pBOILER 0x04 // Boiler +#define pDEFROST 0x08 // Defrost the air vent +#define pCONTINUE 0x80 // flag Continuation + +const char *MODE_HP_STR[] = {" Off ", " Heat ", " Cool ", " Boil ", " Defrost ", " C "}; +const char MODE_HOUSE_WEBSTR[] = " Off: 0; Heating: 0; Cooling: 0; "; + +// Enumerated type - VT control commands +enum TYPE_COMMAND +{ + pEMPTY, // 0 No teams + pSTART, // 1 Starting the heat pump (HANDS) + pAUTOSTART, // 2 Starting the heat pump (automatic pRESTART pREPEAT) + pSTOP, // 3 Stop the heat pump + pRESET, // 4 Reset the controller + pRESTART, // 5 Starting the VT after the controller is reset (differs from pREPEAT only in delay) + pREPEAT, // 6 Relay restart (determined by the number of attempts to restart) + pNETWORK, // 7 reboot the network controller + pJFORMAT, // 8 formatting the log in I2C flash + pSFORMAT, // 9 formatting statistics in I2C flash + pSAVE, // 10 record settings of VT + pWAIT, // 11 switching to VT standby mode (empty schedule) + pRESUME, // 12 Restore from standby + pPROG_FC, // 13 Initial programming of the frequency converter + pEND14 // Must be the last one, add BEFORE !!! +}; + +const char *hp_commands_names[] = {" EMPTY ", " START ", " AUTOSTART ", " STOP ", " RESET ", " RESTART ", " REPEAT ", " NETWORK ", " JFORMAT ", " SFORMAT ", " SAVE ", " WAIT ", " RESUME", " PROG_FC ", " UNKNOWN "}; + +// Enumerated type - TYPES of notifications +enum message +{ + pMESSAGE_NONE, // 0 No notifications + pMESSAGE_TESTMAIL, // 1 Test mail notification + + pMESSAGE_TESTSMS, // 2 Test notification by SMS + + pMESSAGE_RESET, // 3 Notification Reset + + pMESSAGE_ERROR, // 4 Notification Error + + pMESSAGE_LIFE, // 5 Notification Life Signal + + pMESSAGE_TEMP, // 6 Notification Reaching limit temperature + + pMESSAGE_SD, // 7 Notification "Problems with sd card" + + pMESSAGE_WARNING, // 8 Notification "Other notifications" + pEND10 // Must be the last, add BEFORE !!! +}; + +// Enumerated type - service for sending SMS +enum SMS_SERVICE +{ + pSMS_RU, // Service sms.ru + pSMSC_RU, // Service smsc.ru + pSMSC_UA, // Service smsc.ua + pSMSCLUB // Service smsclub.mobi +}; + +const char ADR_SMS_RU[] = " sms.ru "; +const char ADR_SMSC_RU[] = " smsc.ru "; +const char ADR_SMSC_UA[] = " smsc.ua "; +const char ADR_SMSCLUB[] = " gate.smsclub.mobi "; +const char SMS_SERVICE_WEB_SELECT[] = " sms.ru_b; smsc.ruogle; smsc.ua07; smsclub.mobi:07; "; + +// Enumerated type - Freon type +// enum TYPEFREON +// { +#define R22 0 +#define R410A 1 +#define R600A 2 +#define R134A 3 +#define R407C 4 +#define R12 5 +#define R290 6 +#define R404A 7 +#define R717 8 // Must be the last one, add BEFORE !!! +// }; + +// Enumerated type - RED operation rule; five options are displayed depending on the availability of sensors +enum RULE_EEV +{ + TEVAOUT_PEVA, +#ifdef TCOMPIN + TCOMPIN_PEVA, +#endif +#ifdef TEVAIN + TEVAOUT_TEVAIN, + TCOMPIN_TEVAIN, + TABLE, +#endif + MANUAL // Must be the last, add BEFORE !!! +}; + +// Enumerated type - TN test mode +enum TEST_MODE +{ + NORMAL = 0, + SAFE_TEST, + TEST + HARD_TEST // Must be the last, add BEFORE !!! +}; + +// Enumerated type - Socket reset time +enum TIME_RES_SOCKET +{ + pNONE1, // no reset + p30sec, // reset once every 30 seconds + p300sec, // reset once every 300 seconds + pEND4 // Must be the last, add BEFORE !!! +}; + +// Enumerated type - heating algorithms +enum RULE_HP +{ + pHYSTERESIS, // hysteresis algorithm, interval mode + pPID, // algorithm using the PID controller + pHYBRID, // algorithm mixed algorithm, suggested by Ljutik + pEND1 // Must be the last one, add BEFORE !!! +}; + +struct PID_STRUCT +{ // PID controller settings + int16_t Kp; // PID Coef. proportions, in thousandths (negative) + int16_t Ki; // PID Coef. integral, thousandths (negative) + int16_t Kd; // PID Coef. differential, in thousandths (negative) +} __attribute __((packed)); + +#define trOH_default 2 +#define trOH_TCOMP 3 + +struct PID_WORK_STRUCT +{ // PID variables of the controller + union { + int32_t sum; // amount + int16_t pre_err2[2]; // i = 0 + int8_t trend[4]; // i = trOH_ * + }; + int16_t pre_err; // previous error for differentiation + int32_t max; +#ifdef PID_FORMULA2 + union { + int32_t min; + uint8_t hyst[4]; // i = 0..1 + }; + boolean PropOnMeasure; // PID proportional to measurement, otherwise proportional to error +#else + union { + int16_t Kp_dmin; // The difference (in hundredths of a degree) at which there is a decrease in the proportional component of the PID ERV + uint8_t hyst[2]; // i = 0..1 + }; +#endif +}; + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/docs/behaviours.md b/shredder/asterix-pp/firmware/docs/behaviours.md new file mode 100644 index 0000000..d7e07c5 --- /dev/null +++ b/shredder/asterix-pp/firmware/docs/behaviours.md @@ -0,0 +1,99 @@ +# Asterix machine behaviours + +Here the behaviours for the 'normal' mode + +## State - Hybernating + +Green LED : on, during day time only + +### State - Hopper loaded && Hybernate + +Green LED : on + +1, LED strip : fade & dim to full width, til is VDF up + +2, Sound : 2 short increasing beeps + +3, Start motor : if all ok + +### State - Hopper loaded && Hybernate && Cartridge full + +1, LED strip : orange ping pong + +2, Orange LED on, Green LED off + +### State - Hopper loaded && Hybernate && Cartridge full && door(s) open + +1, LED strip : orange ping pong + +2, Orange LED on, Green LED off + +### State - Door(s) open + +1, LED strip : red ping pong + +2, RED LED on, Green LED off + +### State - Door closed && Was shredding / hopper loaded + + + +## State - Hopper loaded && Start shredding + +1, LED strip : fade/dim cell by cell over full stip width (along avg. bottle shredding time) + +2, Sound : one longer beep + +### State - Shredding + +1, LED strip : knight rider effect, dim according to shredding current + +### State - Shredding && slight heat || long shredding run + +1, LED strip : knight rider effect, dim according to shredding current +2, Ventilation/coolers : middle +3, Orange LED : on && Green LED off + +### State - Motor idle, after shredding + +1, LED strip : begin count-down, turn off cell by cell, over 5-8 secs + +### State - Motor stopped, after shredding + +1, LED strip : beging second count down, turn off cell by cell, over 4 secs + +2, Main power : shut down if all ok + +### State - Motor stopped, after shredding && overheat + +1, LED strip : ping pong effect, fade from orange to green til normal temperature is back + +2, Ventilation/coolers : set to max + +3, Orangr LED: on && Green LED off + +### State : Overheat | Enclosure open + +1, LED Strip : red blink +2, Motor : off +3, Sound: long interval beeps +4, Green LED : off, RED LED : on + +### State : Auto-Reverse + +1, LED Strip : orange blink +3, Sound: double beep each reverse trial +4, Green LED : off, Orange LED : on + +### State : Fully Jammed + +1, LED Strip : red blink, 10 mins +2, Sound : siren effect, 2 mins +3, Green LED : blinking, Red LED blinking, 20 mins + +after 20mins : all off, keep red LED blinking + +### State : Cartridge full + +all off, +1, Orange LED : blinking diff --git a/shredder/asterix-pp/firmware/docs/protocol.md b/shredder/asterix-pp/firmware/docs/protocol.md new file mode 100644 index 0000000..a25374f --- /dev/null +++ b/shredder/asterix-pp/firmware/docs/protocol.md @@ -0,0 +1,99 @@ +# Touchscreen/remote interface for various PP machines + +## Communication + +Host (currently RPI4) connects via serial (USB) to Arduino, also to enable remote firmware updates. The host connects to the Arduino will share the device through other protocols, MQTT,... + +## Protocols + +### Serial + +#### Request + +Since it's serial, we receive for each command a reply matching an issue id as well a payload with the requested data or command replies. + +**Command construction** : + +The string is composed as follows = 'START + VALUE + END', where + +- START: ```<<``` +- END: ```>>``` +- VALUE: 1;2;0;1;Power:off:1 + +Send Data/Command Syntax : ```ID ; VERB ; FLAGS ; VERSION ; PAYLOAD``` + +**ID** : queued/issued command id, used to confirm command on sender side + +**VERB** : COMMAND,STATUS,DATA + +**FLAGS** : +```c++ + enum MessageFlags + { + NEW = 1 << 1, // set on target when inbound + // set on target + PROCESSING = 1 << 2, + // set on target when inbound + PROCESSED = 1 << 3, + // set on host, turn on debugging through the entire processing chain + DEBUG = 1 << 4, + RECEIPT = 1 << 5 // set on host, this will return the new state + }; +``` + +**PAYLOAD**: String, this string depends on the verb (see *ECALLS*). + +```c++ +enum ECALLS +{ + // global function + EC_COMMAND = 1, + // addon method + EC_METHOD = 2, + // external function + EC_FUNC = 3, + // user space + EC_USER = 10 +}; +``` + +**Format for Verb EC_METHOD** : Addon-Class-Name:Addon-Class-MemberFunction-Name:Argument + +#### Response + +Response construction via delimitter : 10|x0A - line by line + +Response syntax : ```ID ; STATUS ; PAYLOAD``` + +**ID**: queued/issued command id, used to confirm command on sender side + +**STATUS** : Error code, OK=0, SERVERITY Mask (syslog) + +**PAYLOAD** : String - this string contains all enabled module states. The payload depends upon the sent query type (see **ECALLS**). + +**Format for Verb EC_METHOD**, ie: ````Power:off:1```` = NEW_VALUE (the new state) + +------------------------------------------------------------ +#### boot + +1. Addon::setup + -> Plunger::home + -> power(second) + -> home +2. PI:handshake -> state + +#### cycle - HopperLoaded? -> + +|Func|State / flag| +|-----|-----------------| +|1. Plunger::home(safe=on)| AF_INIT_HOMING | +|-- 1.1 Plunger::homed? | AF_INIT_HOMED \|\| AF_ERROR | +|2. Power:on(primary & second)| AF_INIT_POWERED | +| +|3. VFD:fwd| AF_INIT_SHREDDING | +|4. Plunger::plunge| AF_SHREDDING +|-- 4.1. Plunger::check| AF_SHREDDING +|-- 4.1.1 AutoReverse? stop : plunge | AF_AUTO_REVERSING \| AF_SHREDDING +|-- 4.1.2. Current = Shredding? stop(delay=3) : plunge | AF_FINISHING \| AF_SHREDDING | +|5. Plunger::LowLimit?| +|-- 1. Current=Idle? -> home| \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/enums.h b/shredder/asterix-pp/firmware/enums.h new file mode 100644 index 0000000..c1aaae0 --- /dev/null +++ b/shredder/asterix-pp/firmware/enums.h @@ -0,0 +1,113 @@ +#ifndef ENUMS_H +#define ENUMS_H + +enum PIN_TYPE +{ + ANALOG, + DIGITAL +}; + +enum BOARD +{ + UNO, + MEGA +}; + +enum POS3_DIRECTION +{ + UP = 1, + MIDDLE = 0, + DOWN = 2, + INVALID = -1 +}; + +enum MODE +{ + /* + HALT = 0, + STARTING = 1, + SHREDDING = 2, + BREAKING = 3, + // REVERSING = 4, + // JAMMING = 5, + FATAL = 6, + RESET = 7, + SUSPENDING = 8, + SUSPEND = 9, + RESUMING = 10 + */ +}; + +enum AR_MODE +{ + NORMAL = 1, // Shredding + EXTRUSION = 2, // Extrusion (no reverse) + NONE = 3, // Disable any jamming detection + REMOTE = 4 // User land, ie: Firmata, I2C or PlasticHub-Studio +}; + +enum MACHINE_FEATURES +{ + SHREDDER = 1 << 1, + EXTRUDER = 1 << 2, + INJECTOR = 1 << 3, + GRINDER = 1 << 4, + PRINTER = 1 << 5 +}; + +enum ADDON_FLAGS +{ + DEBUG = 1, + INFO = 2, + LOOP = 3, + DISABLED = 4, + SETUP = 5, + MAIN = 6, + STATE = 7 +}; + +enum ADDONS +{ + MOTOR_IDLE = 1, + MOTOR_LOAD = 2, + MOTOR_TEMPERATURE = 3, + VFD_CONTROL = 4, + DIRECTION_SWITCH = 5, + ENCLOSURE_SENSOR = 6, + MOTOR_SPEED = 7, + AUTO_REVERSE = 8, + CARTRIDGE_FULL_SENSOR_1 = 9, + DIP_SWITCH = 10, + POWER = 11, + OPERATION_MODE_SWITCH = 20, + HOPPER_LOADED = 21, + SERIAL_BRIDGE = 23, + PLUNGER = 24, + APP = 25, + MODBUS_BRIDGE = 26, + RMOTOR_CONTROL = 30, + LAST = 64 +}; + +enum POWER_CIRCUIT +{ + POWER_PRIMARY = 0, + POWER_SECONDARY = 1 +}; + +enum OPERATION_MODE +{ + OP_NONE = 0, + OP_NORMAL = 1, + OP_DEBUG = 2, + OP_SERVICE = 3, + OP_TEST +}; +enum ERROR +{ + ERROR_OK = 0, + ERROR_WARNING = 1, + ERROR_FATAL = 2 +}; + +#endif diff --git a/shredder/asterix-pp/firmware/features.h b/shredder/asterix-pp/firmware/features.h new file mode 100644 index 0000000..b7ea57e --- /dev/null +++ b/shredder/asterix-pp/firmware/features.h @@ -0,0 +1,138 @@ +#ifndef FEATURES_H +#define FEATURES_H + +#ifdef HAS_BRIDGE + #include "bridge.h" +#endif + +#ifdef HAS_SERIAL + #include "serial.h" +#endif + + +#ifdef HAS_DIP +#include "_DipSwitch.h" +#endif + +#ifdef HAS_TEMPERTURE +#include "temperature.h" +#endif + +#ifdef HAS_EXTRUDER_TEMPERATUR +#include "ex_temperature.h" +#endif + +#ifdef HAS_SOUND +#include "alarm.h" +#endif + +#ifdef HAS_HALL +#include "hall.h" +#endif + +#ifdef HAS_STATUS + #include "addons/Status.h" +#endif + +#ifdef HAS_RESET +#include "reset.h" +#endif + +#ifdef ENABLE_AUTO_REVERSE_PIN +#include "auto-reverse-button.h" +#endif + +#ifdef HAS_AUTO_REVERSE_MODE +#include "auto-reverse-mode-switch.h" +#endif + +#if defined(HOPPER_DOOR_PIN) || defined(HOPPER_PIN) +#include "hopper.h" +#define HAS_HOPPER +#endif + +#ifdef HOPPER_FEED_SENSOR +#include "shredder-feed.h" +#endif + +#ifdef SUSPEND_PIN +#include "suspend.h" +#endif + +#ifdef RESUME_PIN +#include "resume.h" +#endif + +#ifdef HAS_AUTOREVERSE +#include "auto-reverse.h" +#ifdef HAS_IR +#include "IRSensor.h" +#endif +#endif + + +#if defined(HOPPER_LOADED_0) || defined(HOPPER_LOADED_1) + #include "addons/HopperLoaded.h" +#define HAS_HOPPER_LOADED +#endif + +#if defined(ENCLOSURE_SENSOR_PIN_1) || defined(ENCLOSURE_SENSOR_PIN_2) +#include "EnclosureSensor.h" +#define HAS_ENCLOSURE_SENSOR +#endif + +#if defined(POWER_0) || defined(POWER_1) + #include "addons/Power.h" + #define HAS_POWER +#endif + +#ifdef MOTOR_LOAD_PIN + #include "addons/MotorLoad.h" +#endif + +#ifdef CARTRIDGE_FULL_1 +#include "addons/CartridgeFull.h" +#endif + +#ifdef MOTOR_HAS_TEMPERTURE +#include "addons/MotorTemperature.h" +#endif + +#ifdef HAS_MOTOR_IR_SENSOR +#include "addons/MotorSpeed.h" +#endif + +#if defined(OP_MODE_1_PIN) + #include "addons/OperationModeSwitch.h" + #define HAS_OP_MODE_SWITCH +#endif + +#if defined(FWD_PIN) && defined(REV_PIN) + #include "addons/DirectionSwitch.h" + #define HAS_DIRECTION_SWITCH +#endif + +#ifdef HAS_AUTOREVERSE + #include "../Auto-Reverse.h" +#endif + +#if defined(FWD_PIN) && defined(REV_PIN) + #include "VFD.h" + #define HAS_VFD +#endif + +////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// +// Plastic Hub - Addons +// + +// Plastic Hub Studio - remote control +#ifdef USE_FIRMATA +#include "firmata_link.h" +#endif + +#ifdef HAS_PLUNGER + #include "Plunger.h" +#endif + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/firmware-next.ino b/shredder/asterix-pp/firmware/firmware-next.ino new file mode 100644 index 0000000..d0dd16c --- /dev/null +++ b/shredder/asterix-pp/firmware/firmware-next.ino @@ -0,0 +1,11 @@ +#include "app.h" + +App app = App(); + +void setup(){ + app.setup(); + app.info(); +} +void loop(){ + app.loop(); +} \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/firmware-next.sln b/shredder/asterix-pp/firmware/firmware-next.sln new file mode 100644 index 0000000..ce6112a --- /dev/null +++ b/shredder/asterix-pp/firmware/firmware-next.sln @@ -0,0 +1,25 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Version 16 +VisualStudioVersion = 16.0.29306.81 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "firmware-next", "firmware-next.vcxproj", "{C5F80730-F44F-4478-BDAE-6634EFC2CA88}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|x86 = Debug|x86 + Release|x86 = Release|x86 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Debug|x86.ActiveCfg = Debug|Win32 + {C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Debug|x86.Build.0 = Debug|Win32 + {C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Release|x86.ActiveCfg = Release|Win32 + {C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Release|x86.Build.0 = Release|Win32 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {CDE67A18-61A1-4327-B9D9-A517A0ED33DB} + EndGlobalSection +EndGlobal diff --git a/shredder/asterix-pp/firmware/firmware-next.vcxproj b/shredder/asterix-pp/firmware/firmware-next.vcxproj new file mode 100644 index 0000000..99a2afd --- /dev/null +++ b/shredder/asterix-pp/firmware/firmware-next.vcxproj @@ -0,0 +1,193 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + + {C5F80730-F44F-4478-BDAE-6634EFC2CA88} + firmware_next + firmware-next + + + + Application + true + MultiByte + + + + + Application + false + true + MultiByte + + + + + Application + true + MultiByte + + + + + Application + false + true + MultiByte + + + + + Application + false + true + MultiByte + v141 + + + + + + + + + + + + + + + + + + + + + + + Level3 + Disabled + true + $(ProjectDir)..\firmware-next;$(ProjectDir)..\..\..\..\..\Documents\Arduino\libraries\CONTROLLINO;$(ProjectDir)..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\arduino\avr\libraries\SPI\src;$(ProjectDir)..\..\..\..\..\Documents\Arduino\libraries\Vector\src;$(ProjectDir)..\..\..\..\..\Documents\Arduino\libraries\Bounce2-master\src;$(ProjectDir)..\..\..\..\..\Documents\Arduino\libraries\Streaming-5.0.0\src;$(ProjectDir)..\..\..\..\..\Documents\Arduino\libraries\ArduinoJson\src;$(ProjectDir)..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\arduino\avr\libraries\SoftwareSerial\src;$(ProjectDir)..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\arduino\avr\cores\arduino;$(ProjectDir)..\..\..\..\..\AppData\Local\arduino15\packages\CONTROLLINO_Boards\hardware\avr\3.1.0\variants\Controllino_mega;$(ProjectDir)..\..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\tools\avr\\lib\gcc\avr\7.3.0\include;$(ProjectDir)..\..\..\..\..\..\..\Program Files 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MaxSpeed + true + true + true + + + true + true + true + + + + + + + VisualMicroDebugger + + + + CppCode + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/firmware-next.vcxproj.filters b/shredder/asterix-pp/firmware/firmware-next.vcxproj.filters new file mode 100644 index 0000000..9c1b337 --- /dev/null +++ b/shredder/asterix-pp/firmware/firmware-next.vcxproj.filters @@ -0,0 +1,216 @@ + + + + + {4FC737F1-C7A5-4376-A066-2A32D752A2FF} + cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx + + + {93995380-89BD-4b04-88EB-625FBE52EBFB} + h;hh;hpp;hxx;hm;inl;inc;xsd + + + {67DA6AB6-F800-4c08-8B7A-83BB121AAD01} + xml;json;txt;rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms + + + + + + Misc Files + + + + + Header Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + Source Files + + + \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/firmware-next.vcxproj.user b/shredder/asterix-pp/firmware/firmware-next.vcxproj.user new file mode 100644 index 0000000..88a5509 --- /dev/null +++ b/shredder/asterix-pp/firmware/firmware-next.vcxproj.user @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/package.json b/shredder/asterix-pp/firmware/package.json new file mode 100644 index 0000000..c5ca287 --- /dev/null +++ b/shredder/asterix-pp/firmware/package.json @@ -0,0 +1,27 @@ +{ + "name": "@plastichub/firmware", + "version": "1.0.0", + "description": "- debug flags - addon callbacks & callback masks - addon memory - addon I2C - addon sensor array - addon lifecycle methods", + "main": "index.js", + "scripts": { + "test": "echo \"Error: no test specified\" && exit 1" + }, + "repository": { + "type": "git", + "url": "git+https://gitlab.com/plastichub/firmware.git" + }, + "keywords": [ + "precious", + "plastic" + ], + "author": "PlasticHUB", + "license": "GPL-3.0-or-later", + "bugs": { + "url": "https://gitlab.com/plastichub/firmware/issues" + }, + "homepage": "https://gitlab.com/plastichub/firmware#readme", + "dependencies": { + "@xblox/fs": "^0.13.19", + "simple-git": "^1.131.0" + } +} diff --git a/shredder/asterix-pp/firmware/ppmath_statistics.cpp b/shredder/asterix-pp/firmware/ppmath_statistics.cpp new file mode 100644 index 0000000..6ba5f40 --- /dev/null +++ b/shredder/asterix-pp/firmware/ppmath_statistics.cpp @@ -0,0 +1,93 @@ +#include "ppmath_statistics.h" + +Statistic::Statistic() +{ + clear(); +} + +// resets all counters +void Statistic::clear() +{ + _cnt = 0; + _sum = 0; + _min = 0; + _max = 0; +#ifdef STAT_USE_STDEV + _ssqdif = 0.0; // not _ssq but sum of square differences + // which is SUM(from i = 1 to N) of + // (f(i)-_ave_N)**2 +#endif +} + +// adds a new value to the data-set +void Statistic::add(const float value) +{ + if (_cnt == 0) + { + _min = value; + _max = value; + } + else + { + if (value < _min) + _min = value; + else if (value > _max) + _max = value; + } + _sum += value; + _cnt++; + +#ifdef STAT_USE_STDEV + if (_cnt > 1) + { + float _store = (_sum / _cnt - value); + _ssqdif = _ssqdif + _cnt * _store * _store / (_cnt - 1); + // ~10% faster but limits the amount of samples to 65K as _cnt*_cnt overflows + // float _store = _sum - _cnt * value; + // _ssqdif = _ssqdif + _store * _store / (_cnt*_cnt - _cnt); + } +#endif +} + +// returns the average of the data-set added sofar +float Statistic::average() const +{ + if (_cnt == 0) + return NAN; // original code returned 0 + return _sum / _cnt; +} + +// Population standard deviation = s = sqrt [ S ( Xi - � )2 / N ] +// http://www.suite101.com/content/how-is-standard-deviation-used-a99084 +#ifdef STAT_USE_STDEV + +float Statistic::variance() const +{ + if (_cnt == 0) + return NAN; // otherwise DIV0 error + return _ssqdif / _cnt; +} + +float Statistic::mean() const +{ + if (_cnt == 0) + return NAN; // otherwise DIV0 error + return this->sum() / _cnt; +} + +float Statistic::pop_stdev() const +{ + if (_cnt == 0) + return NAN; // otherwise DIV0 error + return sqrt(_ssqdif / _cnt); +} + +float Statistic::unbiased_stdev() const +{ + if (_cnt < 2) + return NAN; // otherwise DIV0 error + return sqrt(_ssqdif / (_cnt - 1)); +} + +#endif +// END OF FILE \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/ppmath_statistics.h b/shredder/asterix-pp/firmware/ppmath_statistics.h new file mode 100644 index 0000000..01d8887 --- /dev/null +++ b/shredder/asterix-pp/firmware/ppmath_statistics.h @@ -0,0 +1,116 @@ +#ifndef PPMATH_STATISTICS_H +#define PPMATH_STATISTICS_H + +#include +#include + +#define STAT_USE_STDEV + +#ifdef __cplusplus + +// C++11 solution that is standards compliant. Return type is deduced automatically +template +static inline constexpr auto MIN(const L lhs, const R rhs) -> decltype(lhs + rhs) +{ + return lhs < rhs ? lhs : rhs; +} +template +static inline constexpr auto MAX(const L lhs, const R rhs) -> decltype(lhs + rhs) +{ + return lhs > rhs ? lhs : rhs; +} +template +static inline constexpr const T ABS(const T v) +{ + return v >= 0 ? v : -v; +} +#else +// Using GCC extensions, but Travis GCC version does not like it and gives +// "error: statement-expressions are not allowed outside functions nor in template-argument lists" +#define MIN(a, b) \ + ({__typeof__(a) _a = (a); \ + __typeof__(b) _b = (b); \ + _a < _b ? _a : _b; }) + +#define MAX(a, b) \ + ({__typeof__(a) _a = (a); \ + __typeof__(b) _b = (b); \ + _a > _b ? _a : _b; }) + +#define ABS(a) \ + ({__typeof__(a) _a = (a); \ + _a >= 0 ? _a : -_a; }) + +#endif + +class Statistic +{ +public: + Statistic(); // "switches on/off" stdev run time + void clear(); // "switches on/off" stdev run time + void add(const float); + + // returns the number of values added + uint32_t count() const { return _cnt; }; // zero if empty + float sum() const { return _sum; }; // zero if empty + float minimum() const { return _min; }; // zero if empty + float maximum() const { return _max; }; // zero if empty + float average() const; // NAN if empty + float mean() const; // zero if empty + +#ifdef STAT_USE_STDEV + float variance() const; // NAN if empty + float pop_stdev() const; // population stdev // NAN if empty + float unbiased_stdev() const; // NAN if empty +#endif + +protected: + uint32_t _cnt; + float _sum; + float _min; + float _max; +#ifdef STAT_USE_STDEV + float _ssqdif; // sum of squares difference +#endif +}; + +/** + * Returns the kth q-quantile. + * @link http://en.wikipedia.org/wiki/Quantile#Quantiles_of_a_population + * ie: median is 1st 2-quantile + * ie: upper quartile is 3rd 4-quantile + * @return {Number} q-quantile of values. + */ +/* +const quantile = (arr: number[], i: number, n: number) => { + if (i === 0) return Math.min.apply(null, arr); + if (i === n) return Math.max.apply(null, arr); + + let sorted = arr.slice(0); + sorted.sort((a, b) => a - b); + let index = sorted.length * i / n; + + if (index % 1 === 0) { + return 0.5 * sorted[index - 1] + 0.5 * sorted[index]; + } + + return sorted[~~index]; +}; + +export const median = (arr: number[]) => quantile(arr, 1, 2); + +export const sum = (arr: number[]) => arr.reduce((a, b) => a + b, 0); + +export const mean = (arr: number[]) => sum(arr) / arr.length; + + +// sqare errors along mean +const sdiff = (arr: number[], mean: number) => arr.map((v) => + Math.pow(v - mean, 2) +); + +export const standardDeviation = (arr: number[]) => + Math.sqrt(mean(sdiff(arr, mean(arr)))); +*/ + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/serial.cpp b/shredder/asterix-pp/firmware/serial.cpp new file mode 100644 index 0000000..1b06f2d --- /dev/null +++ b/shredder/asterix-pp/firmware/serial.cpp @@ -0,0 +1,127 @@ +#include "serial.h" +#include +#include +#include "bridge.h" +#include "common/macros.h" + +#define START_STR "<<" +#define END_STR ">>" +#define START_LENGTH 2 +#define END_LENGTH 2 +#define SPLIT_STR ";" + +static PPSerial::Message *_messages[10]; + +short PPSerial::setup() +{ + messages.setStorage(_messages); +} + +short PPSerial::loop() +{ +} +PPSerial::Message *PPSerial::parse(const char *string) +{ + Message *msg = new Message(1, 2, 0, 3); + const char *strings[5]; + char *ptr = NULL; + byte index = 0; + + ptr = strtok(string, SPLIT_STR); + + while (ptr != NULL && index < 5) + { + + strings[index] = ptr; + index++; + ptr = strtok(NULL, SPLIT_STR); + } + + msg->id = atoi(strings[0]); + msg->verb = atoi(strings[1]); + msg->flags = atoi(strings[2]); + msg->flags = SBI(msg->flags, Bridge::NEW); + msg->version = atoi(strings[3]); + msg->payload = strings[4]; + return msg; +} +void PPSerial::readMessages() +{ + while (stream.available()) + { + String message = stream.readString(); + message.trim(); + + if (message.startsWith(START_STR) && message.endsWith(END_STR)) + { + String data = message.substring(START_LENGTH, message.length() - END_LENGTH); + char *ptr = NULL; + byte index = 0; + ptr = strtok(data.c_str(), '\n'); + while (ptr != NULL && index < 5) + { + if (strlen(ptr) > 4) + { + Message *msg = parse(String(ptr).c_str()); + if (msg != NULL) + { + messages.push_back(msg); + } + } + index++; + ptr = strtok(NULL, '\n'); + } + } + } +} + +PPSerial::Message *PPSerial::read() +{ + /* + readMessages(); + Message *m = messages.at(0); + if (m != NULL && messages.size()) + { + messages.remove(0); + return m; + } + return NULL; +*/ + while (stream.available()) + { + String message = stream.readString(); + message.trim(); + + if (message.startsWith(START_STR) && message.endsWith(END_STR)) + { + + msg->payload = NULL; + + String data = message.substring(START_LENGTH, message.length() - END_LENGTH); + const char *strings[5]; + char *ptr = NULL; + byte index = 0; + ptr = strtok(data.c_str(), SPLIT_STR); + while (ptr != NULL && index < 5) + { + + strings[index] = ptr; + index++; + ptr = strtok(NULL, SPLIT_STR); + } + + msg->id = atoi(strings[0]); + msg->verb = atoi(strings[1]); + msg->flags = atoi(strings[2]); + msg->version = atoi(strings[3]); + msg->payload = strings[4]; + return msg; + } + else + { + Serial.print(message); + Serial.println(" : invalid message"); + } + } + return NULL; +} \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/serial.h b/shredder/asterix-pp/firmware/serial.h new file mode 100644 index 0000000..8482341 --- /dev/null +++ b/shredder/asterix-pp/firmware/serial.h @@ -0,0 +1,47 @@ +#ifndef PPSERIAL_H +#define PPSERIAL_H +#include +#include "Addon.h" + +// Message struct: << id,verb,flags,version,payload >> +// Example :<<1;2;0;1;Power:on:1>> + +class PPSerial : public Addon +{ + +public: + PPSerial(Stream &_stream) : stream(_stream), + Addon("Serial", SERIAL_BRIDGE), + msg(new Message(0, 0, 0, 0)) + { + flags = 0; + } + + struct Message + { + public: + int id; + uchar verb; + int flags; + uchar version; + char *payload; + millis_t ts; + Message(int _id, int _verb, int _flags, int _version) : id(_id), + verb(_verb), + flags(_flags), + version(_version) {} + }; + + short loop(); + Message *read(); + Message *msg; + Message *parse(const char *string); + Vector messages; + + void readMessages(); + short setup(); + +protected: + Stream &stream; +}; +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/types.h b/shredder/asterix-pp/firmware/types.h new file mode 100644 index 0000000..c33a7a3 --- /dev/null +++ b/shredder/asterix-pp/firmware/types.h @@ -0,0 +1,11 @@ +#ifndef TYPES_H +#define TYPES_H + +#include + +typedef unsigned long millis_t; +typedef unsigned short ushort; +typedef unsigned char uchar; + + +#endif \ No newline at end of file diff --git a/shredder/asterix-pp/firmware/user_config.h b/shredder/asterix-pp/firmware/user_config.h new file mode 100644 index 0000000..a0c1ec4 --- /dev/null +++ b/shredder/asterix-pp/firmware/user_config.h @@ -0,0 +1,4 @@ +#ifndef USER_CONFIG_H +#define USER_CONFIG_H + +#endif diff --git a/shredder/asterix-pp/firmware/util/crc16.h b/shredder/asterix-pp/firmware/util/crc16.h new file mode 100644 index 0000000..3ed528e --- /dev/null +++ b/shredder/asterix-pp/firmware/util/crc16.h @@ -0,0 +1,88 @@ +/** +@file +CRC Computations + +@defgroup util_crc16 "util/crc16.h": CRC Computations +@code#include "util/crc16.h"@endcode + +This header file provides functions for calculating +cyclic redundancy checks (CRC) using common polynomials. +Modified by Doc Walker to be processor-independent (removed inline +assembler to allow it to compile on SAM3X8E processors). + +@par References: +Jack Crenshaw's "Implementing CRCs" article in the January 1992 issue of @e +Embedded @e Systems @e Programming. This may be difficult to find, but it +explains CRC's in very clear and concise terms. Well worth the effort to +obtain a copy. + +*/ +/* Copyright (c) 2002, 2003, 2004 Marek Michalkiewicz + Copyright (c) 2005, 2007 Joerg Wunsch + Copyright (c) 2013 Dave Hylands + Copyright (c) 2013 Frederic Nadeau + Copyright (c) 2015 Doc Walker + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in + the documentation and/or other materials provided with the + distribution. + + * Neither the name of the copyright holders nor the names of + contributors may be used to endorse or promote products derived + from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + POSSIBILITY OF SUCH DAMAGE. */ + + +#ifndef _UTIL_CRC16_H_ +#define _UTIL_CRC16_H_ + + +/** @ingroup util_crc16 + Processor-independent CRC-16 calculation. + + Polynomial: x^16 + x^15 + x^2 + 1 (0xA001)
+ Initial value: 0xFFFF + + This CRC is normally used in disk-drive controllers. + + @param uint16_t crc (0x0000..0xFFFF) + @param uint8_t a (0x00..0xFF) + @return calculated CRC (0x0000..0xFFFF) +*/ +uint16_t crc16_update(uint16_t crc, uint8_t a); +/*{ + int i; + + crc ^= a; + for (i = 0; i < 8; ++i) + { + if (crc & 1) + crc = (crc >> 1) ^ 0xA001; + else + crc = (crc >> 1); + } + + return crc; +} +*/ + +#endif /* _UTIL_CRC16_H_ */ diff --git a/shredder/asterix-pp/firmware/util/word.h b/shredder/asterix-pp/firmware/util/word.h new file mode 100644 index 0000000..c72ad94 --- /dev/null +++ b/shredder/asterix-pp/firmware/util/word.h @@ -0,0 +1,64 @@ +/** +@file +Utility Functions for Manipulating Words + +@defgroup util_word "util/word.h": Utility Functions for Manipulating Words +@code#include "util/word.h"@endcode + +This header file provides utility functions for manipulating words. + +*/ +/* + + word.h - Utility Functions for Manipulating Words + + This file is part of ModbusMaster. + + ModbusMaster is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + ModbusMaster is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with ModbusMaster. If not, see . + + Written by Doc Walker (Rx) + Copyright © 2009-2015 Doc Walker <4-20ma at wvfans dot net> + +*/ + + +#ifndef _UTIL_WORD_H_ +#define _UTIL_WORD_H_ + + +/** @ingroup util_word + Return low word of a 32-bit integer. + + @param uint32_t ww (0x00000000..0xFFFFFFFF) + @return low word of input (0x0000..0xFFFF) +*/ +static inline uint16_t lowWord(uint32_t ww) +{ + return (uint16_t) ((ww) & 0xFFFF); +} + + +/** @ingroup util_word + Return high word of a 32-bit integer. + + @param uint32_t ww (0x00000000..0xFFFFFFFF) + @return high word of input (0x0000..0xFFFF) +*/ +static inline uint16_t highWord(uint32_t ww) +{ + return (uint16_t) ((ww) >> 16); +} + + +#endif /* _UTIL_WORD_H_ */ diff --git a/shredder/asterix-pp/firmware/version.js b/shredder/asterix-pp/firmware/version.js new file mode 100644 index 0000000..067887e --- /dev/null +++ b/shredder/asterix-pp/firmware/version.js @@ -0,0 +1,32 @@ +const read = require('@xblox/fs/read'); +const write = require('@xblox/fs/write'); +const path = require('path'); +const cwd = path.resolve('../../'); +const pkgVersion = read.sync('package.json', 'json').version; + +async function status(workingDir) { + const git = require('simple-git/promise'); + + let statusSummary = null; + try { + statusSummary = await git(workingDir).log(); + } + catch (e) { + // handle the error + } + + return statusSummary; +} + + +status(cwd).then((status) => { + const version = + `#ifndef VERSION_H \n + #define VERSION_H \n + #define VERSION '${pkgVersion}|${status.latest.hash}'\n + #endif`; + + write.sync('./Version.h', version); + console.log(version); +} +); \ No newline at end of file diff --git a/shredder/asterix-pp/laser/en/Stainless/2mm/-101_HopperSide_2x.DXF b/shredder/asterix-pp/laser/en/Stainless/2mm/-101_HopperSide_2x.DXF new file mode 100644 index 0000000..3bd62c6 --- /dev/null +++ b/shredder/asterix-pp/laser/en/Stainless/2mm/-101_HopperSide_2x.DXF @@ -0,0 +1,3524 @@ + 0 +SECTION + 2 +HEADER + 9 +$ACADVER + 1 +AC1015 + 9 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+AcDbScale + 70 + 0 +300 +100:1 +140 +100.0 +141 +1.0 +290 + 0 + 0 +SCALE + 5 +59 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1/128" = 1'-0" +140 +0.0078125 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +5A +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1/64" = 1'-0" +140 +0.015625 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +5B +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1/32" = 1'-0" +140 +0.03125 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +5C +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1/16" = 1'-0" +140 +0.0625 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +5D +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +3/32" = 1'-0" +140 +0.09375 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +5E +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1/8" = 1'-0" +140 +0.125 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +5F +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +3/16" = 1'-0" +140 +0.1875 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +60 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1/4" = 1'-0" +140 +0.25 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +61 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +3/8" = 1'-0" +140 +0.375 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +62 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1/2" = 1'-0" +140 +0.5 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +63 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +3/4" = 1'-0" +140 +0.75 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +64 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1" = 1'-0" +140 +1.0 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +65 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1-1/2" = 1'-0" +140 +1.5 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +66 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +3" = 1'-0" +140 +3.0 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +67 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +6" = 1'-0" +140 +6.0 +141 +12.0 +290 + 0 + 0 +SCALE + 5 +68 +102 +{ACAD_REACTORS +330 +47 +102 +} +330 +47 +100 +AcDbScale + 70 + 0 +300 +1'-0" = 1'-0" +140 +12.0 +141 +12.0 +290 + 0 + 0 +ENDSEC + 0 +EOF diff --git a/shredder/asterix-pp/media/asterix-pp.jpg b/shredder/asterix-pp/media/asterix-pp.jpg new file mode 100644 index 0000000..0bf7509 --- /dev/null +++ b/shredder/asterix-pp/media/asterix-pp.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03f28e280ccd8fac34f9abc743717ddc986992fa24ab54ac0094de4abe95258b +size 1067131 diff --git a/shredder/asterix-pp/media/cp.JPG b/shredder/asterix-pp/media/cp.JPG new file mode 100644 index 0000000..72696fc --- /dev/null +++ b/shredder/asterix-pp/media/cp.JPG @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ae3771bb371b44a5c05458d9ce4977336cf96847871d17fa6e7181945206cf4 +size 3309568 diff --git a/shredder/asterix-pp/media/cp2.JPG b/shredder/asterix-pp/media/cp2.JPG new file mode 100644 index 0000000..0cdb9af --- /dev/null +++ b/shredder/asterix-pp/media/cp2.JPG @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85a40c47b0213016fce1b72b2432fa228fd094a02603087fa136e1d0bc1512d3 +size 132372 diff --git a/shredder/asterix-pp/media/perspective.jpg b/shredder/asterix-pp/media/perspective.jpg new file mode 100644 index 0000000..37809fe --- /dev/null +++ b/shredder/asterix-pp/media/perspective.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2780c1f6655a90fa06f3f4423c45327e8c7e3b246274e0ff3be6b4f3d10c862a +size 1004718 diff --git a/shredder/asterix-pp/parts.csv b/shredder/asterix-pp/parts.csv new file mode 100644 index 0000000..360215e --- /dev/null +++ b/shredder/asterix-pp/parts.csv @@ -0,0 +1,7 @@ +Part Nr.,Description,Configuration +,, +1,Entry for bottle lids, +2,Touchscreen, +3,Bottle entry with door, +4,Container for bottle flakes, +5,Container for bottle lids, diff --git a/shredder/asterix-pp/readme.md b/shredder/asterix-pp/readme.md new file mode 100644 index 0000000..cb74097 --- /dev/null +++ b/shredder/asterix-pp/readme.md @@ -0,0 +1,18 @@ +# Asterix - PreciousPlastic Version + +Modified PreciousPlastic shredder for vending usage + +### Shredder modifications: + +- 5 more blades +- stronger housing +- 32mm hexbar +- 30mm shaft +- UCFL206 Bearings + +### Features + +- Auto-Plunger +- Auto-Reverse +- Safety door +- Optional : auto-Stop/Shred (uses optical sensor) diff --git a/shredder/asterix-pp/renderings/auto-plunger.jpg b/shredder/asterix-pp/renderings/auto-plunger.jpg new file mode 100644 index 0000000..05bb395 --- /dev/null +++ b/shredder/asterix-pp/renderings/auto-plunger.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7fb467c942539034f6c96cc65251ed6b1aa140616c6f3ba504ce6d79dd4abd3 +size 600366 diff --git a/shredder/asterix-pp/renderings/perspective.jpg b/shredder/asterix-pp/renderings/perspective.jpg new file mode 100644 index 0000000..1ca0ca6 --- /dev/null +++ b/shredder/asterix-pp/renderings/perspective.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a895e372534fefd84436b4609f365424d82abc8aeffef4327ed6aaf6fc3dab3 +size 692522 diff --git a/shredder/asterix-pp/renderings/section.jpg b/shredder/asterix-pp/renderings/section.jpg new file mode 100644 index 0000000..44f421f --- /dev/null +++ b/shredder/asterix-pp/renderings/section.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc1e14375869f77fa6b336d76c365319c59f745feaf79ba885d99ed5a73243a5 +size 493870 diff --git a/shredder/asterix-pp/resources/Aterix-HMI.pdf b/shredder/asterix-pp/resources/Aterix-HMI.pdf new file mode 100644 index 0000000..f613d99 --- /dev/null +++ b/shredder/asterix-pp/resources/Aterix-HMI.pdf @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5552be611034c13613de9e7d7d827f03e5d547eb1a6b984b148946c24d722742 +size 13369453 diff --git a/shredder/asterix-pp/resources/GlobalAssembly.xlsx b/shredder/asterix-pp/resources/GlobalAssembly.xlsx new file mode 100644 index 0000000..8427e5a Binary files /dev/null and b/shredder/asterix-pp/resources/GlobalAssembly.xlsx differ diff --git a/shredder/asterix-pp/resources/datasheets/omron_d116_e2b_cylindrical_proximity_sensor_datasheet_en.pdf b/shredder/asterix-pp/resources/datasheets/omron_d116_e2b_cylindrical_proximity_sensor_datasheet_en.pdf new file mode 100644 index 0000000..6d5018d --- /dev/null +++ b/shredder/asterix-pp/resources/datasheets/omron_d116_e2b_cylindrical_proximity_sensor_datasheet_en.pdf @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1cc0892513c7b93a8aff32f1a1cc7fe21b698b9e15b03ac0f5b729793c34725e +size 6918857 diff --git a/shredder/asterix-pp/resources/datasheets/omron_e424_e3fa_e3ra_e3fb_e3rb_photoelectric_sensors_datasheet_en.pdf b/shredder/asterix-pp/resources/datasheets/omron_e424_e3fa_e3ra_e3fb_e3rb_photoelectric_sensors_datasheet_en.pdf new file mode 100644 index 0000000..dfcda42 --- /dev/null +++ b/shredder/asterix-pp/resources/datasheets/omron_e424_e3fa_e3ra_e3fb_e3rb_photoelectric_sensors_datasheet_en.pdf @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a338ac53239f0ef34106e09d83eaf69b27246450dc0699e2831a8b1c1a44aee3 +size 6959918 diff --git a/shredder/asterix-pp/resources/datasheets/omron_v412_nb-series_hmi_datasheet_en.pdf b/shredder/asterix-pp/resources/datasheets/omron_v412_nb-series_hmi_datasheet_en.pdf new file mode 100644 index 0000000..bc55dc9 --- /dev/null +++ b/shredder/asterix-pp/resources/datasheets/omron_v412_nb-series_hmi_datasheet_en.pdf @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df8e4c2a35d91108d8f8d90c7f31f5564342fc60c4060fd20f2b5c0a5a63698e +size 674386 diff --git a/shredder/asterix-pp/resources/datasheets/omron_v412_nb_series_brochure_en.pdf b/shredder/asterix-pp/resources/datasheets/omron_v412_nb_series_brochure_en.pdf new file mode 100644 index 0000000..cfb63a3 --- /dev/null +++ b/shredder/asterix-pp/resources/datasheets/omron_v412_nb_series_brochure_en.pdf @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:356d976c28e3316a4b2a48756618a1e2fb8cd1d5706954492051dd8ba38d2667 +size 6290657 diff --git a/shredder/asterix-pp/resources/documentation/Asterix-Overview.png b/shredder/asterix-pp/resources/documentation/Asterix-Overview.png new file mode 100644 index 0000000..e214584 --- /dev/null +++ b/shredder/asterix-pp/resources/documentation/Asterix-Overview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:81b29153551840fa139386c57fa99e7eaa96dde0b59f1fb54a4a660944385630 +size 131080 diff --git 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sha256:2ff49692d16445e7175d438c545e59770d54b16eaa5e30cbd32b63b0e2ddecbb +size 67055 diff --git a/shredder/asterix-pp/resources/electrical/AsterixM.svg b/shredder/asterix-pp/resources/electrical/AsterixM.svg new file mode 100644 index 0000000..6e3037f --- /dev/null +++ b/shredder/asterix-pp/resources/electrical/AsterixM.svg @@ -0,0 +1,3 @@ + + +
A1
A1
A2
A2
B1
B1
B2
B2
12
12
14
14
11
11
L1
L1
L2
L2
L3
L3
T1
T1
T2
T2
T3
T3
M
M
3 Phase Motor
3 Phase Motor
V
V
U
U
W
W
1
1
0
0
2
2
GND
GND
VCC
VCC
A0
A0
A1
A1
A2
A2
A3
A3
D3
D3
D2
D2
C3
C3
IN0
IN0
A4
A4
A5
A5
D4
D4
D5
D5
C4
C4
D1
D1
D0
D0
CMN
CMN
GND
GND
GND
GND
VCC
VCC
VCC
VCC
N
N
L
L
L
L
N
N
N
N
L1
L1
VCC
VCC
GND
GND
N
N
L
L
N
N
L
L
A2
A2
N
N
L
L
A1
A1
N
N
L
L
N
N
L
L
L
L
N
N
N
N
L
L
L
L
N
N
N
N
L
L
N
N
L
L
V+
V+
V-
V-
V+
V+
V-
V-
L
L
N
N
N
N
L
L
L
L
N
N
N
N
L
L
L
L
L
L
N
N
L
L
A2
A2
N
N
L
L
A1
A1
N
N
L
L
N
N
L
L
L
L
N
N
NC
NC
NC
NC
NC
NC
NC
NC
Plunger - Limit Switch Up
Plunger - Limit Switch Up
Direction Switch
Direction Switch
1
1
0
0
2
2
Automatic/Manual
Automatic/Manual
PWM
PWM
GND
GND
VCC
VCC
Plunger - HOME (Fast)
Plunger - HOME (Fast)
PWM
PWM
GND
GND
VCC
VCC
Plunger - PLUNGE (Slow)
Plunger - PLUNGE (Slow)
Plunger - Limit Switch Down
Plunger - Limit Switch Down
Plunger
Plunger
D1
D1
Plunger - Servo - Down
Plunger - Servo - Down
D0
D0
Plunger - Servo - Up
Plunger - Servo - Up
D0
D0
Plunger - Servo - DIR
Plunger - Servo - DIR
Plunger - Servo - Up
Plunger - Servo - Up
STEP + 
STEP + 
Plunger - Servo - Down
Plunger - Servo - Down
Plunger - Servo - DIR
Plunger - Servo - DIR
DIR + 
DIR + 
A3
A3
Plunger - Limit - UP
Plunger - Limit - UP
Plunger - Limit - Down
Plunger - Limit - Down
A4
A4
Plunger - Limit - DOWN
Plunger - Limit - DOWN
A2
A2
VFD - Current Monitor
VFD - Current Monitor
U
U
V
V
W
W
N
N
L
L
VFD - Forward
VFD - Forward
VFD - Reverse
VFD - Reverse
VFD - Current Monitor
VFD - Current Monitor
FWD
FWD
REV
REV
AM
AM
VFD
VFD
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diff --git a/shredder/asterix-pp/resources/hmi/devices/SSH-Servers/Raspberry-Build.meta.json b/shredder/asterix-pp/resources/hmi/devices/SSH-Servers/Raspberry-Build.meta.json new file mode 100644 index 0000000..f47344f --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/devices/SSH-Servers/Raspberry-Build.meta.json @@ -0,0 +1,203 @@ +{ + "inputs": [ + { + "dataRef": null, + "description": "Title", + "enabled": true, + "flags": -1, + "group": "Common", + "id": "Title", + "name": "Title", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Title", + "type": 13, + "uid": -1, + "value": "Raspberry-Build", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Host", + "enabled": true, + "flags": -1, + "group": "Network", + "id": "Host", + "name": "Host", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Host", + "type": 13, + "uid": -1, + 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Flags", + "name": "Logging Flags", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Logging Flags", + "type": "Logging Flags", + "uid": -1, + "value": "{}", + "visible": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/devices/SSH-Servers/SSH-Windows.meta.json b/shredder/asterix-pp/resources/hmi/devices/SSH-Servers/SSH-Windows.meta.json new file mode 100644 index 0000000..1a1f6c3 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/devices/SSH-Servers/SSH-Windows.meta.json @@ -0,0 +1,202 @@ +{ + "inputs": [ + { + "dataRef": null, + "description": "Title", + "enabled": true, + "flags": -1, + "group": "Common", + "id": "Title", + "name": "Title", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Title", + "type": 13, + "uid": -1, + "value": "SSH-Windows", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Host", + "enabled": true, + "flags": -1, + "group": "Network", + "id": "Host", + "name": "Host", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Host", + "type": 13, + "uid": -1, + "value": "192.168.1.99", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Enabled", + "enabled": true, + "flags": -1, + "group": "Common", + "id": "Enabled", + "name": "Enabled", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Enabled", + "type": 0, + "uid": -1, + "value": false, + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Driver", + "enabled": true, + "flags": -1, + "group": "Common", + "id": "Driver", + "name": "Driver", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Driver", + "type": 3, + "uid": -1, + "value": "c8451d91-9167-ac64-92f8-25fda925d659", + "visible": true, + "enumType": "Driver" + }, + { + "dataRef": null, + "description": "Protocol", + "enabled": true, + "flags": -1, + "group": "Network", + "id": "Protocol", + "name": "Protocol", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Protocol", + "type": 3, + "uid": -1, + "value": "ssh", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Port", + "enabled": true, + "flags": -1, + "group": "Network", + "id": "Port", + "name": "Port", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Port", + "type": 13, + "uid": -1, + "value": "22", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Id", + "enabled": true, + "flags": -1, + "group": "Common", + "id": "Id", + "name": "Id", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Id", + "type": 13, + "uid": -1, + "value": "41cf1120-2ddb-9ad0-71fd-534df87203e6", + "visible": false, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Options", + "enabled": true, + "flags": -1, + "group": "Network", + "id": "Options", + "name": "Options", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Options", + "type": 28, + "uid": -1, + "value": "{\"username\":\"Admin\",\"password\":\"admin\",\"debug\":false,\"html\":false,\"waitForEOF\":true,\"ansiUp\":false}", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "", + "enabled": true, + "flags": -1, + "group": -1, + "id": "DriverOptions", + "name": "DriverOptions", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "", + "type": 5, + "uid": -1, + "value": 0, + "visible": true + }, + { + "dataRef": null, + "description": "", + "enabled": true, + "flags": -1, + "group": -1, + "id": "Logging Flags", + "name": "Logging Flags", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Logging Flags", + "type": "Logging Flags", + "uid": -1, + "value": "{}", + "visible": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/devices/Shredder/Asterix.meta.json b/shredder/asterix-pp/resources/hmi/devices/Shredder/Asterix.meta.json new file mode 100644 index 0000000..98c97be --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/devices/Shredder/Asterix.meta.json @@ -0,0 +1,139 @@ +{ + "inputs": [ + { + "name": "Title", + "value": "Asterix", + "type": 13, + "enumType": "-1", + "visible": true, + "active": false, + "changed": true, + "group": "Common", + "user": null, + "dst": null, + "id": "Title", + "params": null + }, + { + "name": "Host", + "value": "COM21", + "type": 13, + "enumType": "-1", + "visible": true, + "active": false, + "changed": false, + "group": "Network", + "user": null, + "dst": null, + "id": "Host", + "params": null + }, + { + "name": "Enabled", + "value": true, + "type": 0, + "enumType": "-1", + "visible": true, + "active": false, + "changed": false, + "group": "Common", + "user": null, + "dst": null, + "id": "Enabled", + "params": null + }, + { + "name": "Driver", + "value": "5bd99163-aeac-c16e-baab-4fce4fc5803c", + "type": 3, + "enumType": "Driver", + "visible": true, + "active": false, + "changed": false, + "group": "Common", + "user": null, + "dst": null, + "id": "Driver", + "params": null + }, + { + "name": "Protocol", + "value": "serial", + "type": 3, + "enumType": "-1", + "visible": true, + "active": false, + "changed": false, + "group": "Network", + "user": null, + "dst": null, + "id": "Protocol", + "params": null + }, + { + "name": "Port", + "value": "23", + "type": 13, + "enumType": "-1", + "visible": true, + "active": false, + "changed": false, + "group": "Network", + "user": null, + "dst": null, + "id": "Port", + "params": null + }, + { + "name": "Id", + "value": "349e4b1c-451a-61e8-4178-a976f9c8392e", + "type": 13, + "enumType": "-1", + "visible": false, + "active": false, + "changed": false, + "group": "Network", + "user": null, + "dst": null, + "id": "Id", + "params": null + }, + { + "name": "Options", + "value": "{\n \"baudRate\": \"19200\",\n \"databits\": 8,\n \"stopbits\": 1,\n \"parity\": \"none\",\n \"rtscts\": false,\n \"xon\": false,\n \"xoff\": false,\n \"flowcontrol\": true,\n \"buffersize\": 65536\n}", + "type": 21, + "enumType": "-1", + "visible": true, + "active": false, + "changed": false, + "group": "Network", + "user": null, + "dst": null, + "id": "Options", + "params": null + }, + { + "name": "DriverOptions", + "value": 16, + "type": 5, + "enumType": "-1", + "visible": true, + "active": false, + "changed": false, + "group": "Driver", + "user": null, + "dst": null, + "id": "DriverOptions", + "params": null + }, + { + "id": "Logging Flags", + "name": "Logging Flags", + "parentId": -1, + "title": "Logging Flags", + "type": "Logging Flags", + "value": "{\n \"Device Connected\": 47,\n \"Response\": 35,\n \"Send Command\": 51,\n \"Device Disonnected\": 39,\n \"Device Error\": 1\n}", + "visible": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/devices/Shredder/Plunger.meta.json b/shredder/asterix-pp/resources/hmi/devices/Shredder/Plunger.meta.json new file mode 100644 index 0000000..9fb2eed --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/devices/Shredder/Plunger.meta.json @@ -0,0 +1,139 @@ +{ + "inputs": [ + { + "name": "Title", + "value": "Plunger", + "type": 13, + "enumType": "-1", + "visible": true, + "active": false, + "changed": true, + "group": "Common", + "user": null, + "dst": null, + "id": "Title", + "params": null + }, + { + "name": "Host", + "value": "COM19", + "type": 13, + "enumType": "-1", + "visible": true, + "active": false, + "changed": false, + "group": "Network", + "user": null, + "dst": null, + "id": "Host", + "params": null + }, + { + "name": "Enabled", + "value": false, + "type": 0, + "enumType": "-1", + "visible": true, + "active": false, + "changed": false, + "group": "Common", + "user": null, + "dst": null, + "id": "Enabled", + "params": null + }, + { + "name": "Driver", + "value": "6657b4bc-c41a-144b-ef4f-f9a8045eb457", + "type": 3, + "enumType": "Driver", + "visible": true, + "active": false, + "changed": false, + "group": "Common", + "user": null, + "dst": null, + "id": "Driver", + "params": null + }, + { + "name": "Protocol", + "value": "serial", + "type": 3, + "enumType": "-1", + "visible": true, + "active": false, + "changed": false, + "group": "Network", + "user": null, + "dst": null, + "id": "Protocol", + "params": null + }, + { + "name": "Port", + "value": "23", + "type": 13, + "enumType": "-1", + "visible": true, + "active": false, + "changed": false, + "group": "Network", + "user": null, + "dst": null, + "id": "Port", + "params": null + }, + { + "name": "Id", + "value": "3eebdb07-1a76-2adb-6b43-d244faf2e00e", + "type": 13, + "enumType": "-1", + "visible": false, + "active": false, + "changed": false, + "group": "Network", + "user": null, + "dst": null, + "id": "Id", + "params": null + }, + { + "name": "Options", + "value": "{\n \"baudRate\": \"250000\",\n \"databits\": 8,\n \"stopbits\": 1,\n \"parity\": \"none\",\n \"rtscts\": false,\n \"xon\": false,\n \"xoff\": false,\n \"flowcontrol\": true,\n \"buffersize\": 65536\n}", + "type": 21, + "enumType": "-1", + "visible": true, + "active": false, + "changed": false, + "group": "Network", + "user": null, + "dst": null, + "id": "Options", + "params": null + }, + { + "name": "DriverOptions", + "value": 16, + "type": 5, + "enumType": "-1", + "visible": true, + "active": false, + "changed": false, + "group": "Driver", + "user": null, + "dst": null, + "id": "DriverOptions", + "params": null + }, + { + "id": "Logging Flags", + "name": "Logging Flags", + "parentId": -1, + "title": "Logging Flags", + "type": "Logging Flags", + "value": "{\n \"Device Connected\": 47,\n \"Response\": 35,\n \"Send Command\": 51,\n \"Device Disonnected\": 39,\n \"Device Error\": 1\n}", + "visible": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/devices/Tests/Loopback-Client.meta.json b/shredder/asterix-pp/resources/hmi/devices/Tests/Loopback-Client.meta.json new file mode 100644 index 0000000..c591f98 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/devices/Tests/Loopback-Client.meta.json @@ -0,0 +1,204 @@ +{ + "inputs": [ + { + "dataRef": null, + "description": "Title", + "enabled": true, + "flags": -1, + "group": "Common", + "id": "Title", + "name": "Title", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Title", + "type": 13, + "uid": -1, + "value": "Loopback-Client", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Host", + "enabled": true, + "flags": -1, + "group": "Network", + "id": "Host", + "name": "Host", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Host", + "type": 13, + "uid": -1, + "value": "127.0.0.1", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Enabled", + "enabled": true, + "flags": -1, + "group": "Common", + "id": "Enabled", + "name": "Enabled", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Enabled", + "type": 0, + "uid": -1, + "value": false, + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Driver", + "enabled": true, + "flags": -1, + "group": "Common", + "id": "Driver", + "name": "Driver", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Driver", + "type": 3, + "uid": -1, + "value": "1961a5bd-29da-807c-affa-b59cba74b6cb", + "visible": true, + "enumType": "Driver" + }, + { + "dataRef": null, + "description": "Protocol", + "enabled": true, + "flags": -1, + "group": "Network", + "id": "Protocol", + "name": "Protocol", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Protocol", + "type": 3, + "uid": -1, + "value": "tcp", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Port", + "enabled": true, + "flags": -1, + "group": "Network", + "id": "Port", + "name": "Port", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Port", + "type": 13, + "uid": -1, + "value": "9999", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Id", + "enabled": true, + "flags": -1, + "group": "Common", + "id": "Id", + "name": "Id", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Id", + "type": 13, + "uid": -1, + "value": "e5644c28-542c-2475-8870-03ca02960e41", + "visible": false, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Options", + "enabled": true, + "flags": -1, + "group": "Network", + "id": "Options", + "name": "Options", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Options", + "type": 28, + "uid": -1, + "value": "{}", + "visible": true, + "enumType": "-1" + }, + false, + false, + { + "dataRef": null, + "description": "", + "enabled": true, + "flags": -1, + "group": -1, + "id": "DriverOptions", + "name": "DriverOptions", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Driver Options", + "type": 5, + "uid": -1, + "value": 0, + "visible": true + }, + { + "dataRef": null, + "description": "", + "enabled": true, + "flags": -1, + "group": "Logging", + "id": "Logging Flags", + "name": "Logging Flags", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Logging Flags", + "type": "Logging Flags", + "uid": -1, + "value": "{\n \"Device Disonnected\": 39,\n \"Response\": 0,\n \"Send Command\": 0\n}", + "visible": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/devices/Tests/Loopback.meta.json b/shredder/asterix-pp/resources/hmi/devices/Tests/Loopback.meta.json new file mode 100644 index 0000000..29de0d6 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/devices/Tests/Loopback.meta.json @@ -0,0 +1,204 @@ +{ + "inputs": [ + { + "dataRef": null, + "description": "Title", + "enabled": true, + "flags": -1, + "group": "Common", + "id": "Title", + "name": "Title", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Title", + "type": 13, + "uid": -1, + "value": "Loopback", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Host", + "enabled": true, + "flags": -1, + "group": "Network", + "id": "Host", + "name": "Host", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Host", + "type": 13, + "uid": -1, + "value": "127.0.0.1", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Enabled", + "enabled": true, + "flags": -1, + "group": "Common", + "id": "Enabled", + "name": "Enabled", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Enabled", + "type": 0, + "uid": -1, + "value": false, + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Driver", + "enabled": true, + "flags": -1, + "group": "Common", + "id": "Driver", + "name": "Driver", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Driver", + "type": 3, + "uid": -1, + "value": "0f4a9e08-1def-f9ba-e996-b56c86e74524", + "visible": true, + "enumType": "Driver" + }, + { + "dataRef": null, + "description": "Protocol", + "enabled": true, + "flags": -1, + "group": "Network", + "id": "Protocol", + "name": "Protocol", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Protocol", + "type": 3, + "uid": -1, + "value": "tcp", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Port", + "enabled": true, + "flags": -1, + "group": "Network", + "id": "Port", + "name": "Port", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Port", + "type": 13, + "uid": -1, + "value": "9999", + "visible": true, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Id", + "enabled": true, + "flags": -1, + "group": "Common", + "id": "Id", + "name": "Id", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Id", + "type": 13, + "uid": -1, + "value": "3b687086-1613-9704-5e86-15c93ff54bf2", + "visible": false, + "enumType": "-1" + }, + { + "dataRef": null, + "description": "Options", + "enabled": true, + "flags": -1, + "group": "Network", + "id": "Options", + "name": "Options", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Options", + "type": 28, + "uid": -1, + "value": "{}", + "visible": true, + "enumType": "-1" + }, + false, + false, + { + "dataRef": null, + "description": "", + "enabled": true, + "flags": -1, + "group": -1, + "id": "DriverOptions", + "name": "DriverOptions", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Driver Options", + "type": 5, + "uid": -1, + "value": 65552, + "visible": true + }, + { + "dataRef": null, + "description": "", + "enabled": true, + "flags": -1, + "group": "Logging", + "id": "Logging Flags", + "name": "Logging Flags", + "order": -1, + "params": null, + "parentId": -1, + "platform": null, + "storeDestination": null, + "title": "Logging Flags", + "type": "Logging Flags", + "uid": -1, + "value": "{\n \"Response\": 51,\n \"Send Command\": 51,\n \"Device Disonnected\": 55,\n \"Device Connected\": 55\n}", + "visible": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Arduino/Arduino.js b/shredder/asterix-pp/resources/hmi/drivers/Arduino/Arduino.js new file mode 100644 index 0000000..7ba9880 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Arduino/Arduino.js @@ -0,0 +1,636 @@ +define([ + "dcl/dcl", + "xide/utils", + "xide/types", + "xide/console", + "xcf/model/Command", + "xdojo/has!host-node?nxapp/protocols/ProtocolBase", + "xdojo/has!host-node?dojo/node!yargs-parser" +], function (dcl,utils,types, console,Command,ProtocolBase,yargs) { + var five = null; + var debug = true; + // The returning module + var Module = null; + + //the johnny-five module, set when connected. + var JohnnyFive = null; + + // client side, return nothing + if (!ProtocolBase) { + //create dummy module + Module = dcl(null, {}); + patchModule(); + return Module; + } + + + Module = dcl(ProtocolBase, { + isNodeJS: true, + board: null, + context:null, + inputs: { + A0: {pin: {}, value: 0}, + A1: {pin: {}, value: 0}, + A2: {pin: {}, value: 0}, + A3: {pin: {}, value: 0}, + A4: {pin: {}, value: 0}, + A5: {pin: {}, value: 0} + }, + outputs: { + D1: {pin: {}, value: 0}, + D2: {pin: {}, value: 0}, + D3: {pin: {}, value: 0}, + D4: {pin: {}, value: 0}, + D5: {pin: {}, value: 0}, + D6: {pin: {}, value: 0}, + D7: {pin: {}, value: 0}, + D8: {pin: {}, value: 0}, + D9: {pin: {}, value: 0}, + D10: {pin: {}, value: 0}, + D11: {pin: {}, value: 0}, + D12: {pin: {}, value: 0}, + D13: {pin: {}, value: 0} + }, + get: function(field) { + if(this.inputs[field]){ + return this.inputs[field].value; + }else{ + console.error('pin doesnt exists : ' + field,this.inputs); + } + }, + set: function(field, value) { + value = parseInt(value,10); + + if(this.inputs[field] != undefined) { + + if(parseInt(this.inputs[field].value, 10) !== parseInt( value, 10 )) { + this.inputs[field].value = value; + //this.emit('change', {field: field, value: this.inputs[field].value}); + } + } + else if(this.outputs[field] !== undefined) { + if(parseInt(this.outputs[field].value,10) !== parseInt(value,10)) { + this.outputs[field].value = value; + if(this.connected) { + this.setHardwarePin(field, value); + } + } + } + return this; + }, + setHardwarePin: function(field, value) { + var outputField = this.outputs[field]; + + if(outputField && outputField.pin) { + var pinMode = outputField.pin.mode; + } + + if(outputField !== undefined && (field === 'D3' + || field === 'D5' + || field === 'D6' + || field === 'D9' + || field === 'D10' + || field === 'D11') ) { + var pinMode = outputField.pin.mode; + + // Check which pinmode is set on the pin to determine which method to call + if (pinMode === this.PINMODES.PWM || pinMode === this.PINMODES.OUTPUT) { + this.outputs[field].pin.brightness(value); + + } else if(pinMode === this.PINMODES.SERVO) { + this.outputs[field].pin.to(value); + } + + // For reference: + //MODES: + //{ INPUT: 0, + //OUTPUT: 1, + //ANALOG: 2, + //PWM: 3, + //SERVO: 4, + //SHIFT: 5, + //I2C: 6, + //ONEWIRE: 7, + //STEPPER: 8, + //IGNORE: 127, + //UNKOWN: 16 }, + + } + else if(pinMode == this.PINMODES.OUTPUT) { + var pinMode = outputField.pin.mode; + if(value >= 255) { + this.outputs[field].pin.on(); + } + else { + this.outputs[field].pin.off(); + } + } + }, + addDefaultPins:function(){ + var self = this; + // Store all pin mode mappings (string -> integer) + this.PINMODES = this.board.io.MODES; + + var pollFreq = 100; + + // Instantiate each sensor listed on the model to the sensors array + for(var input in this.inputs) { + + (function() { + + if(!parseInt(input, 10)) { + var sensor = JohnnyFive.Sensor({ + pin: input, + freq: pollFreq + }); + + this.inputs[input].pin = sensor; + + sensor.scale([0, 1023]).on("data", function() { + self.set('A'+this.pin, Math.floor(this.value)); + //console.log('sensor data '+'A'+this.pin,Math.floor(this.value)); + }); + } + else { + this.board.pinMode(input, JohnnyFive.Pin.INPUT); + } + + }.bind(this))(); + } + + + // Cycle through and add all the outputs here + for(var output in this.outputs) { + (function() { + // hack for right now to hard code pin <3 as pwm, pin 9 as servo + var pin = parseInt(output.substr(1),10); + var outputPin; + + if (pin === 3 || pin === 5 || pin === 6 || pin === 10 || pin === 11 || pin === 9) { + outputPin = new JohnnyFive.Led(pin); + } + //else if(pin === 9) { + //outputPin = new five.Servo({ + //pin: pin, + //range: [0,180], + //}); + //} + + this.outputs[output].pin = outputPin; + + }.bind(this))(); + } + + }, + constructor:function(options){ + utils.mixin(this,options); + }, + _sendError: function (data, command, options) { + if(!options){ + console.error('have no options',options); + options = {}; + } + if(!options.params){ + console.error('have no params',options); + options.params = {wait:true}; + } + var wait = options.params.wait; + var self = this; + var outString = JSON.stringify(utils.mixin({ + command: command + }, data, null, 2)); + if (wait) { + self.owner.onError(command, options, new Buffer(outString)); + } else { + self.owner.onData(outString, new Buffer(outString)); + } + }, + setMode:function(nr,mode,options){ + var board = this.board; + //nr = parseInt(nr,10); + mode = parseInt(mode,10); + + //this.context.pinMode(nr,mode); + this.setHardwarePin(nr,mode); + }, + digitalWrite:function(nr,value,options){ + this.board.digitalWrite(parseInt(nr,10), parseInt(value,10)); + }, + digitalRead:function(nr,options){ + this.board.digitalRead(parseInt(nr,10),function(value){ + console.log('digitalRead: ',value); + this._send({ + value:value, + gpio:nr + },'digitalRead',options); + }.bind(this)); + }, + _send: function (data, command, options) { + var wait = options.params.wait; + var self = this; + var outString = JSON.stringify(utils.mixin({ + command: command + }, data, null, 2)); + + if (wait) { + self.owner.onFinish(command, options, new Buffer(outString)); + } else { + self.owner.onData(outString, new Buffer(outString)); + } + }, + analogRead:function(nr,options){ + var self = this; + /* + var handler = function(value){ + console.log('analogRead: ',value); + self._send({ + value:value, + gpio:nr + },'analogRead',options); + }.bind(this); + + //this.board.analogRead.apply(this.board,[parseInt(nr,10),handler]); + this.context.analogRead(parseInt(nr,10),handler);*/ + + self._send({ + value:this.get(nr,10), + gpio:parseInt(nr,10) + },'analogRead',options); + + }, + /** + * + * @param what {string} A string encoded byte array in the 01,02,... format + * @returns {null} + */ + write:function(what,options){ + var _parsed = null; + //convert buffer from byte array string to string + var intArray = utils.bufferFromDecString(what); + var buffer = new Buffer(intArray); + + what = buffer.toString(); + + var args = what.split(" "); + var cmd = "" + args[0]; + args.shift(); + + this.isDebug() && console.log('write : ' + what, args); + + if (typeof this[cmd] === 'function') { + args.push(options); + try { + return this[cmd].apply(this, args); + }catch(e){ + console.error('Error running '+cmd + " : " + e.message); + this._sendError({ + error:e.message + },cmd,options); + } + }else{ + console.error('cant find command '+cmd); + } + + return; + + try { + _parsed = (new Function("{\n" + what + "\n}")).apply(this.context,[console,this]); + }catch(e) { + console.error('Arduino: Error running code : ' + e.message, e); + console.trace(); + this.owner.onError(what, e); + utils.stack(); + } + + debug && console.log('Arduino,result '+_parsed); + return null; + }, + onButton:function(){ + console.log('on button'); + //send to IDE or clients + this.owner.onData("on button"); + }, + onConnected:function(){ + this.owner.onConnected(); + }, + onInfo:function(evt){ + var owner=this.owner; + var connectionManager = owner.delegate; + connectionManager.onData(owner,evt); + }, + connect: function () { + var five = null; + var self = this; + try { + five = require(["dojo/node!johnny-five"],function(_five){ + JohnnyFive = _five; + five = _five; + var myBoard; + try { + //if(global['_j5_context']) { + + if(global['_j5_context'] && global['_j5_context'][self.options.host]){ + console.error('re-use!'); + self.context = global['_j5_context'][self.options.host].context; + self.board = global['_j5_context'][self.options.host].board; + self.inputs = global['_j5_context'][self.options.host].inputs; + self.outputs = global['_j5_context'][self.options.host].outputs; + self.connected = true; + self.onConnected(); + return; + } + + myBoard = new five.Board({ + repl: false, + debug: false, + port: self.options.host + }); + + myBoard.on("error", function (e) { + console.error('johnny-five ', e); + self._sendError(e['class'] + ':' + e.message, 'connect', self.options); + }) + myBoard.on("ready", function () { + self.context = this; + self.context.j5 = _five; + self.context.log = console.log; + self.board = myBoard; + self.addDefaultPins(); + self.connected = true; + self.onConnected(); + + + if(!global['_j5_context']){ + global['_j5_context'] = {} + } + global['_j5_context'][self.options.host] = { + context:self.context, + board:myBoard, + inputs : self.inputs, + outputs : self.outputs + }; + }); + + myBoard.on("info", function (event) { + self.onInfo(event); + //console.log("%s sent an 'info' message: %s", event.class, event.message); + }); + + }catch(e){ + console.error('----'+ e.message,e.stack); + utils.stack(); + } + }); + }catch(e){ + console.error('error requiring '+ e.message,e); + } + }, + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage: function (data) {}, + end:function(){ + console.error('disconnect'); + if(this.context){ + this.context.disconnect(); + this.board = null; + } + }, + destroy: function () { + console.error('disconnect'); + if(this.context){ + this.board = null; + } + } + }); + + Module.is = function(){ + return types.PROTOCOL.SERIAL; + }; + + function patchModule(){ + + var PIN_MODES = { + INPUT: 0x00, + OUTPUT: 0x01, + ANALOG: 0x02, + PWM: 0x03, + SERVO: 0x04 + }; + + Module.getFields = function (command, fields) { + var result = []; + //add a GPIO field + if(command._isGPIO) { + command._gpio = command._gpio || 17; + result.push(utils.createCI('test', types.ECIType.STRING, command._gpio, { + group: 'GPIO', + title: 'GPIO', + dst: '_gpio', + order: 197 + })); + } + + //add gpio mode field + if(command._gpioFunc === 'setMode') { + command._mode = command._mode || "OUTPUT"; + result.push(utils.createCI('test', types.ECIType.ENUMERATION, command._mode, { + group: 'GPIO', + title: 'Mode', + dst: '_mode', + order: 198, + widget:{ + options:[ + {value:PIN_MODES.INPUT,label:"INPUT"}, + {value:PIN_MODES.OUTPUT,label:"OUTPUT"}, + {value:PIN_MODES.ANALOG,label:"ANALOG"}, + {value:PIN_MODES.PWM,label:"PWM"}, + {value:PIN_MODES.SERVO,label:"SERVO"} + ] + } + })); + } + + if(command._gpioFunc === 'digitalWrite') { + command._value = command._value || 1; + result.push(utils.createCI('test', types.ECIType.ENUMERATION, command._value, { + group: 'GPIO', + title: 'Value', + dst: '_value', + order: 199, + widget:{ + options:[ + {value:0,label:"0"}, + {value:1,label:"1"} + ] + } + })); + } + + if(command._gpioFunc === 'analogWrite') { + command._value = command._value || 1; + result.push(utils.createCI('test', types.ECIType.ENUMERATION, command._value, { + group: 'GPIO', + title: 'Value', + dst: '_value', + order: 199, + widget:{ + options:[ + {value:0,label:"0"}, + {value:1,label:"1"} + ] + } + })); + } + + + return result; + }; + /** + * + * @param label + * @param icon + * @param ctrAgs + * @param variables + * @param send + * @param func + * @param description + * @param scope + * @param owner + * @param target + * @param group + */ + function createBlock(label,icon,ctrAgs,variables,send,func,description,scope, owner, target, group){ + return { + name: label, + owner: owner, + icon: icon, + proto: Command, + target: target, + ctrArgs: utils.mixin({ + icon:icon, + flags:0, + name:label, + scope: scope, + group: group, + variables:variables ? JSON.stringify(variables) : "{}", + send:send, + _isGPIO:true, + _gpioFunc:func, + description:description + },ctrAgs) + }; + } + + /** + * Extend xblox for new blocks/commands. + * @param scope + * @param owner + * @param target + * @param group + * @param items + * @returns {*} + */ + Module.getNewBlocks=function(scope, owner, target, group, items){ + + if(!items){ + return null; + } + items.push({ + name: 'Johnny-Five', + iconClass: 'fa-code', + items: [ + createBlock('Set GPIO Mode','fa-cogs',null, + { 'GPIO': '_gpio','GPIO_MODE': '_mode'}, + "setMode {{GPIO}} {{GPIO_MODE}}","setMode", + "Set the mode of a specific pin, one of INPUT, OUTPUT, ANALOG, PWM, SERVO. Mode constants are exposed via the Pin class", + scope,owner,target,group), + + createBlock('Digital Write','fa-send',null, + { 'GPIO': '_gpio','GPIO_VALUE': '_value'}, + "digitalWrite {{GPIO}} {{GPIO_VALUE}}","digitalWrite", + "Write a digital value (0 or 1) to a digital pin.", + scope,owner,target,group), + + createBlock('Digital Read','fa-send',null, + { 'GPIO': '_gpio'}, + "digitalRead {{GPIO}}","digitalRead", + "Returns the GPIO level", + scope,owner,target,group), + + createBlock('Analog Read','fa-send',null, + { 'GPIO': '_gpio'}, + "analogRead {{GPIO}}","analogRead", + "Register a handler to be called whenever the board reports the voltage value (0-1023) of the specified analog pin.", + scope,owner,target,group), + + createBlock('Analog Write','fa-send',null, + { 'GPIO': '_gpio'}, + "analogWrite {{GPIO}} {{GPIO_VALUE}}","analogWrite", + "Write an unsigned, 8-bit value (0-255) to an analog pin.", + scope,owner,target,group) + ] + }); + return items; + }; + /** + * Override interface for "toText" + * @param command + * @param text + * @returns {*} + */ + Module.toText = function (command, text) { + if(!command._isGPIO){ + return; + } + if(command.variables){ + var commandVariables = utils.fromJson(command.variables); + var variables = {}; + + for(var variable in commandVariables){ + variables[variable]=command[commandVariables[variable]] || " "; + } + text = utils.replace(text,null,variables,{ + begin:'{{', + end:'}}' + }); + return text; + } + + }; + Module.resolveAfter = function (command,inputString) { + if(!command._isGPIO){ + return; + } + if(command.variables){ + var commandVariables = utils.fromJson(command.variables); + var variables = {}; + for(var variable in commandVariables){ + variables[variable]=command._resolve(command[commandVariables[variable]],{ + flags:0x00000800 + },false); + } + inputString = utils.replace(inputString,null,variables,{ + begin:'{{', + end:'}}' + }); + } + return inputString; + }; + } + + patchModule(); + + return Module; +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Arduino/Arduino.meta.json b/shredder/asterix-pp/resources/hmi/drivers/Arduino/Arduino.meta.json new file mode 100644 index 0000000..aa010ca --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Arduino/Arduino.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "Arduino", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "aa504ee4-6cd3-8a5e-4654-56294ef78fd6", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": "./project1/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": "./Arduino/Arduino.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"<<\",\"end\":\">>\"},\"send\":{\"mode\":false,\"interval\":\"2000\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"\\\\r\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Arduino/Arduino.xblox b/shredder/asterix-pp/resources/hmi/drivers/Arduino/Arduino.xblox new file mode 100644 index 0000000..e0be6e6 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Arduino/Arduino.xblox @@ -0,0 +1,186 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "name": "LED STATUS", + "group": "basicVariables", + "id": "569e8f22-e470-ef80-27d8-70b4b04e3485", + "type": "added", + "icon": "fa-bullseye", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "isVariable": true, + "flags": 4096, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "id": "18c655ff-f9f1-66a5-504b-89034fe3f274", + "name": "value", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": "xcf.model.Variable", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "isVariable": true, + "flags": 4096, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "A3", + "group": "basicVariables", + "id": "77b335c4-0a6c-942e-81d4-3f01c550179d", + "value": 396, + "type": "added", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "isVariable": true, + "flags": 4096, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "icon": "fa-play" + }, + { + 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"fa-exclamation", + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "" + }, + { + "_containsChildrenIds": [], + "group": "conditionalProcess", + "id": "89318503-6ae3-d7a0-cac2-5100ab7fefd5", + "type": "added", + "method": "var message = arguments[0].string;\nconsole.log(\"message: \", message);\n\n", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Arduino/CNC.js b/shredder/asterix-pp/resources/hmi/drivers/Arduino/CNC.js new file mode 100644 index 0000000..180f739 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Arduino/CNC.js @@ -0,0 +1,24 @@ +define(["dcl/dcl"], function(dcl){ + return dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + }, + test:function(){ + //send a message : + this.sendMessage('pwon',true);//sends message to device , respecting start & end settings . forcing now! + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Arduino/CNC.meta.json b/shredder/asterix-pp/resources/hmi/drivers/Arduino/CNC.meta.json new file mode 100644 index 0000000..08e08e4 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Arduino/CNC.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "CNC", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "e208711c-a51c-8d8a-41f2-883cd95ac7c4", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": "./project1/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": "./Arduino/CNC.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"0x0d\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"0x0a\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Arduino/CNC.xblox b/shredder/asterix-pp/resources/hmi/drivers/Arduino/CNC.xblox new file mode 100644 index 0000000..4d84a6e --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Arduino/CNC.xblox @@ -0,0 +1,311 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "id": "292a3664-6002-d77f-3a56-dfd7df94b33f", + "name": "value", + "value": "ok", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": "xcf.model.Variable", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "52289d34-f411-2658-014c-c9afa36df11c", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "M101", + "name": "Extruder on, fwd", + "interval": 0, + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "b311f313-eeec-f5a1-7cb5-63fb0fb96691", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "M103", + "name": "Extruder off,", + "interval": 0, + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "b2576b63-15f6-91b6-6eda-09a624dcb96e", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "M128", + "name": "Get Postion", + "interval": 0, + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "dc056e30-0b3e-3b50-2902-dbdd8b51dcda", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "M106", + "name": "FAN On", + "interval": 0, + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "190ba358-b460-5881-e943-4c720fe35009", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "M107", + "name": "FAN Off", + "interval": "0", + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "basic", + "id": "119ecf16-5744-1d96-78b0-205a024d1229", + "items": [ + "e566a3b2-a6e6-7fcb-5073-c3728567040d", + "7a23a3cf-48ee-33f6-da04-1855df9461aa", + 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"name": "Move 1 on X", + "interval": 0, + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "Set Absolute Positioning", + "order": 0, + "type": "added", + "parentId": "119ecf16-5744-1d96-78b0-205a024d1229" + }, + { + "_containsChildrenIds": [], + "id": "3f5f6894-65c3-f4aa-5967-e93649bdb063", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "G90", + "name": "G90", + "interval": 0, + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "Set Absolute Positioning", + "order": 0, + "type": "added", + "parentId": "119ecf16-5744-1d96-78b0-205a024d1229" + }, + { + "_containsChildrenIds": [], + "id": "3d9b7428-9852-fceb-2b8c-53ba3b39b64c", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "M114", + "name": "Get Current Position", + "interval": "0", + "flags": 2048, + "waitForResponse": false, + "icon": 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"waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "Set Relative Positioning", + "order": 0, + "type": "added", + "parentId": "2fb7c3a8-8f34-8cae-0213-46deda3555c0" + }, + { + "_containsChildrenIds": [], + "id": "eff574ed-4959-2efc-e076-25b5c6f7501b", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "G0 Y10.0 F3000", + "name": "Move 1 on Y", + "interval": 0, + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "Set Absolute Positioning", + "order": 0, + "type": "added", + "parentId": "2fb7c3a8-8f34-8cae-0213-46deda3555c0" + }, + { + "_containsChildrenIds": [], + "id": "a9426989-3564-7ab8-60c3-8d611b5e4a03", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "G90", + "name": "G90", + "interval": 0, + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "Set Absolute Positioning", + "order": 0, + "type": "added", + "parentId": "2fb7c3a8-8f34-8cae-0213-46deda3555c0" + }, + { + "_containsChildrenIds": [], + "id": "4852cb65-9bca-fb63-6510-1b84dde39b84", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "M114", + "name": "Get Current Position", + "interval": "0", + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "parentId": "2fb7c3a8-8f34-8cae-0213-46deda3555c0" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Arduino/package.json b/shredder/asterix-pp/resources/hmi/drivers/Arduino/package.json new file mode 100644 index 0000000..8cf7bc6 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Arduino/package.json @@ -0,0 +1,15 @@ +{ + "name": "CF-Raspberry", + "version": "1.0.0", + "description": "", + "main": "PI-GPIO.js", + "scripts": { + "test": "echo \"Error: no test specified\" && exit 1" + }, + "keywords": [], + "author": "", + "license": "ISC", + "dependencies": { + "johnny-five": "^0.10.6" + } +} diff --git a/shredder/asterix-pp/resources/hmi/drivers/Extrusion/Lydia-v3.js b/shredder/asterix-pp/resources/hmi/drivers/Extrusion/Lydia-v3.js new file mode 100644 index 0000000..742f3fe --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Extrusion/Lydia-v3.js @@ -0,0 +1,97 @@ +/** @module xcf/driver/DefaultDriver */ +define([ + "dcl/dcl", + 'xdojo/has', + 'xide/utils' +], function (dcl, has, utils) { + + // The returning module + var Module = null; + + ////////////////////////////////////////////////////////// + // + // Constants + // + var isServer = has('host-node'); // We are running server-side ? + var isIDE = has('xcf-ui'); // We are running client-side and in the IDE? + + /** + * Default driver template. This will used for new drivers! + * + * @class module:xcf/driver/DefaultDriver + * @extends module:xcf/driver/DriverBase + * @augments module:xide/mixins/EventedMixin + * @link http://rawgit.com/net-commander/windows-dist/master/docs/Driver/modules/module-xcf_driver_DriverBase.html + */ + Module = dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + //onMessage: function (data) {} + }); + + + ////////////////////////////////////////////////////////// + // + // Optional: An example implementation to extend commands in the interface for additional fields + // + if (isIDE) { + /** + * + * @param command {module:xcf/model/Command} The command which for which want to populate the fields. + * @param fields {Object[]} + * @link http://rawgit.com/net-commander/windows-dist/master/docs/Driver/modules/xcf_model_Command.js.html + */ + Module.getFields = function (command, fields) { + /* + return [utils.createCI('test', 0, command.test, { + group: 'General', + title: 'test', + dst: 'test', + order: 198 + })]; + */ + return []; + }; + } + + ////////////////////////////////////////////////////////// + // + // Optional: An example implementation to modify the string sent to a advice. This makes sense if you added additional fields as shown above. + // + /** + * Callback when a command is before parsing the expression in the "send" field. + * @param command {module:xcf/model/Command} + * @param inputString {string} + * @returns {string} + */ + /* + Module.resolveBefore = function (command,inputString) { + return inputString; + }; + */ + /** + * Callback when a command was parsing the expression in the "send" field. + * @param command {module:xcf/model/Command} + * @param inputString {string} + * @returns {string} + */ + /* + Module.resolveAfter = function (command,inputString) { + return inputString; + }; + */ + + return Module; +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Extrusion/Lydia-v3.meta.json b/shredder/asterix-pp/resources/hmi/drivers/Extrusion/Lydia-v3.meta.json new file mode 100644 index 0000000..99b7e4b --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Extrusion/Lydia-v3.meta.json @@ -0,0 +1,168 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "Lydia-v3", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "b22efaaa-0122-63df-c073-63b9784e7b1d", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": "./project1/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": "./Extrusion/Lydia-v3.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": 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b/shredder/asterix-pp/resources/hmi/drivers/Extrusion/Lydia-v3.xblox new file mode 100644 index 0000000..c3ae612 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Extrusion/Lydia-v3.xblox @@ -0,0 +1,62 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "group": "basic", + "condition": "", + "name": "Extrude", + "id": "d5c11168-db1e-5d66-0091-9bfcce710ccd", + "type": "added", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "fwd", + "interval": 0, + "flags": 2048, + "icon": "fa-exclamation", + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "condition": "", + "name": "Stop", + "id": "f9473067-0159-9e1f-5308-9cc51580ad39", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "rev", + "interval": 0, + "flags": 2048, + "icon": "fa-exclamation", + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "type": "added" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "condition": "", + "name": "Velocity", + "id": "c56e0a6f-e5dc-1ef6-6551-86102fdd3318", + "send": "vsi-%speed%", + "type": "added", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": 0, + "flags": 2048, + "icon": "fa-exclamation", + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/House/WebCam.js b/shredder/asterix-pp/resources/hmi/drivers/House/WebCam.js new file mode 100644 index 0000000..180f739 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/House/WebCam.js @@ -0,0 +1,24 @@ +define(["dcl/dcl"], function(dcl){ + return dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + }, + test:function(){ + //send a message : + this.sendMessage('pwon',true);//sends message to device , respecting start & end settings . forcing now! + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/House/WebCam.meta.json b/shredder/asterix-pp/resources/hmi/drivers/House/WebCam.meta.json new file mode 100644 index 0000000..69a4f9e --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/House/WebCam.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "WebCam", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "cd3956ce-2fcb-d674-d59e-b903db3a4296", + "visible": true + }, + { 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b/shredder/asterix-pp/resources/hmi/drivers/House/WebCam.xblox new file mode 100644 index 0000000..f72e5eb --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/House/WebCam.xblox @@ -0,0 +1,143 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [ + "items" + ], + "group": "init", + "id": "105c6870-86ce-a275-bbd3-2dd158b1074d", + "declaredClass": "xblox.model.mqtt.Subscribe", + "name": "Cam move", + "topic": "camMove", + "args": "", + "deferred": false, + "icon": "fa-bell", + "path": "camMove", + "qos": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "items": [ + "9fc90c77-3cbf-1dec-0dab-6a65534d3ea0", + "bf7f0b01-2f08-8750-4ef7-dd439fa5f974", + "d932e1ab-f0ae-6b87-8149-42be007247bc" + ] + }, + { + "_containsChildrenIds": [], + "id": "c8f38e6e-2697-bedd-42bc-069e184036e6", + "name": "value", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": 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new file mode 100644 index 0000000..180f739 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/House/iphone.js @@ -0,0 +1,24 @@ +define(["dcl/dcl"], function(dcl){ + return dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + }, + test:function(){ + //send a message : + this.sendMessage('pwon',true);//sends message to device , respecting start & end settings . forcing now! + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/House/iphone.meta.json b/shredder/asterix-pp/resources/hmi/drivers/House/iphone.meta.json new file mode 100644 index 0000000..a0ccab5 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/House/iphone.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "iphone", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "117554bc-f6ef-3442-f163-901d5d35d158", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": ".\/project1\/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": ".\/House\/iphone.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + 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+ "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/House/iphone.xblox b/shredder/asterix-pp/resources/hmi/drivers/House/iphone.xblox new file mode 100644 index 0000000..50f1e8f --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/House/iphone.xblox @@ -0,0 +1,63 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "group": "basic", + "id": "2d2ce608-9a1f-18d6-5298-fefcd85f8bc9", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "return \"sh /install/alarm.sh\"", + "name": "Alarm", + "interval": "0", + "flags": 2048, + "icon": "fa-exclamation", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [], + "id": "c615e748-66fa-5638-dde7-bb82fdc08231", + "name": "value", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": "xcf.model.Variable", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "isVariable": true, + "flags": 4096, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "4bfd6f39-e95c-edfc-cd19-f8dff7a2a78b", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "ls", + "name": "ls", + "interval": "0", + "flags": 2048, + "icon": "fa-exclamation", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/JSON_RPC/JSON_RPC.js b/shredder/asterix-pp/resources/hmi/drivers/JSON_RPC/JSON_RPC.js new file mode 100644 index 0000000..1f12650 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/JSON_RPC/JSON_RPC.js @@ -0,0 +1,290 @@ +/** @module nxapp/protocols/JSON-RPC */ +define([ + 'dcl/dcl', + "xide/utils", + "xide/types", + 'xdojo/has!host-node?nxapp/protocols/ProtocolBase', + "dojo/Deferred", + 'xdojo/has', + "xcf/model/Command" +],function(dcl,utils,types,ProtocolBase,Deferred,has,Command){ + + var debug = true; + var debugData = true; + // The returning module + var Module = null; + ////////////////////////////////////////////////////////// + // + // Constants + // + var isServer = has('host-node'); // We are running server-side ? + var isIDE = has('xcf-ui'); // We are running client-side and in the IDE? + + //No ProtocolBase means we're running on client side + if (!ProtocolBase) { + //create dummy module + Module = dcl(null, {}); + patchModule(); + return Module; + } + /** + * MQTT protocol mqttClient + * @class module:nxapp/protocols/MQTT + * @extends module:nxapp/protocols/ProtocolBase + */ + Module = dcl(ProtocolBase,{ + declaredClass:"nxapp.protocols.JSON-RPC", + _socket:null, + protocolName:'json-rpc', + instance:null, + getOptions:function(host,port,deviceOptions){ + var options = { + }; + return utils.mixin(options,deviceOptions); + }, + onConnected:function(){ + this.owner.onConnected(); + }, + onError:function(error,options) { + this.delegate.onError(this.connection,utils.mixin({ + code:error + },options),this.options); + }, + onClose:function(data) { + this.delegate.onClose(this.connection,data); + }, + _client:null, + connect:function(){ + var _options = this.options; + if(!_options || !_options.driver){ + debug || this.isDebug() && console.error('no driver in options',_options); + return this; + } + var host = _options.host; + var port = _options.port; + var deviceOptions = utils.getJson(_options.options || {}); + if(deviceOptions.debug===true){ + debug = true; + } + var self = this; + this.getModule('jayson').then(function(jayson){ + try { + self._client = jayson.client[deviceOptions.interface](host); + self.onConnected(); + }catch(e){ + console.error('error creating client',e); + } + }); + + this.host = host; + this.port = port; + this.protocol = this.protocolName; + this._socket = {}; + this._socket.writable=true; + return this; + }, + onData:function(evt,buffer){ + debugData || this.isDebug() && console.log('MQTT->onData ' + evt.topic,utils.inspect(evt)); + this.delegate.onData(this.connection,evt,buffer); + }, + onCommandError:function(cmd,options){ + debug || this.isDebug() && console.log('MQTT->CommandError ' + cmd + ' id ' + options.id + ' src ' + options.src); + try { + this.delegate.onData(this.connection, utils.mixin({ + cmd: cmd, + event: types.EVENTS.ON_COMMAND_ERROR + },options)); + }catch(e){ + console.error('---',e); + } + }, + onFinish:function(cmd,options,buffer){ + debug || this.isDebug() && console.log('MQTT onFinish ' + cmd + ' id ' + options.id + ' src ' + options.src); + try { + this.delegate.onData(this.connection, utils.mixin({ + cmd: cmd, + event: types.EVENTS.ON_COMMAND_FINISH + },options),buffer); + }catch(e){ + console.error('onFinish-Error:',e); + } + }, + /** + * + * @param data {string} A string encoded byte array in the 01,02,... format + * @param command + * @param options + * @private + */ + _send: function (data, command, options) { + var wait = options.params.wait; + var self = this; + var outString = JSON.stringify(utils.mixin({ + command: command + }, data, null, 2)); + + if (wait) { + self.owner.onFinish(command, options, new Buffer(outString)); + } else { + self.owner.onData(outString, new Buffer(outString)); + } + }, + write:function(what,options) { + var _parsed = null; + //convert buffer from byte array string to string + var intArray = utils.bufferFromDecString(what); + var buffer = new Buffer(intArray); + what = buffer.toString(); + var self = this; + try { + var args = utils.getJson(options.params.args); + if(!_.isArray(args)){ + args = []; + } + this._client.request(what,args, function (err, response) { + if (err) { + console.error('error: ', err); + } + self._send({ + value: response.result + }, 'request ' + what + '(' + JSON.stringify(args)+')', options); + }); + }catch(e){ + console.error("error making client request"); + } + }, + send:function(cmd,options) { + + return; + }, + close:function() { + + } + }); + + function patchModule(){ + /** + * + * @param label + * @param icon + * @param ctrAgs + * @param variables + * @param send + * @param func + * @param description + * @param scope + * @param owner + * @param target + * @param group + */ + function createBlock(label,icon,ctrAgs,variables,send,func,description,scope, owner, target, group){ + return { + name: label, + owner: owner, + icon: icon, + proto: Command, + target: target, + ctrArgs: utils.mixin({ + icon:icon, + flags:32768, + name:label, + scope: scope, + group: group, + send:send, + _isJSONRPC:true, + _func:func, + description:description + },ctrAgs) + }; + } + + Module.getFields = function (command, fields) { + var result = []; + if (command._isJSONRPC) { + command._args = command._args || {}; + result.push(utils.createCI('arguments',types.ECIType.ARGUMENT,command._args,{ + group:'Arguments', + title:'Arguments', + dst:'_args' + })); + } + return result; + }; + + /** + * @param command + * @returns {*|{}} + */ + Module.getCommandArgs = function (command) { + return command._args; + }; + + /** + * Extend xblox for new blocks/commands. + * @param scope + * @param owner + * @param target + * @param group + * @param items + * @returns {*} + */ + Module.getNewBlocks=function(scope, owner, target, group, items){ + if(!items){ + return null; + } + items.push({ + name: 'JSON-RPC', + iconClass: 'fa-code', + items: [ + createBlock('Request','fa-send',null, + { 'GPIO': '_gpio'}, + "request","request", + "", + scope,owner,target,group) + ] + }); + return items; + }; + + Module.options = function (query) { + try { + var dfd = new Deferred(); + var ECIType = types.ECIType; + var NetworkGroup = 'Network'; + function createOption(label, value) { + return { + label: label, + value: value + } + } + var cis = [ + utils.createCI('interface', ECIType.ENUMERATION,'', { + group: NetworkGroup, + title:'Interface', + description:"", + value:'http', + options:[ + createOption('Tcp','tcp'), + createOption('Tls','tls'), + createOption('HTTP','http'), + createOption('HTTPS','https') + ] + }) + + ]; + dfd.resolve(cis); + return dfd; + } catch (e) { + console.error('error', e); + } + return dfd; + }; + } + Module._is=function(){ + return types.PROTOCOL.TCP; + }; + + patchModule(); + + return Module; +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/JSON_RPC/JSON_RPC.meta.json b/shredder/asterix-pp/resources/hmi/drivers/JSON_RPC/JSON_RPC.meta.json new file mode 100644 index 0000000..3afd6ec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/JSON_RPC/JSON_RPC.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "JSON_RPC", + "visible": true, + "_active": false, + "changed": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "55ad4a31-2f0c-bfde-2338-b31bac6e56e5", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": "./project1/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": "./JSON_RPC/JSON_RPC.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "[]", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"\\\\r\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/JSON_RPC/JSON_RPC.xblox b/shredder/asterix-pp/resources/hmi/drivers/JSON_RPC/JSON_RPC.xblox new file mode 100644 index 0000000..c06b542 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/JSON_RPC/JSON_RPC.xblox @@ -0,0 +1,72 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [ + "items" + ], + "icon": "fa-send", + "flags": 32768, + "name": "Request", + "group": "basic", + "variables": "{\"GPIO\":\"_gpio\"}", + "send": "Player.GetActivePlayers", + "_isJSONRPC": true, + "_func": "request", + "description": "", + "id": "7596452c-d283-6463-1ebc-781e780c6e94", + "type": "added", + "_args": "[]", + "items": [ + "e7931261-cf51-2fe9-1018-297e6a9ace36" + ], + "startup": true, + "auto": false, + "declaredClass": "xcf.model.Command", + "interval": 0, + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "" + }, + { + "_containsChildrenIds": [], + "id": "197d85f1-f8b0-3ab0-4960-dd49d5929dfd", + "name": "value", + "value": "", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": "xcf.model.Variable", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "isVariable": true, + "flags": 4096, + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "parentId": "7596452c-d283-6463-1ebc-781e780c6e94", + "id": "e7931261-cf51-2fe9-1018-297e6a9ace36", + "method": "console.log('result',arguments);", + "outlet": 8, + "type": "added", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "order": 0, + "enabled": true, + "shareTitle": "" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Kodi/MQTT.js b/shredder/asterix-pp/resources/hmi/drivers/Kodi/MQTT.js new file mode 100644 index 0000000..6f705da --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Kodi/MQTT.js @@ -0,0 +1,33 @@ +define(["module","dcl/dcl"], function(module,dcl){ + return dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + + //let driver base do its job: + //this.inherited(arguments); + + + console.log('message : 2',data); + + + }, + test:function(){ + + //send a message : + this.sendMessage('pwon',true);//sends message to device , respecting start & end settings . forcing now! + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Kodi/MQTT.meta.json b/shredder/asterix-pp/resources/hmi/drivers/Kodi/MQTT.meta.json new file mode 100644 index 0000000..830d278 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Kodi/MQTT.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "Kodi-MQTT", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "8fec6dd4-f647-291d-0a9b-27eea266f6d0", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": ".\/project1\/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": ".\/Kodi\/MQTT.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"\\\\r\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Kodi/MQTT.xblox b/shredder/asterix-pp/resources/hmi/drivers/Kodi/MQTT.xblox new file mode 100644 index 0000000..59c2a93 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Kodi/MQTT.xblox @@ -0,0 +1,407 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "parentId": "eda78a69-707f-2841-9418-66311495c955", + "id": "42c1fc32-f30b-8480-1774-077ec433dc63", + "declaredClass": "xblox.model.code.RunScript", + "name": "log", + "method": "console.log('mqtt message ' + arguments[0]);", + "args": "", + "deferred": false, + "icon": "fa-code", + "enabled": true, + "shareTitle": "", + "description": "Runs an expression.
\n\nBehaviour\n\n
\n\n    //to abort execution (child blocks), return something negative as -1 or false.\n    return false;\n\n
", + "order": 0, + "type": "added", + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "id": "c09e8c2d-9b1d-b7cf-1f9e-13a78215b13c", + "name": "value", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": "xcf.model.Variable", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "isVariable": true, + "flags": 4096, + "outlet": 0, + "value": -1, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "init", + "id": "eda78a69-707f-2841-9418-66311495c955", + "items": [ + "42c1fc32-f30b-8480-1774-077ec433dc63" + ], + "declaredClass": "xblox.model.mqtt.Subscribe", + "name": "Subscribe", + "topic": "192.168.1.20/23/Variable/Volume", + "args": "", + "deferred": false, + "icon": "fa-bell", + "path": "value", + "qos": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "outlet": 0 + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "init", + "id": "540ed71b-8f87-d9fd-a900-085d2ba7ae0f", + "items": [ + "704253d9-1352-0ab6-8f89-51d51d6725fc" + ], + "declaredClass": "xblox.model.mqtt.Subscribe", + "name": "Subscribe", + "topic": "kodi/connected", + "args": "", + "deferred": false, + "icon": "fa-bell", + "path": "", + "qos": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "Kodi-Connected", + "group": "basicVariables", + "id": "a782d2ff-200c-5262-d21f-79fc4012fae2", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": "0", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "isVariable": true, + "flags": 4096, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "variable": "a782d2ff-200c-5262-d21f-79fc4012fae2", + "variableId": "c09e8c2d-9b1d-b7cf-1f9e-13a78215b13c", + "value": "", + "parentId": "540ed71b-8f87-d9fd-a900-085d2ba7ae0f", + "id": "704253d9-1352-0ab6-8f89-51d51d6725fc", + "declaredClass": "xblox.model.variables.VariableAssignmentBlock", + "name": "Set Variable", + "icon": "", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "flags": 4, + "outlet": 0 + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "init", + "id": "b061bd8c-3045-03c7-0dfb-e284422c1202", + "items": [ + "72660613-080c-d93d-ba08-97fda3dfc4d4" + ], + "declaredClass": "xblox.model.mqtt.Subscribe", + "name": "Subscribe", + "topic": "kodi/status/playbackstate", + "args": "", + "deferred": false, + "icon": "fa-bell", + "path": "kodi_state", + "qos": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "Kodi-Playbackstate", + "group": "basicVariables", + "id": "3cb668c3-5b50-e200-f51f-bf7a22a437f3", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": "started", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "isVariable": true, + "flags": 4096, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "variable": "3cb668c3-5b50-e200-f51f-bf7a22a437f3", + "variableId": "c09e8c2d-9b1d-b7cf-1f9e-13a78215b13c", + "value": "", + "parentId": "b061bd8c-3045-03c7-0dfb-e284422c1202", + "id": "72660613-080c-d93d-ba08-97fda3dfc4d4", + "declaredClass": "xblox.model.variables.VariableAssignmentBlock", + "name": "Set Variable", + "icon": "", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "flags": 4, + "outlet": 0 + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "init", + "id": "89ea751f-b00c-6d60-387c-c5c85eb1d20e", + "items": [ + "90d07af1-d300-863c-23d0-8de48ea45b1d" + ], + "declaredClass": "xblox.model.mqtt.Subscribe", + "name": "Subscribe", + "topic": "kodi/status/title", + "args": "", + "deferred": false, + "icon": "fa-bell", + "path": "kodi_details.label", + "qos": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "Kodi-Playing Title", + "group": "basicVariables", + "id": "d8dd613c-2b71-05b7-adcc-ec0dc82f8d87", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": "return YOKOO - REACTIONS - RADIO VENAO", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "isVariable": true, + "flags": 4096, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "variable": "d8dd613c-2b71-05b7-adcc-ec0dc82f8d87", + "variableId": "c09e8c2d-9b1d-b7cf-1f9e-13a78215b13c", + "value": "", + "parentId": "89ea751f-b00c-6d60-387c-c5c85eb1d20e", + "id": "90d07af1-d300-863c-23d0-8de48ea45b1d", + "declaredClass": "xblox.model.variables.VariableAssignmentBlock", + "name": "Set Variable", + "icon": "", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "flags": 4, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "07e7b04f-c6ec-a04d-6e9d-732b4e8462cb", + "declaredClass": "xblox.model.mqtt.Publish", + "name": "Next", + "topic": "kodi/command/playbackstate", + "args": "next", + "deferred": false, + "icon": "fa-arrow-circle-right", + "qos": "1", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "retain": false, + "startup": false, + "send": "", + "interval": "0", + "waitForResponse": false, + "flags": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "98007916-03a9-0457-c2cd-54e33dea311d", + "declaredClass": "xblox.model.mqtt.Publish", + "name": "Prev", + "topic": "kodi/command/playbackstate", + "args": "previous", + "deferred": false, + "icon": "fa-arrow-circle-left", + "qos": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "retain": false, + "startup": false, + "send": "", + "interval": 0, + "waitForResponse": false, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "d0f70902-8122-e57f-4bb4-5b4495a730dd", + "declaredClass": "xblox.model.mqtt.Publish", + "name": "Pause", + "topic": "kodi/command/playbackstate", + "args": "2", + "deferred": false, + "icon": "fa-pause", + "qos": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "retain": false, + "startup": false, + "send": "", + "interval": 0, + "waitForResponse": false, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "33681f61-5309-f884-0395-4ec42ed47e5f", + "declaredClass": "xblox.model.mqtt.Publish", + "name": "Stop", + "topic": "kodi/command/playbackstate", + "args": "0", + "deferred": false, + "qos": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "retain": false, + "startup": false, + "send": "", + "interval": 0, + "waitForResponse": false, + "flags": 2048, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "b892d78a-000e-0c82-17e4-f43b1d23716d", + "declaredClass": "xblox.model.mqtt.Publish", + "name": "Resume", + "topic": "kodi/command/playbackstate", + "args": "1", + "deferred": false, + "icon": "fa-stop", + "qos": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "retain": false, + "startup": false, + "send": "", + "interval": "0", + "waitForResponse": false, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "0c7d9511-eb8c-3f26-b5f9-14669497c862", + "declaredClass": "xblox.model.mqtt.Publish", + "name": "Play-Sonica", + "topic": "kodi/command/play", + "args": "plugin://plugin.audio.shoutcast/resolve/9480264", + "deferred": false, + "icon": "fa-send", + "qos": 0, + "retain": false, + "startup": false, + "send": "", + "interval": "0", + "flags": 2048, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000.js b/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000.js new file mode 100644 index 0000000..9b0bc54 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000.js @@ -0,0 +1,248 @@ +define([ + "dcl/dcl", + "nxapp/protocols/Tcp", + "xide/mixins/EventedMixin", + "dojo/node!net", + "dojo/node!util", + "dojo/node!events", + "dojo/has", + "xide/utils" +], function(dcl,Tcp,EventedMixin,net,util,events,has,utils){ + + var EventEmitter = events.EventEmitter; + var MPD_SENTINEL = /^(OK|ACK|list_OK)(.*)$/m; + var OK_MPD = /^OK MPD /; + + function noop(err) { + if (err) { + console.error('error : ',err); + this.emit('error', err); + } + } + + + + + function Command(name, args) { + this.name = name; + this.args = args; + } + + Command.prototype.toString = function() { + return this.name + " " + this.args.map(argEscape).join(" "); + }; + + function argEscape(arg){ + // replace all " with \" + return '"' + arg.toString().replace(/"/g, '\\"') + '"'; + } + + + + + + + + + + +// convenience + function cmd(name, args) { + return new Command(name, args); + } + + function parseKeyValueMessage(msg) { + var result = {}; + + msg.split('\n').forEach(function(p){ + if(p.length === 0) { + return; + } + var keyValue = p.match(/([^ ]+): (.*)/); + if (keyValue == null) { + throw new Error('Could not parse entry "' + p + '"') + } + result[keyValue[1]] = keyValue[2]; + }); + return result; + } + + function parseArrayMessage(msg) { + var results = []; + var obj = {}; + + msg.split('\n').forEach(function(p) { + if(p.length === 0) { + return; + } + var keyValue = p.match(/([^ ]+): (.*)/); + if (keyValue == null) { + throw new Error('Could not parse entry "' + p + '"') + } + + if (obj[keyValue[1]] !== undefined) { + results.push(obj); + obj = {}; + obj[keyValue[1]] = keyValue[2]; + } + else { + obj[keyValue[1]] = keyValue[2]; + } + }); + results.push(obj); + return results; + } + + + return dcl([Tcp,EventedMixin.dcl], { + onReloaded:function(){ + console.error('on reloaded'); + }, + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + console.log('on message : ') + }, + handleMessage : function(err, msg) { + //console.log('message: ' + err,msg); + var handler = this.msgHandlerQueue.shift(); + handler && handler(err, msg); + var self = this; + if(msg){ + var bufferInt = utils.stringToBuffer(self.buffer.toString()); + var buffer = new Buffer(bufferInt); + //console.log('handle message : ' + self.buffer.toString()); + self.owner.onData(self.buffer.toString(),buffer); + } + }, + sendWithCallback : function(cmd, cb) { + cb = cb || noop.bind(this); + this.msgHandlerQueue.push(cb); + this.send(cmd + "\n"); + }, + setupIdling : function() { + var self = this; + self.sendWithCallback("idle", function(err, msg) { + self.handleIdleResultsLoop(err, msg); + }); + self.idling = true; + self._emit('ready'); + }, + send:function(data){ + this._socket.write(data); + console.log('send : ',data); + }, + handleIdleResults : function(msg) { + var self = this; + msg.split("\n").forEach(function(system) { + if (system.length > 0) { + var name = system.substring(9); + self._emit('system-' + name); + self._emit('system', name); + } + }); + }, + + handleIdleResultsLoop : function(err, msg) { + var self = this; + if (err) { + self._emit('error', err); + return; + } + self.handleIdleResults(msg); + if (self.msgHandlerQueue.length === 0) { + self.sendWithCallback("idle", function(err, msg) { + self.handleIdleResultsLoop(err, msg); + }); + } + }, + sendCommand :function(command, callback) { + + + + + var self = this; + callback = callback || noop.bind(this); + self.send("noidle\n"); + self.sendWithCallback(command, callback); + /* + self.sendWithCallback("idle", function(err, msg) { + self.handleIdleResultsLoop(err, msg); + });*/ + }, + onConnect:function(){ + var self = this; + + console.error('module path : ' + this.modulePath); + + self._on('system-player', function() { + self.sendCommand(cmd("status", []), function(err, msg) { + if (err) throw err; + console.log(msg); + }); + }); + this._socket.setEncoding('utf8'); + + this.buffer = ""; + this.msgHandlerQueue = []; + this.idling = false; + + + + this._socket.on('data',function(data){ + var m; + self.buffer += data; + while (m = self.buffer.match(MPD_SENTINEL)) { + var msg = self.buffer.substring(0, m.index) + , line = m[0] + , code = m[1] + , str = m[2]; + + if (code === "ACK") { + var err = new Error(str); + self.handleMessage(err); + } else if (OK_MPD.test(line)) { + self.setupIdling(); + } else { + self.handleMessage(null, msg); + } + + self.buffer = self.buffer.substring(msg.length + line.length + 1); + } + var bufferInt = utils.stringToBuffer(self.buffer.toString()); + var buffer = new Buffer(bufferInt); + console.log('received : ' + self.buffer.toString(),util.inspect(bufferInt)); + self.owner.onData(self.buffer.toString(),buffer); + }); + }, + write:function(what) { + var intArray = utils.bufferFromDecString(what); + var buffer = new Buffer(intArray); + what = buffer.toString(); + console.log('write xx'+what); + + + this.sendCommand(cmd(what,[]),function(e){ + + }); + /* + //convert buffer from byte array string to string + + this.owner.isDebug() && console.log('write '+what); + this.send(buffer); + */ + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000.meta.json b/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000.meta.json new file mode 100644 index 0000000..f666f77 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "MPD6000", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "bbe1705a-b6a8-3445-cbc9-d56c6e13ec2c", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": ".\/project1\/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": ".\/MPD\/MPD6000.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"0x0d\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000.xblox b/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000.xblox new file mode 100644 index 0000000..2bb1e03 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000.xblox @@ -0,0 +1,79 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "id": "23ec6cb8-cb06-f8e6-01aa-c32cedfc538f", + "name": "value", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": "xcf.model.Variable", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "9cc052bc-9c2c-265d-3ab5-2940f2aa03c2", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "listplaylists", + "name": "listplaylists", + "interval": 0, + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [], + "id": "83d19fc6-e430-a309-8f7a-226ebd609900", + "declaredClass": "xcf.model.Command", + "startup": false, + "auto": false, + "send": "status", + "name": "status", + "interval": "0", + "flags": 0, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "group": "basic" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "9eb9b6cc-e5cc-3262-98ae-01dbc9392976", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "lsinfo", + "name": "lsinfo", + "interval": 0, + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000_standalone.js b/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000_standalone.js new file mode 100644 index 0000000..aa15ef4 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000_standalone.js @@ -0,0 +1,472 @@ +define([ + "dcl/dcl", + "nxapp/protocols/Tcp", + "xide/mixins/EventedMixin", + "dojo/node!net", + "dojo/node!util", + "dojo/node!events", + "module", + "dojo/has" +], function(dcl,Tcp,EventedMixin,net,util,events,module,has){ + var EventEmitter = events.EventEmitter; + var MPD_SENTINEL = /^(OK|ACK|list_OK)(.*)$/m; + var OK_MPD = /^OK MPD /; + + function noop(err) { + if (err) { + this.emit('error', err); + } + } + + + MpdClient.Command = Command; + MpdClient.cmd = cmd; + MpdClient.parseKeyValueMessage = parseKeyValueMessage; + MpdClient.parseArrayMessage = parseArrayMessage; + + function MpdClient() { + EventEmitter.call(this); + this.buffer = ""; + this.msgHandlerQueue = []; + this.idling = false; + } + if(has("host-node")) { + util.inherits(MpdClient, EventEmitter); + } + + var defaultConnectOpts = { + host: 'localhost', + port: 6600 + }; + + MpdClient.connect = function(options) { + options = options || defaultConnectOpts; + + var client = new MpdClient(); + client.socket = net.connect(options, function() { + client.emit('connect'); + }); + client.socket.setEncoding('utf8'); + client.socket.on('data', function(data) { + client.receive(data); + }); + client.socket.on('close', function() { + client.emit('end'); + }); + client.socket.on('error', function(err) { + client.emit('error', err); + }); + return client; + } + + MpdClient.prototype.receive = function(data) { + + console.log('received : ',data); + + var m; + this.buffer += data; + + while (m = this.buffer.match(MPD_SENTINEL)) { + var msg = this.buffer.substring(0, m.index) + , line = m[0] + , code = m[1] + , str = m[2]; + + if (code === "ACK") { + var err = new Error(str); + this.handleMessage(err); + } else if (OK_MPD.test(line)) { + this.setupIdling(); + } else { + this.handleMessage(null, msg); + } + + this.buffer = this.buffer.substring(msg.length + line.length + 1); + + } + }; + + MpdClient.prototype.handleMessage = function(err, msg) { + var handler = this.msgHandlerQueue.shift(); + handler(err, msg); + }; + + MpdClient.prototype.setupIdling = function() { + var self = this; + self.sendWithCallback("idle", function(err, msg) { + self.handleIdleResultsLoop(err, msg); + }); + self.idling = true; + self.emit('ready'); + }; + + MpdClient.prototype.sendCommand = function(command, callback) { + var self = this; + callback = callback || noop.bind(this); + self.send("noidle\n"); + self.sendWithCallback(command, callback); + self.sendWithCallback("idle", function(err, msg) { + self.handleIdleResultsLoop(err, msg); + }); + }; + + MpdClient.prototype.sendCommands = function(commandList, callback) { + var fullCmd = "command_list_begin\n" + commandList.join("\n") + "\ncommand_list_end"; + this.sendCommand(fullCmd, callback || noop.bind(this)); + }; + + MpdClient.prototype.handleIdleResultsLoop = function(err, msg) { + var self = this; + if (err) { + self.emit('error', err); + return; + } + self.handleIdleResults(msg); + if (self.msgHandlerQueue.length === 0) { + self.sendWithCallback("idle", function(err, msg) { + self.handleIdleResultsLoop(err, msg); + }); + } + }; + + MpdClient.prototype.handleIdleResults = function(msg) { + var self = this; + msg.split("\n").forEach(function(system) { + if (system.length > 0) { + var name = system.substring(9); + self.emit('system-' + name); + self.emit('system', name); + } + }); + }; + + MpdClient.prototype.sendWithCallback = function(cmd, cb) { + cb = cb || noop.bind(this); + this.msgHandlerQueue.push(cb); + this.send(cmd + "\n"); + }; + + MpdClient.prototype.send = function(data) { + this.socket.write(data); + }; + + function Command(name, args) { + this.name = name; + this.args = args; + } + + Command.prototype.toString = function() { + return this.name + " " + this.args.map(argEscape).join(" "); + }; + + function argEscape(arg){ + // replace all " with \" + return '"' + arg.toString().replace(/"/g, '\\"') + '"'; + } + + + +// convenience + function cmd(name, args) { + return new Command(name, args); + } + + function parseKeyValueMessage(msg) { + var result = {}; + + msg.split('\n').forEach(function(p){ + if(p.length === 0) { + return; + } + var keyValue = p.match(/([^ ]+): (.*)/); + if (keyValue == null) { + throw new Error('Could not parse entry "' + p + '"') + } + result[keyValue[1]] = keyValue[2]; + }); + return result; + } + + function parseArrayMessage(msg) { + var results = []; + var obj = {}; + + msg.split('\n').forEach(function(p) { + if(p.length === 0) { + return; + } + var keyValue = p.match(/([^ ]+): (.*)/); + if (keyValue == null) { + throw new Error('Could not parse entry "' + p + '"') + } + + if (obj[keyValue[1]] !== undefined) { + results.push(obj); + obj = {}; + obj[keyValue[1]] = keyValue[2]; + } + else { + obj[keyValue[1]] = keyValue[2]; + } + }); + results.push(obj); + return results; + } + + + return dcl([Tcp,EventedMixin.dcl], { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + //console.log('on message : ') + }, + handleMessage : function(err, msg) { + console.log('message ' +msg); + var handler = this.msgHandlerQueue.shift(); + handler(err, msg); + }, + sendWithCallback : function(cmd, cb) { + cb = cb || noop.bind(this); + this.msgHandlerQueue.push(cb); + this.send(cmd + "\n"); + console.log('send : '+cmd); + }, + setupIdling : function() { + var self = this; + self.sendWithCallback("idle", function(err, msg) { + self.handleIdleResultsLoop(err, msg); + }); + self.idling = true; + self._emit('ready'); + }, + send:function(data){ + this._socket.write(data); + }, + handleIdleResults : function(msg) { + var self = this; + msg.split("\n").forEach(function(system) { + if (system.length > 0) { + var name = system.substring(9); + console.log('emit'); + self._emit('system-' + name); + self._emit('system', name); + } + }); + }, + + handleIdleResultsLoop : function(err, msg) { + var self = this; + if (err) { + self._emit('error', err); + return; + } + self.handleIdleResults(msg); + if (self.msgHandlerQueue.length === 0) { + self.sendWithCallback("idle", function(err, msg) { + self.handleIdleResultsLoop(err, msg); + }); + } + }, + onData:function(connection,string,buffer){ + console.log('on data ' + string); + }, + sendCommand :function(command, callback) { + var self = this; + callback = callback || noop.bind(this); + self.send("noidle\n"); + self.sendWithCallback(command, callback); + self.sendWithCallback("idle", function(err, msg) { + self.handleIdleResultsLoop(err, msg); + }); + }, + connectB: function () { + console.log('connect '); + + + var defaultConnectOpts = { + host: 'localhost', + port: 6600 + }; + + + var client = MpdClient.connect({ + port: 6600, + host: 'localhost' + }); + client.on('system', function(name) { + console.log("update", name); + }); + + client.on('system-player', function() { + console.log('system-player : ',arguments); + client.sendCommand(cmd("status", []), function(err, msg) { + if (err) throw err; + console.log('status',msg); + }); + }); + return; + + var self = this; + this._socket = net.connect(defaultConnectOpts, function() { + console.log('connected'); + self.buffer = ""; + self.msgHandlerQueue = []; + self.idling = false; + }); + + this._socket.setEncoding('utf8'); + + this._socket.on('data', function(data) { + console.log('data '+data.toString()); + var m; + self.buffer += data; + while (m = self.buffer.match(MPD_SENTINEL)) { + + var msg = self.buffer.substring(0, m.index) + , line = m[0] + , code = m[1] + , str = m[2]; + + if (code === "ACK") { + var err = new Error(str); + self.handleMessage(err); + } else if (OK_MPD.test(line)) { + self.setupIdling(); + } else { + self.handleMessage(null, msg); + } + + self.buffer = self.buffer.substring(msg.length + line.length + 1); + console.log('received : ' + self.buffer.toString()); + } + }); + }, + connect2: function () { + + + + var defaultConnectOpts = { + host: 'localhost', + port: 6600 + }; + + /* + + var client = MpdClient.connect({ + port: 6600, + host: 'localhost' + }); + client.on('system', function(name) { + console.log("update", name); + }); + + client.on('system-player', function() { + console.log('system-player : ',arguments); + client.sendCommand(cmd("status", []), function(err, msg) { + if (err) throw err; + console.log('status',msg); + }); + }); + return;*/ + + + var self = this; + this._socket = net.connect(defaultConnectOpts, function() { + console.log('connected'); + self.buffer = ""; + self.msgHandlerQueue = []; + self.idling = false; + self._on('system-player', function() { + console.log('system player',arguments) + self.sendCommand(cmd("status", []), function(err, msg) { + if (err) throw err; + console.log(msg); + }); + }); + }); + + this._socket.setEncoding('utf8'); + + this._socket.on('data', function(data) { + console.log('data '+data.toString()); + var m; + self.buffer += data; + while (m = self.buffer.match(MPD_SENTINEL)) { + + var msg = self.buffer.substring(0, m.index) + , line = m[0] + , code = m[1] + , str = m[2]; + + if (code === "ACK") { + var err = new Error(str); + self.handleMessage(err); + } else if (OK_MPD.test(line)) { + self.setupIdling(); + } else { + self.handleMessage(null, msg); + } + + self.buffer = self.buffer.substring(msg.length + line.length + 1); + console.log('received : ' + self.buffer.toString()); + } + }); + + }, + test:function(){ + //send a message : + this.sendMessage('pwon',true);//sends message to device , respecting start & end settings . forcing now! + }, + onConnect:function(){ + var self = this; + self._on('system-player', function() { + self.sendCommand(cmd("status", []), function(err, msg) { + if (err) throw err; + console.log(msg); + }); + }); + this._socket.setEncoding('utf8'); + + this.buffer = ""; + this.msgHandlerQueue = []; + this.idling = false; + + + this._socket.on('data',function(data){ + var m; + self.buffer += data; + while (m = self.buffer.match(MPD_SENTINEL)) { + var msg = self.buffer.substring(0, m.index) + , line = m[0] + , code = m[1] + , str = m[2]; + + if (code === "ACK") { + var err = new Error(str); + self.handleMessage(err); + } else if (OK_MPD.test(line)) { + self.setupIdling(); + } else { + self.handleMessage(null, msg); + } + + console.log('received : ' + self.buffer.toString()); + self.buffer = self.buffer.substring(msg.length + line.length + 1); + + } + }); + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000_tcp.js b/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000_tcp.js new file mode 100644 index 0000000..b2b5db2 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/MPD/MPD6000_tcp.js @@ -0,0 +1,227 @@ +define([ + "dcl/dcl", + "nxapp/protocols/Tcp", + "xide/mixins/EventedMixin", + "dojo/node!net", + "dojo/node!util", + "dojo/node!events", + "dojo/has", + "xide/utils" +], function(dcl,Tcp,EventedMixin,net,util,events,has,utils){ + + var EventEmitter = events.EventEmitter; + var MPD_SENTINEL = /^(OK|ACK|list_OK)(.*)$/m; + var OK_MPD = /^OK MPD /; + + function noop(err) { + if (err) { + this.emit('error', err); + } + } + + + + function Command(name, args) { + this.name = name; + this.args = args; + } + + Command.prototype.toString = function() { + return this.name + " " + this.args.map(argEscape).join(" "); + }; + + function argEscape(arg){ + // replace all " with \" + return '"' + arg.toString().replace(/"/g, '\\"') + '"'; + } + + + +// convenience + function cmd(name, args) { + return new Command(name, args); + } + + function parseKeyValueMessage(msg) { + var result = {}; + + msg.split('\n').forEach(function(p){ + if(p.length === 0) { + return; + } + var keyValue = p.match(/([^ ]+): (.*)/); + if (keyValue == null) { + throw new Error('Could not parse entry "' + p + '"') + } + result[keyValue[1]] = keyValue[2]; + }); + return result; + } + + function parseArrayMessage(msg) { + var results = []; + var obj = {}; + + msg.split('\n').forEach(function(p) { + if(p.length === 0) { + return; + } + var keyValue = p.match(/([^ ]+): (.*)/); + if (keyValue == null) { + throw new Error('Could not parse entry "' + p + '"') + } + + if (obj[keyValue[1]] !== undefined) { + results.push(obj); + obj = {}; + obj[keyValue[1]] = keyValue[2]; + } + else { + obj[keyValue[1]] = keyValue[2]; + } + }); + results.push(obj); + return results; + } + + + return dcl([Tcp,EventedMixin.dcl], { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + console.log('on message : ') + }, + handleMessage : function(err, msg) { + //console.log('message: ' + err,msg); + var handler = this.msgHandlerQueue.shift(); + handler && handler(err, msg); + var self = this; + if(msg){ + var bufferInt = utils.stringToBuffer(self.buffer.toString()); + var buffer = new Buffer(bufferInt); + //console.log('handle message : ' + self.buffer.toString()); + self.owner.onData(self.buffer.toString(),buffer); + } + }, + sendWithCallback : function(cmd, cb) { + cb = cb || noop.bind(this); + this.msgHandlerQueue.push(cb); + this.send(cmd + "\n"); + }, + setupIdling : function() { + var self = this; + self.sendWithCallback("idle", function(err, msg) { + self.handleIdleResultsLoop(err, msg); + }); + self.idling = true; + self._emit('ready'); + }, + send:function(data){ + this._socket.write(data); + }, + handleIdleResults : function(msg) { + var self = this; + msg.split("\n").forEach(function(system) { + if (system.length > 0) { + var name = system.substring(9); + self._emit('system-' + name); + self._emit('system', name); + } + }); + }, + + handleIdleResultsLoop : function(err, msg) { + var self = this; + if (err) { + self._emit('error', err); + return; + } + self.handleIdleResults(msg); + if (self.msgHandlerQueue.length === 0) { + self.sendWithCallback("idle", function(err, msg) { + self.handleIdleResultsLoop(err, msg); + }); + } + }, + sendCommand :function(command, callback) { + + console.log('send command: '+command); + var self = this; + callback = callback || noop.bind(this); + self.send("noidle\n"); + self.sendWithCallback(command, callback); + self.sendWithCallback("idle", function(err, msg) { + self.handleIdleResultsLoop(err, msg); + }); + }, + onConnect:function(){ + var self = this; + + self._on('system-player', function() { + self.sendCommand(cmd("status", []), function(err, msg) { + if (err) throw err; + console.log(msg); + }); + }); + this._socket.setEncoding('utf8'); + + this.buffer = ""; + this.msgHandlerQueue = []; + this.idling = false; + + + this._socket.on('data',function(data){ + var m; + self.buffer += data; + while (m = self.buffer.match(MPD_SENTINEL)) { + var msg = self.buffer.substring(0, m.index) + , line = m[0] + , code = m[1] + , str = m[2]; + + if (code === "ACK") { + var err = new Error(str); + self.handleMessage(err); + } else if (OK_MPD.test(line)) { + self.setupIdling(); + } else { + self.handleMessage(null, msg); + } + + self.buffer = self.buffer.substring(msg.length + line.length + 1); + } + var bufferInt = utils.stringToBuffer(self.buffer.toString()); + var buffer = new Buffer(bufferInt); + console.log('received : ' + self.buffer.toString(),util.inspect(bufferInt)); + self.owner.onData(self.buffer.toString(),buffer); + }); + }, + write:function(what) { + var intArray = utils.bufferFromDecString(what); + var buffer = new Buffer(intArray); + what = buffer.toString(); + + this.sendCommand(what); + /* + //convert buffer from byte array string to string + var intArray = utils.bufferFromDecString(what); + var buffer = new Buffer(intArray); + what = buffer.toString(); + this.owner.isDebug() && console.log('write '+what); + this.send(buffer); + */ + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/MPD/mpd.js b/shredder/asterix-pp/resources/hmi/drivers/MPD/mpd.js new file mode 100644 index 0000000..2a1606a --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/MPD/mpd.js @@ -0,0 +1,2742 @@ +/** + * The global MPD function is the main interface and only global varialbe of the MPD.js library. + * This function returns an object representing an MPD web client. + * All other methods documented here are member functions of the object returned by a call to the MPD function. + * + * @example + * //EXAMPLE USAGE// + * //retrives a MPD client interface on port 8800 + * var mpd_client = MPD(8800); + * //set handler for when the state changes + * mpd_client.on('StateChanged', updateUiFunction); + * @class + * @param {Integer} [_port] - the portnumber our client should try to cennect to our winsockifyed MPD instance with + * @param {String} [_host=document.URL] - hostname to try to connect to, defaults to the domain of the current page + * @param {String} [_password] - password to connect with (if needed) + */ +function MPD(_port, _host, _password){ + + /** + * this will be the final output interface, but it is used to refer to the client as a 'this' like object + * @lends MPD + */ + var self = {}; + + /********************\ + |* public interface *| + \********************/ + + /** + * adds an event handler + * @instance + * @function + * @throws {Error} an Error if you try to listen to an invalid event type + * @param {String} event_name - what sort of event to listen for. must be one of the following: 'Error', 'Event', 'UnhandledEvent', 'AuthFailure', 'DatabaseChanging', 'DataLoaded', 'OutputChanged', 'StateChanged', 'QueueChanged', 'PlaylistsChanged', 'PlaylistChanged','Connect', 'Disconnect' + * @param {errorEventHandler|disconnectEventHandler|connectEventHandler|playlistsChangedEventHandler|queueChangedEventHandler|outputChangedEventHandler|stateChangedEventHandler|dataLoadedEventHandler|databaseChangingEventHandler|unhandledEventHandler|eventHandler|errorEventHandler} handler - function called when the given event happens + */ + self.on = on; + + /** + * returns an object representation of the current state of MPD as the client understands it right now + * this does NOT map to the client's functional API + * @instance + * @returns {state} object representing the current state of MPD + */ + self.getState = function(){ + var ret = cloneObject(_private.state); + //there are a few things we can't easily clone, but I made a clone method for those, so we can deal with this + if(_private.state.current_queue !== null){ + ret.current_queue = _private.state.current_queue.clone(); + } + + return ret; + }; + + /** + * call to turn off logging to the console + * @instance + */ + self.disableLogging = function(){ + _private.do_logging = false; + }; + + /** + * call to turn logging to the console on (debugging) + * @instance + */ + self.enableLogging = function(){ + _private.do_logging = true; + }; + + /** + * return the port number this client was instansiated with and thet it is (attempting to) connect with + * @instance + * @returns {Integer} the port number the MPD client is (trying to be) connected to + */ + self.getPort = function(){ + return _port; + }; + + /** + * return the host this client was instansiated with and thet it is (attempting to) connect with + * @instance + * @returns {String} the host name the MPD client is (trying to be) connected to + */ + self.getHost = function(){ + return _host; + }; + + /** + * gets the protocol versing reported on connection + * @instance + * @returns {String} string desxriping the protocol version i.e. "1.18.0" + */ + self.getProtocolVersion = function(){ + return _private.state.version; + }; + + /** + * retruns if we are connected or not + * @instance + * @returns {Boolean} true if we are connected, false if we are not + */ + self.isConnected = function(){ + return _private.state.connected == true; + }; + + /** + * Returns a string enum describing the playback state + * @instance + * @returns {String} - 'play', 'pause', 'stop' + */ + self.getPlaystate = function(){ + return _private.state.playstate; + }; + + /** + * returns the current volume + * @instance + * @returns {Float} between 0 and 1 + */ + self.getVolume = function(){ + return _private.state.volume; + }; + + /** + * returns if we are in repeat mode or not + * @instance + * @returns {Boolean} true if we are in repeat mode, false otherwise + */ + self.isRepeat = function(){ + return _private.state.repeat == true; + }; + + /** + * returns if we are in single mode or not + * @instance + * @returns {Boolean} true if we are in single mode, false otherwise + */ + self.isSingle = function(){ + return _private.state.single == true; + }; + + /** + * returns if we are in consume mode or not + * @instance + * @returns {Boolean} true if we are in consume mode, false otherwise + */ + self.isConsume = function(){ + return _private.state.consume == true; + }; + + /** + * returns if we are in random playback mode or not + * @instance + * @returns {Boolean} true if we are in random mode, false otherwise + */ + self.isRandom = function(){ + return _private.state.random == true; + }; + + /** + * ammount of time (in seconds) the MPD server is set to crossfade songs. 0 means disabled + * @instance + * @returns {Number} true if we are in random mode, false otherwise + */ + self.getCrossfadeTime = function(){ + return _private.state.crossfade; + }; + + /** + * honestly don't know what this is, has something to do with some sort of fading mode I never use, but MPD reports it so I'm making an accessor for it in case someone else wants to use it + * @instance + * @returns {Float} + */ + self.getMixRampThreashold = function(){ + return _private.state.mix_ramp_threshold; + }; + + + /** + * gets the currently playing song + * @instance + * @function + * @returns {Song} + */ + self.getCurrentSong = getCurrentSong; + + /** + * gets the time of the current song. will calculate it based on the reported time, and how long it's been since that happened + * @instance + * @function + * @returns {Float} + */ + self.getCurrentSongTime = getCurrentSongTime; + + /** + * get's the queue id of the currently playing song + * @instance + * @returns {Integer} + */ + self.getCurrentSongID = function(){ + return _private.state.current_song.id; + }; + + /** + *gets the position on the queue of the song currently playing + * @instance + * @returns {Integer} + */ + self.getCurrentSongQueueIndex = function(){ + return _private.state.current_song.queue_idx; + }; + + + /** + * gets the song next to be played + * @instance + * @function + * @returns {Song} + */ + self.getNextSong =getNextSong; + + /** + * gets the queue id of the next song to play + * @instance + * @returns {Integer} + */ + self.getNextSongID = function(){ + return _private.state.next_song.id; + }; + + /** + * returns the position on the queue of the next song on the queue to play + * @instance + * @returns {Integer} + */ + self.getNextSongQueueIndex = function(){ + return _private.state.next_song.queue_idx; + }; + + + /** + * get the whole queue + * @instance + * @returns {Queue} + */ + self.getQueue = function(){ + return _private.state.current_queue; + }; + + /** + * returns the version of the queue, this number changes every time the queue does + * @instance + * @returns {Integer} + */ + self.getQueueVersion = function(){ + return _private.state.queue_version; + }; + + + /** + * fetches a playlist from MPD identified by it's name + * @instance + * @param {String} playlist name - the name of the playlist you want + * @param {playlistCallback} onDone - function to call with the playlist when we get it + */ + self.getPlaylist = function(name, onDone){ + var ret = null; + for(var i = 0; i<_private.state.playlists.length; i++){ + if(_private.state.playlists[i].playlist==name){ + issueCommands({ + command:'listplaylistinfo "'+name+'"', + handler:getPlaylistHandler(onDone, i) + }); + return; + } + }; + onDone(null); + }; + + + /** + * returns an array of strings that is the list of the names of all available saved playlists + * @instance + * @returns {String[]} + */ + self.getPlaylists = function(){ + var playlists = []; + _private.state.playlists.forEach(function(playlist){ + playlists.push(playlist.playlist); + }); + return playlists; + }; + + + /** + * returns an array of Output objects + * @instance + * @returns {Output[]} + */ + self.getOutputs = function(){ + return _private.outputs.map(function(source){ + return MPD.Output(self, source); + }); + }; + + + /** + * returns true if the output is enabled, false otherwise + * @param {Integer} id -- the identifier of the output + * @instance + */ + self.outputIsEnabled = function(id){ + return _private.outputs[id].outputenabled == 1; + }; + + /** + * turns on the output specified by the id + * @param {Integer} id -- the identifier of the output to turn on + * @instance + */ + self.enableOutput = function(id){ + issueCommands('enableoutput '+id); + }; + + /** + * turns off the output specified by the id + * @param {Integer} id -- the identifier of the output to turn off + * @instance + */ + self.disableOutput = function(id){ + issueCommands('disableoutput '+id); + }; + + /** + * turns on consume mode + * @instance + */ + self.enablePlayConsume = function(){ + issueCommands('consume 1'); + }; + + /** + * turns off consume mode + * @instance + */ + self.disablePlayConsume = function(){ + issueCommands('consume 0'); + }; + + /** + * turns on crossfade + * @param {String} time -- time to crossfade in seconds, 0 to disable + * @instance + */ + self.setCrossfade = function(time) { + issueCommands('crossfade '+time); + }; + + /** + * turns on random play mode + * @instance + */ + self.enableRandomPlay = function(){ + issueCommands('random 1'); + }; + + /** + * turns off random play mode + * @instance + */ + self.disableRandomPlay = function(){ + issueCommands('random 0'); + }; + + /** + * turns on repeat play mode + * @instance + */ + self.enableRepeatPlay = function(){ + issueCommands('repeat 1'); + }; + + /** + * turns of repeat play mode + * @instance + */ + self.disableRepeatPlay = function(){ + issueCommands('repeat 0'); + }; + + /** + * turns on single play mode + * @instance + */ + self.enableSinglePlay = function(){ + issueCommands('single 1'); + }; + + /** + * turns of single play mode + * @instance + */ + self.disableSinglePlay = function(){ + issueCommands('single 0'); + }; + + /** + * Sets the threshold at which songs will be overlapped. Like crossfading but doesn't fade the track volume, just overlaps. The songs need to have MixRamp tags added by an external tool. 0dB is the normalized maximum volume so use negative values, I prefer -17dB. In the absence of mixramp tags crossfading will be used. See http: // sourceforge.net/projects/mixramp + * @instance + * @param {Float} decibels + */ + self.setMixRampDb = function(decibels){ + issueCommands('mixrampdb '+decibels); + }; + + /** + * Additional time subtracted from the overlap calculated by mixrampdb. A value of "nan" disables MixRamp overlapping and falls back to crossfading. + * @instance + * @param {(float|string)} seconds - time in seconds or "nan" to disable + */ + self.setMixRampDelay = function(seconds){ + issueCommands('mixrampdelay '+seconds); + }; + + /** + * Sets volume, the range of volume is 0-1. + * @instance + * @param {Float} volume - 0-1 + */ + self.setVolume = function(volume){ + volume = Math.min(1,volume); + volume = Math.max(0,volume); + issueCommands('setvol '+Math.round(volume*100)); + }; + + /** + * Begins playing if not playing already. optional parameter starts playing a particular song + * @instance + * @param {Integer} [queue_position=] - the song to start playing + */ + self.play = function(queue_position){ + if(typeof queue_position != 'undefined'){ + issueCommands('play '+queue_position); + } + else{ + issueCommands('play'); + } + }; + + /** + * Begins playing the playlist at song identified by the passed song_id. + * @instance + * @param {Integer} song_id - the queue id of the song you want to start playing + */ + self.playById = function(song_id){ + issueCommands('playid '+song_id); + }; + + /** + * pauses/resumes playing + * @instance + * @param {Boolean} [do_pause=true] - true if you want to pause, false if you want to be unpaused + */ + self.pause = function(do_pause){ + if(typeof do_pause == 'undefined' || do_pause){ + issueCommands('pause 1'); + } + else{ + issueCommands('pause 0'); + } + }; + + /** + * Plays next song in the queue. + * @instance + */ + self.next = function(){ + issueCommands('next'); + }; + + /** + * Plays previous song in the queue. + * @instance + */ + self.previous = function(){ + issueCommands('previous'); + }; + + /** + * Seeks to the position time (in seconds) within the current song. If prefixed by '+' or '-', then the time is relative to the current playing position. + * @instance + * @param {(float|string)} - what point in the current song to seek to or string with a signed float in it for relative seeking. i.e. "+0.1" to seek 0.1 seconds into the future, "-0.1" to seek 0.1 seconds into the past + */ + self.seek = function(time){ + issueCommands('seekid '+_private.state.current_song.id+' '+time); + }; + + /** + * Stops playing. + * @instance + */ + self.stop = function(){ + issueCommands('stop'); + }; + + /** + * Adds the file to the playlist (directories add recursively). + * @instance + * @param {String} pathname - of a single file or directory. relative to MPD's mussic root directory + */ + self.addSongToQueueByFile = function(filename){ + issueCommands('add "'+filename+'"'); + }; + + /** + * Clears the current queue + * @instance + */ + self.clearQueue = function(){ + issueCommands('clear'); + }; + + /** + * Deletes a song from the queue + * @instance + * @param {Integer} position - index into the queue to the song you don't want to be on the queue any more + */ + self.removeSongFromQueueByPosition = function(position){ + issueCommands('delete '+position); + }; + + /** + * Deletes a range of songs from the playlist. + * @instance + * @param {Integer} start - the queue index of the first song on the playlist you want to remove + * @param {Integer} end - the queue index of the last song on the playlist you want to remove + */ + self.removeSongsFromQueueByRange = function(start, end){ + issueCommands('delete '+start+' '+end); + }; + + /** + * Deletes the song identified with the passed queue id from the playlist + * @instance + * @param {Integer} id - the queue id of the song you want to remove from the queue + */ + self.removeSongFromQueueById = function(id){ + issueCommands('deleteid '+id); + }; + + /** + * a song from one position on the queue to a different position + * @instance + * @param {Integer} position - the position of the song to move + * @param {Integer} to - where you want the sang to go + */ + self.moveSongOnQueueByPosition = function(position, to){ + issueCommands('move '+position+' '+to); + }; + + /** + * moves a range of songs on the queue + * @instance + * @param {Integer} start - the queue index of the first song on the queue you want to move + * @param {Integer} end - the queue index of the last song on the queue you want to move + * @param {Integer} to - the queue index were the first song should end up + */ + self.moveSongsOnQueueByPosition = function(start, end, to){ + issueCommands('move '+start+':'+end+' '+to); + }; + + /** + * moves the song identified with the passed queue id to the passed queue index + * @instance + * @param {Integer} id - queue id of the song you want to move + * @param {Integer} to - the queue indes you want it to be + */ + self.moveSongOnQueueById = function(id, to){ + issueCommands('moveid '+id+' '+to); + }; + + /** + * Shuffles the current playlist. + * @instance + */ + self.shuffleQueue = function(){ + issueCommands('shuffle'); + }; + + /** + * Swaps the positions of two songs identified by their queue indexes + * @instance + * @param {Integer} pos1 - queue index of the first song + * @param {Integer} pos2 - queue index of the second song + */ + self.swapSongsOnQueueByPosition = function(pos1, pos2){ + issueCommands('swap '+pos1+' '+pos2); + }; + + /** + * Swaps the positions of two songs identified by their queue ids + * @instance + * @param {Integer} id1 - queue id of the first song + * @param {Integer} id2 - queue id of the second song + */ + self.swapSongsOnQueueById = function(id1, id2){ + issueCommands('swapid '+id1+' '+id2); + }; + + /** + * Loads the given playlist to the end of the current queue. + * @instance + * @param {String} playlist_name - the name of the playlist you want to append to the queue + */ + self.appendPlaylistToQueue = function(playlist_name){ + issueCommands('load "'+playlist_name+'"'); + }; + + /** + * Loads the given playlist into the current queue replacing it. + * @instance + * @param {String} playlist_name - the name of the playlist you want to append to the queue + */ + self.loadPlaylistIntoQueue = function(playlist_name){ + issueCommands([ + 'clear', + 'load "'+playlist_name+'"' + ]); + }; + + /** + * Saves the current queue as a the given playlist, overwrites exsisting playlist of that name if it exsists, otherwise makes a new one + * @instance + * @param {String} playlist_name - the name of the playlist you want to use as your new queue + */ + self.saveQueueToPlaylist = function(playlist_name){ + issueCommands('save "'+playlist_name+'"'); + }; + + /** + * adds the given song (filename) to the given playlist + * @instance + * @param {String} playlist_name - the playlist to add the song to + * @param {String} filename - the filename of the song you want to add + */ + self.addSongToPlaylistByFile = function(playlist_name, filename){ + issueCommands('playlistadd "'+playlist_name+'" "'+filename+'"'); + }; + + /** + * Clears the playlist leaving it still in exsistance, but empty + * @instance + * @param {String} playlist_name - the poor unfortunate playlist you want to hollow out + */ + self.clearPlaylist = function(playlist_name){ + issueCommands('playlistclear "'+playlist_name+'"'); + }; + + /** + * Deletes the song at the given position from the given playlist + * @instance + * @param {String} playlist_name - the name of the playlist with a song on it that you think shouldn't be there anymore + * @param {Integer} position - the position in the playlist of the song you want to remove + */ + self.removeSongFromPlaylistByPosition = function(playlist_name, position){ + issueCommands('playlistdelete "'+playlist_name+'" '+position); + }; + + /** + * moves the song from one position on the playlist to another + * @instance + * @param {String} playlist_name - the name of the playlist on which you want to move a song + * @param {Integer} from - position on the playlist of the song you want to move + * @param {Integer} to - the position to which you want to move the song + */ + self.moveSongOnPlaylistByPosition = function(playlist_name, from, to){ + issueCommands('playlistmove "'+playlist_name+'" '+from+' '+to); + }; + + /** + * Renames the playlist + * @instance + * @param {String} playlist_name - the name is it right now + * @param {String} new_name - the name it should be + */ + self.renamePlaylist = function(playlist_name, new_name){ + issueCommands('rename "'+playlist_name+'" "'+new_name+'"'); + }; + + /** + * this kills the playlist + * @instance + * @param {String} playlist_name - the name of the playlist you want to obliterate and never see any trace of again + */ + self.deletePlaylist = function(playlist_name){ + issueCommands('rm "'+playlist_name+'"'); + }; + + /** + * Updates the music database: find new files, remove deleted files, update modified files. + * @instance + */ + self.updateDatabase = function(){ + issueCommands('update'); + }; + + /** + * @instance + * @param {String} [path] - path to the directory you are interested in relative to MPD's music root directory (root is a blank string, never start with '/') + * @param {directoryContentsCallback} + */ + self.getDirectoryContents = function(path, onDone){ + issueCommands({ + command:'lsinfo "'+path+'"', + handler:getDirectoryHandler(onDone) + }); + }; + + /** + * return an array of strings which are all of the valid tags + * note there might be more undocumented tags that you can use just fine not listed here (like musicbrainz) + * @instance + * @returns {String[]} + */ + self.getTagTypes = function getTagTypes(){ + return cloneObject(_private.tag_types); + }; + + /** + * params is a {tag => value} object, valid tags are enumerated in getTagTypes. + * onDone is a function that should be called on complete, will be passed an array of strings that are the values of the tag identified by tag_type that are on songs that match the search critaria + * + * @example + * client.tagSearch( + * 'album', + * {artist:'bearsuit'}, + * function(albums){ + * //albums == ["Cat Spectacular", "Team Pingpong", "OH:IO", "The Phantom Forest"] + * //which are all of the albums of the band Bearsuit + * } + * ); + * @instance + * @param {Object[]} params - Array of objects that maps a tag to a value that you want to find matches on that tag for {tag => value}. For a list of acceptable tag/keys @see {@link getTagTypes}. For a list of acceptable values for a given tag @see {@link getTagOptions}. + * @param {searchResultsCallback} onDone - function called when the search results have come back, is passed the results as it's only parameter + */ + self.tagSearch = function doTagSearch(tag_type, params, onDone){ + var query = 'list '+tag_type; + for(key in params){ + var value = params[key]; + query += ' '+key+' "'+value+'"'; + } + issueCommands({ + command:query, + handler:getTagSearchHandler(onDone, tag_type) + }); + }; + + /** + * params is a {tag => value} object, valid tags are enumerated in getTagTypes, onDone is a function that should be called on complete, will be passed an array of song objects + * @instance + * @param {Object[]} params - Array of objects that maps a tag to a value that you want to find matches on that tag for {tag => value}. For a list of acceptable tag/keys @see {@link getTagTypes}. For a list of acceptable values for a given tag @see {@link getTagOptions}. + * @param {searchResultsCallback} onDone - function called when the search results have come back, is passed the results as it's only parameter + */ + self.search = function(params, onDone){ + var query = 'search'; + for(key in params){ + var value = params[key]; + query += ' '+key+' "'+value+'"'; + } + issueCommands({ + command:query, + handler:getSearchHandler(onDone) + }); + }; + + /** + * like search except just for finding how many results you'll get (for faster live updates while criteria are edited) + * params is a {tag => value} object, valid tags are enumerated in getTagTypes, onDone is a function that should be called on complete, will be passed the numver of results the search would produce + * @instance + * @param {Object[]} params - Array of objects that maps a tag to a value that you want to find matches on that tag for {tag => value} For a list of acceptable tag/keys @see {@link getTagTypes}. For a list of acceptable values for a given tag @see {@link getTagOptions}. + * @param {searchCountCallback} onDone - function called when the search results have come back, is passed the results as it's only parameter + */ + self.searchCount = function(params, onDone){ + var query = 'count'; + for(key in params){ + var value = params[key]; + query += ' '+key+' "'+value+'"'; + } + issueCommands({ + command:query, + handler:getSearchHandler(function(results){ + onDone(results[0]); + }) + }); + }; + + /** + * set the password for this client + * @instance + * @param {String} + */ + self.authorize = function(password){ + _password = password; + if(_private.state.connected){ + //if we are not connected we will issue the password as part of our reconnection + issueCommands('password '+_password); + } + } + + /****************\ + |* private data *| + \****************/ + + var _private = { + /** + * THE web socket that is connected to the MPD server + * @private + */ + socket:null, + + /** + * running string of partial responces from MPD + */ + raw_buffer:'', + + /** + * running list of lines we have gotten from the server + */ + raw_lines:[], + + /** + * false if we are disconnected or have not completed out initial data load yet + */ + inited: false, + + /** + * events that have been held until we are consistent + */ + queued_events:[], + + /** + * object {string:[function]} -- listing of funcitons to call when certain events happen + * + * valid handlers: + * Connect + * Disconnect + * Queue + * State + * SongChange + * Mpdhost + * Error + * @private + */ + handlers:{}, + + /** + * number -- int number of milisecond to wait until reconnecting after loosing connection + * set to something falsyto disable automatic reconnection + * @private + */ + reconnect_time: 3000, + + /** + * true if we want logging turned on + * @private + */ + do_logging: false, + + /** + * Our understanding of what the server looks like + * @typedef {Object} state + * @property {String} version - server protocol version + * @property {Boolean} connected - if we are currently connected to the server or not + * @property {String} playstate - enum, PLAYING, STOPPED, PAUSED + * actual MPD attribute: state (int 0,1,2) + * @property {Integer} volume - 0 to 1 the current volume + * @property {Boolean} repeat - true if the server is configured to repeat the current song + * @property {Boolean} single - true if the server is configured to just play one song then quit + * @property {Boolean} consume - true if the server is configured to not repeat songs in a playlist + * @property {Boolean} random - true if the server is configured to play music in a random order + * @property {Integer} crossfade - nonnegitive integer representing number of seconds to crossfade songs + * @property {Float} mix_ramp_threshold - not sure what this is, but it's reported + * actual MPD attribute: mixrampdb + * @property {Object} current_song - info about the currently playing song + * @property {Integer} current_song.queue_idx - which song in the current playlist is active + * actual MPD attribute: song + * @property {Float} current_song.elapsed_time - time into the currently playing song in seconds + * actual MPD attribute: elapsed + * @property {Integer} current_song.id - the id of the current song + * actual MPD attribute: songid + * @property {Object} next_song - info about the song next to play on the queue + * @property {Integer} next_song.queue_idx - which song in the current playlist is active + * actual attribute: song + * @property {Integer} next_song.id - the id of the current song + * actual attribute: songid + * @property {Queue} current_queue - the songs that are currently in rotation for playing, in the order they are to play (unless random is set to true) + * @property {Integer} queue_version - a number associated with the queue that changes every time the queue changes + * @property {String[]} playlists - names of all of the saved playlists + */ + state:{ + version: null, + connected:false, + playstate: null, + volume: null, + repeat: null, + single: null, + consume: null, + random: null, + crossfade: null, + mix_ramp_threshold: null, + current_song: { + queue_idx: null, + elapsed_time: null, + id: null + }, + + next_song: { + queue_idx: null, + id: null + }, + current_queue: null, + queue_version: null, + playlists:[] + }, + + /** + * list of tags that are acceptable for this server + */ + tag_types:[], + + /** + * list of available outputs + */ + outputs:[], + + /** + * when was the status last updated + * @private + */ + last_status_update_time: new Date(), + + /** + *method called when we get a responce from MPD + */ + responceProcessor:null, + + /** + * sequence of handlers for the sequence of commands that have been issued + * @private + */ + commandHandlers:[], + + /** + * commands that are yet to be processed + */ + command_queue:[], + + /** + *last error we had + */ + last_error: null + }; + + + /*******************\ + |* private methods *| + \*******************/ + + /*************************\ + |* connection management *| + \*************************/ + + /** + * wrapper for sending a message to the server, allows logging + * @private + */ + function sendString(str){ + log('sending: "'+str+'"'); + _private.socket.send_string(str); + } + + + /** + * initalization funciton + * called near the end of this file and when we need to (try to) (re)connect + * @private + */ + function init(){ + var websocket_url = getAppropriateWsUrl(); + var websocket = new Websock(); + websocket.open(websocket_url); + + //these can throw + websocket.on('open',onConnect); + + websocket.on('message', function(){ + _private.responceProcessor.apply(this,arguments); + }); + + websocket.on('close',onDisconnect); + + _private.socket = websocket; + } + + + /** + * function called when the websocke connects + * @private + */ + function onConnect(){ + log("connected"); + _private.state.connected = true; + _private.raw_buffer = ''; + _private.raw_lines = []; + _private.responceProcessor = handleConnectionMessage; + callHandler('Connect', arguments); + } + + + /** + * called when we disconnected (unexpectedly) + * @private + */ + function onDisconnect(){ + log("disconnected"); + + callHandler('Disconnect', arguments); + + _private.state.connected = false; + _private.socket = null; + _private.state.version = null; + _private.commandHandlers = []; + setInited(false); + + _private.responceProcessor = null; //will throw an error if we get any responces before we reconnect + + if(_private.reconnect_time){ + setTimeout(init, _private.reconnect_time); + } + } + + + /** + * change the state and deal with what happens when that state changes + */ + function setInited(inited){ + _private.inited = inited; + if(inited){ + var events = _private.queued_events; + _private.queued_events = []; + events.forEach(function(event){ + for(var key in event){ + callHandler(key, event[key]); + } + }); + } + } + + + /************\ + |* commands *| + \************/ + + + /** + * issue one or more commands to the server + * pass one command or an array of commands + * a command can be in the form of a string, or a object + * if a string is used as a command it will be assumed to have a 'do nothing' responce handler + * if an object is passed it must be in the form of {command:, handler:function(String[]), error:function(Error)} + * this assumes we are starting in and wish to return to an idle state + * @private + */ + function issueCommands(commands, is_idling){ + if( Object.prototype.toString.call( commands ) !== '[object Array]' ) { + //some joker didn't give us a set of commands... wrap it up + commands = [commands]; + } + + if(_private.command_queue.length === 0){ + _private.command_queue = commands; + //done in a timeout so we can combine commands effecently + setTimeout(function(){ + processComandQueue(is_idling === false); + }, 50); + } + else{ + //append additional commands, they'll get processed when the above command is done + _private.command_queue.push.apply(_private.command_queue, commands); + } + } + + + /** + * get the next command off the queue and process it + */ + function processComandQueue(is_not_idling){ + var command_string = ''; + + if(_private.commandHandlers.length > 0 && _private.commandHandlers[0].command !== 'idle'){ + //there are outstatnding commands being processed still, wait until the last batch finishes + //we don't have to timeout call ourself because we will be called when the outstanding commands are done + //if we are waiting on the idle handler then this doesn't count + return; + } + + _private.command_queue.forEach(function(command){ + if(command instanceof Function){ + //case when we are given function, an 'on complete command' + //if we are given a function, it will be called when all previous commands are complete + _private.commandHandlers.push(command); + } + else{ + //normal case + + //if it's a string make it be an object + if(typeof command === 'string'){ + command = {command:command}; //malkovich + } + + //if it doesn't have a handler give it a 'do nothing' handler + if(typeof command.handler === 'undefined'){ + command.handler = function(){}; + } + + //if it doesn't have a error handler give it the default error handler + if(typeof command.error === 'undefined'){ + command.error = defaultErrorHandler; + } + + //now everything is normalized + + //append the command + command_string += command.command+'\n'; + + //set the handler + _private.commandHandlers.push(command); + } + }); + _private.command_queue = []; + + //issue the command + if('' === command_string){ + //if we were given nothing but post comand functions don't issue a null command + //but do call all of those post comand functions + _private.commandHandlers.forEach(function(func){ + //this whole branch is weird, so lets just check to make sure these are all post comand functions + if(!func instanceof Function){ + throw new Error('non-"post comand" function in commandHandlers when there was no command!'); + } + func(); + }); + } + else{ + var idle_command = { + command:'idle', + handler:idleHandler, + error:defaultErrorHandler + }; + _private.commandHandlers.push(idle_command); + + command_string = 'command_list_ok_begin\n'+command_string+'idle\ncommand_list_end\n'; + if(!is_not_idling){ + command_string = 'noidle\n'+command_string; + } + + sendString(command_string); + } + } + + /** + * what to do by default if a command fails + */ + function defaultErrorHandler(error){ + var error_codes = MPD.getErrorCodes(); + //if it's an error we know something about, maybe we can deal with it, otherwise just call registered handlers + switch(error.code){ + case error_codes.ACK_ERROR_PASSWORD: + case error_codes.ACK_ERROR_PERMISSION: + // we\the user tried to do something they are not allowed to do + callHandler('AuthFailure', error, true); + break; + default: + debugger; + alert('***ERROR*** '+error.message); + callHandler('Error', error, true); + break; + } + } + + + /*************************************\ + |* process responces from the server *| + \*************************************/ + + + /** + * return all of the lines upto one that matches the passed line + * MUTATES lines + * @private + */ + function getLines(lines, last_line){ + var end_line = -1; + for(var i = 0; i0){ + if(value.match(/^\d*(\.\d*)?$/)){ + value = parseFloat(value); + } + else if(date = parseDate(value)){ + value = date; + } + } + key = key.toLowerCase(); + key = key.replace(/[^\w\d]+/g, '_'); + + //we are starting a new object + if(file_marker && key.match(file_marker)){ + output.push(current_thing); + current_thing = {}; + } + current_thing[key] = value; + + //we want to skip the first, starting key so this is down here + if(file_marker === null){ + if(new_file_marker){ + file_marker = new_file_marker; + } + else{ + file_marker = new RegExp('^'+key+'$'); + } + } + + }); + + //get the last one + if(current_thing){ + output.push(current_thing); + } + + return output; + } + + + /** + *fetch outstanding lines from MPD + */ + function getRawLines(){ + _private.raw_buffer += _private.socket.rQshiftStr();//get the raw string + + var lines = _private.raw_buffer.split('\n');//split that into lines + + _private.raw_buffer = lines.pop(); //last line is incomplete + + _private.raw_lines.push.apply(_private.raw_lines,lines); //append these new lines to the running collection we have + + if(_private.do_logging){ + lines.forEach(function(str){log('recived: "'+str+'"');}); //log what we got + } + + return _private.raw_lines; + } + + + /** + * called when we have some data, + * might be a message, + * might be a fragment of a message, + * might be multiple messages + * @private + */ + function onRawData(){ + var lines = getRawLines(); + //keep processing untill we can't process any more + var command_processor = null; + var old_lines;//this is infinite loop prevention, should never actually happen + while(lines.length > 0 && old_lines != lines.length){ + old_lines = lines.length; + + var error = getError(lines); + if(error){ + //this command hit an error + command_processor = _private.commandHandlers.shift(); //get the next outstanding command processor + command_processor.error(error); + } + else{ + var command_lines = getLines(lines, /^OK$|^list_OK$/);//get everything until the 'OK' line + if(command_lines === null){ + //we have hit the end of the useable lines + break; + } + command_lines.pop(); //get rid of the 'OK' + + command_processor = _private.commandHandlers.shift(); //get the next outstanding command processor + + command_processor.handler(command_lines); //execure the processor on the results of the command + } + + //call everything we are supposed to just call + while(_private.commandHandlers.length > 0 && _private.commandHandlers[0] instanceof Function){ + _private.commandHandlers.shift()(); + } + } + + //if there are no commandHandlers left, we have definitely exauhsted our outstanding commands + //if there is something in the command_queue, we have another batch of commands to issue + //so process them + if(_private.commandHandlers.length === 0 && _private.command_queue > 0){ + processComandQueue(); + } + } + + + /** + * we are expecting a connection responce + * this handles raw data because when we first connect the protocol is comepletely different than at any other point + * @private + */ + function handleConnectionMessage(){ + var lines = getRawLines(); + + if(lines.length < 1){ + return; + } + + var line = lines.shift(1); + + _private.state.version = line.replace(/^OK MPD /, ''); + + _private.responceProcessor = onRawData; + + if(typeof _password !== 'undefined'){ + issueCommands({ + command:'password '+_password, + error:cancelLoad + }); + } + + //issue the commands that will (re)init this object + loadEverything(); + } + + /********************\ + |* command handlers *| + \********************/ + + /** + * handles the 'tagtypes' command + */ + function tagHandler(lines){ + var tag_types = processListResponce(lines); + _private.tag_types = ['any'].concat( + tag_types.map(function(tagtype){ + return tagtype.tagtype.toLowerCase(); + }) + ); + } + + /** + * deal with the result of the 'outputs' command + */ + function outputHandler(lines){ + _private.outputs = processListResponce(lines); + + callHandler('OutputChanged',self.getOutputs()); + } + + /** + * handle the responce from the 'status' command + * @private + */ + function stateHandler(lines){ + + //update this so playtime is calculated accurately + _private.last_status_update_time = new Date(); + + log('state'); + + //convert the lines into an object + var state = {}; + lines.forEach(function(line){ + var key = line.replace(/([^:]+): (.*)/,'$1'); + var value = line.replace(/([^:]+): (.*)/,'$2'); + if(value.match(/^\d*(\.\d*)?$/)){ + value = parseFloat(value); + } + state[key] = value; + }); + + //normalize some of the state properties because I don't like them the way they are + //because of course I know better than the MPD maintainers what things should be called and the ranges things should be in + state.current_song = { + queue_idx: state.song, + elapsed_time: state.elapsed, + id: state.songid + }; + delete state.song; + delete state.elapsed; + delete state.songid; + + state.mix_ramp_threshold = state.mixrampdb; + state.playstate = state.state; + state.queue_version = state.playlist; + state.crossfade = (typeof state.xfade === 'undefined')?0:state.xfade; + delete state.mixrampdb; + delete state.state; + delete state.playlist; + delete state.xfade; + + state.next_song = { + queue_idx: state.nextsong, + id: state.nextsongid + }; + delete state.nextsong; + delete state.nextsongid; + + state.volume /= 100; + + for(property in state){ + _private.state[property] = state[property]; + } + + callHandler('StateChanged',self.getState()); + } + + + /** + * handler for the current queue + * @private + */ + function queueHandler(lines){ + var queue_songs = processListResponce(lines); + + var source = { songs: queue_songs.map( + function(song){ + return MPD.QueueSong(self,song); + } + )}; + + _private.state.current_queue = MPD.Queue(self, source); + + callHandler('QueueChanged',self.getQueue()); + } + + + /** + * handler for the list of playlists + * @private + */ + function playlistsHandler(lines){ + _private.state.playlists = processListResponce(lines); + + callHandler('PlaylistsChanged',self.getPlaylists()); + } + + /*\ + | meta-handlers + \*/ + + /** + * get a handler wrapper for the results of a search + * @private + */ + function getSearchHandler(onDone){ + return function(lines){ + var results = processListResponce(lines); + onDone(results.map(function(song){ + return MPD.SearchSong(self,song); + })); + }; + } + + + /** + * get a handler wrapper for the results of a tag search + * @private + */ + function getTagSearchHandler(onDone, tag){ + return function(lines){ + var results = processListResponce(lines); + onDone(results.map(function(result){ + return result[tag]; + })); + }; + } + + + /** + * handler for the list of directories + * @private + */ + function getDirectoryHandler(onDone){ + return function(lines){ + var results = processListResponce(lines, /^file$|^directory$/); + onDone(results.map(function(file){ + if(typeof file.file !== 'undefined'){ + return MPD.FileSong(self,file); + } + else{ + return MPD.Directory(self,file); + } + })); + }; + } + + + /** + * handler for loading a single playlist + * @private + */ + function getPlaylistHandler(onDone, idx){ + return function(lines){ + var results = processListResponce(lines); + + var source = cloneObject(_private.state.playlists[idx]); + source.songs = results.map(function(song, pos){ + song.position = pos; + return MPD.PlaylistSong(self,song); + }); + onDone(MPD.Playlist(self,source)); + }; + } + + + /** + * given a change key, return the command that will result in getting the changed data + * @private + */ + function figureOutWhatToReload(change){ + switch(change){ + case 'database': //the song database has been modified after update. + //reload + //everything + return 'everything'; + break; + + case 'stored_playlist': //a stored playlist has been modified, renamed, created or deleted, no idea which one + return 'playlist'; + break; + + case 'playlist': //the current playlist has been modified + return 'queue'; + break; + + /*these are all status changed*/ + case 'player': //the player has been started, stopped or seeked + case 'mixer': //the volume has been changed + case 'options': //options like repeat, random, crossfade, replay gain + return 'status'; + break; + + case 'output': //an audio output has been enabled or disabled + return 'outputs'; + break; + + /*these are things I'm not interested in (yet)*/ + case 'update': //a database update has started or finished. If the database was modified during the update, the database event is also emitted. + //we don't want to do anything, but the front end might be interested in knowing about it + callHandler('DatabaseChanging'); + case 'sticker': //the sticker database has been modified. + case 'subscription': //a client has subscribed or unsubscribed to a channel + case 'message': //a message was received on a channel this client is subscribed to; this event is only emitted when the queue is empty + default: + //default do nothing + } + } + + + /** + * wait for something to change + * this is the state we spend most of out time in + * @private + */ + function idleHandler(lines){ + if(lines.length > 0){ + var actions = {}; + lines.forEach(function(line){ + var change = line.replace(/([^:]+): (.*)/,'$2'); + actions[figureOutWhatToReload(change)] = true; + }); + + if(actions.everything){ + //don't even bother doing anything fancy + loadEverything(true); + } + else{ + //now we have to reload all the stuff we need + //in the right order + + var commands = []; + + if(actions.queue){ + commands.push({ + command:'playlistinfo', + handler:queueHandler + }); + } + if(actions.status){ + commands.push({ + command:'status', + handler:stateHandler + }); + } + if(actions.outputs){ + commands.push({ + command:'outputs', + handler:outputHandler + }); + //TODO remove this hack when this bug is fixed in MPD + setTimeout(function(){ + issueCommands({ + command:'status', + handler:stateHandler + }); + },500); + } + if(actions.playlist){ + commands.push({ + command:'listplaylists', + handler:playlistsHandler + }); + } + + if(commands.length > 0){ + issueCommands(commands,false); + } + } + } + } + + + /** + * method name says it all + * @private + */ + function loadEverything(reload){ + setInited(false); + + //this loads all of the data from the MPD server we need + //it gets the queue first, then the state (because the state references the queue), + //then all of the other data that shouldn't change without MPD going down in no particular order + issueCommands( + [ + { + command:'playlistinfo', + handler:queueHandler, + error:cancelLoad + }, + { + command:'status', + handler:stateHandler, + error:cancelLoad + }, + { + command:'tagtypes', + handler:tagHandler, + error:cancelLoad + }, + { + command:'outputs', + handler:outputHandler, + error:cancelLoad + }, + { + command:'listplaylists', + handler:playlistsHandler, + error:cancelLoad + }, + function(){ + setInited(true); + callHandler('DataLoaded',_private.state); + } + ], + reload === true + ); + } + + /** + * deal with getting an error during initial data load + */ + function cancelLoad(error){ + _private.socket.close(); + _private.commandHandlers = []; + _private.command_queue = []; + _private.state.connected = false; + defaultErrorHandler(error); + } + + + /**********\ + |* events *| + \**********/ + + + /** + * call all event handlers for the specified event + * @private + */ + function callHandler(event_name, args, uncached){ + if(!_private.inited && !uncached){ + var event_obj = {}; + event_obj[event_name] = args; + _private.queued_events.push(event_obj); + return; + } + + var handler_name = 'on'+event_name; + + if(!_private.handlers[handler_name]){ + handler_name = 'onUnhandledEvent'; + } + + if(_private.handlers[handler_name]){ + _private.handlers[handler_name].forEach(function(func){ + try{ + func(args, self); + } + catch(err){ + callHandler('Error', err, true); + } + }); + } + + if(event_name !== 'Event'){ + callHandler('Event', {type:event_name, data:args}, uncached); + } + } + + + /** + * add an event handler + * @private + */ + function on(event_name, handler){ + + var acceptable_handlers = ['Error', 'Event', 'UnhandledEvent', 'DatabaseChanging', 'AuthFailure', 'DataLoaded', 'StateChanged', 'OutputChanged', 'QueueChanged', 'PlaylistsChanged', 'PlaylistChanged','Connect', 'Disconnect']; + + if(acceptable_handlers.indexOf(event_name) === -1){ + throw new Error("'"+event_name+"' is not a supported event"); + } + + + //bind the passed method to the client interface + handler = handler.bind(self); + + var handler_name = 'on'+event_name; + if(_private.handlers[handler_name]){ + _private.handlers[handler_name].push(handler); + } + else{ + _private.handlers[handler_name] = [handler]; + } + } + + /*******************\ + |* utility methods *| + \*******************/ + + /** + * logging function + * @private + */ + function log(message){ + if(_private.do_logging){ + console.log("MPD Client: "+message); + } + } + + /** + * private method that gets the right websocket URL + * @private + */ + function getAppropriateWsUrl() + { + var protocol = ''; + var url = _host; + if(typeof url === 'undefined'){ + //change the url so it points to the root + _host = url = document.URL.replace(/((?:https?:\/\/)?[^\/]+).*/, '$1'); + } + + /* + * We open the websocket encrypted if this page came on an + * https:// url itself, otherwise unencrypted + */ + + //figure out protocol to use + if(url.substring(0, 5) == "https"){ + protocol = "wss://"; + url = url.substr(8); + } + else if(url.substring(0, 3) == "wss"){ + protocol = "wss://"; + url = url.substr(6); + } + else{ + protocol = "ws://"; + url = url.replace(/^\w+:\/\//, ''); + } + + url = protocol+url; + + if(_port){ + //use the port this client was initialized with + url = url.replace(/:\d*$/,'')+':'+_port; + } + + return url; + } + + + /** + * converts an string to a Date + * @private + */ + function parseDate(source){ + var value = null; + var matches = null; + if(matches = source.match(/(\d{4})-(\d{2})-(\d{2})T(\d{2}):(\d{2}):(\d{2})Z/)){ + value = new Date(); + value.setFullYear(parseInt(matches[1],10)); + value.setMonth(parseInt(matches[2],10)-1); + value.setDate(parseInt(matches[3],10)); + value.setHours(parseInt(matches[4],10)); + value.setMinutes(parseInt(matches[5],10)); + value.setSeconds(parseInt(matches[6],10)); + } + return value; + } + + /******************\ + |* public methods *| + \******************/ + + + /** + * get the current play time + * @private + */ + function getCurrentSongTime(){ + var current_song = getCurrentSong(); + if(!current_song){ + return 0; + } + + var offset = 0; + if(_private.state.playstate === 'play'){ + var now = new Date(); + + offset = (now.getTime() - _private.last_status_update_time.getTime())/1000; + } + + var last_time = _private.state.current_song.elapsed_time; + last_time = last_time?last_time:0; + + return Math.min(last_time + offset, current_song.getDuration()); + } + + + /** + * get the song identified by it's position on the current queue, or null + * @private + */ + function getSongOnQueue(idx){ + var song = null; + if(idx !== null && _private.state.current_queue.getSongs()[idx]){ + song = _private.state.current_queue.getSongs()[idx]; + } + return song; + } + + + /** + * get the current song, or null + * @private + */ + function getCurrentSong(){ + return getSongOnQueue(_private.state.current_song.queue_idx); + } + + + /** + * get the song next on the queue, or null + * @private + */ + function getNextSong(){ + return getSongOnQueue(_private.state.next_song.queue_idx); + } + + /** + * make a deep copy of the passed object/array/primitive + * @private + */ + function cloneObject(obj){ + return JSON.parse(JSON.stringify(obj)); + } + + + /********\ + |* INIT *| + \********/ + init(); + //see I told you it was called down here + + return self; + +}; + +/******************\ + |* static methods *| + \******************/ + +/** + * return an enum that maps error numbers to something that is almost readable + * @instance + * @returns {Object} + */ +MPD.getErrorCodes = function(){ + return { + ACK_ERROR_NOT_LIST: 1, + ACK_ERROR_ARG: 2, + ACK_ERROR_PASSWORD: 3, + ACK_ERROR_PERMISSION: 4, + ACK_ERROR_UNKNOWN: 5, + ACK_ERROR_NO_EXIST: 50, + ACK_ERROR_PLAYLIST_MAX: 51, + ACK_ERROR_SYSTEM: 52, + ACK_ERROR_PLAYLIST_LOAD: 53, + ACK_ERROR_UPDATE_ALREADY: 54, + ACK_ERROR_PLAYER_SYNC: 55, + ACK_ERROR_EXIST: 56 + }; +}; + +/******************\ + |* nested classes *| + \******************/ + +/** + * A song that exsists in the MPD database + * @class Song + * @param {MPD} client - the MPD client object that owns this + * @param {song_metadata} source - raw metadata javascript object that contains the MPD reported data for this song + */ +MPD.Song = function(client, source){ + /** + * @lends Song + */ + var me = {}; + + /** + * get the MPD reported metadata, raw + * @instance + * @returns {song_metadata} gets the all of the raw metadata MPD provided + */ + me.getMetadata = function(){ + return JSON.parse(JSON.stringify(source)); + }; + + /** + * get the best looking name for this song, prefer Title, fallback to something derived from filename + * @instance + * @returns {String} a good looking display name for this sing, suitable for presenting to the user + */ + me.getDisplayName = function(){ + if(typeof source.title === 'undefined'){ + return source.file.replace(/^([^\/]*\/)+|\.\w+/g, ''); + } + return source.title; + }; + + /** + * get the filename + * @instance + * @returns {String} the full path to the music file in MPD's music directory. relative path. + */ + me.getPath = function(){ + return source.file; + }; + + /** + * when was the song file last altered + * @instance + * @returns {Date} when the song file last altered + */ + me.getLastModified = function(){ + return source.last_modified; + }; + + /** + * get the song's duration + * @instance + * @returns {Number} song duration in number of seconds + */ + me.getDuration = function(){ + return source.time; + }; + + /** + * get the song's artist + * @instance + * @returns {String} from the song metadata + */ + me.getArtist = function(){ + return source.artist; + }; + + /** + * get the song's title + * @instance + * @returns {String} from the song metadata + */ + me.getTitle = function(){ + return source.title; + }; + + /** + * get the song's album + * @instance + * @returns {String} from the song metadata + */ + me.getAlbum = function(){ + return source.album; + }; + + /** + * get the song's track + * @instance + * @returns {String} from the song metadata + */ + me.getTrack = function(){ + return source.track; + }; + + /** + * get the song's genre + * @instance + * @returns {String} from the song metadata + */ + me.getGenre = function(){ + return source.genre; + }; + + /** + * get the reported disk number from of the song, note this need not be a number or numeric, also need not exsist + * @instance + * @returns {String} reported disk + */ + me.getDisk = function(){ + return source.disk; + }; + + /** + * if this song is on the Queue, get the QueueSong + * @instance + * @returns {QueueSong} + */ + me.getQueueSong = function(){ + var queue = client.getQueue().getSongs(); + for(var i = 0; i20", + "parentId": "1f969cc6-89c4-f559-e824-daf7dfff35cf", + "id": "c6bc0ef4-5b85-b543-4df7-3c00dd73a9eb", + "wait": "10", + "description": "No Description

sdfsdf", + "type": "added", + "items": [ + "0caac742-956e-de6b-6b53-36fb8174e5e0" + ], + "declaredClass": "xblox.model.loops.WhileBlock", + "loopLimit": 1500, + "name": "While", + "icon": "", + "enabled": true, + "shareTitle": "", + "order": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [ + "items" + ], + "name": "Fade-Volume-Up", + "group": "conditional", + "id": "48a83acf-f2ef-ccdf-44a7-621fb635e3c4", + "interval": "0", + "type": "added", + "items": [ + "0a561903-9422-f97d-8a76-0757177a7471" + ], + "waitForResponse": false, + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "", + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [ + "items" + ], + "condition": "[Volume]<80", + "parentId": "48a83acf-f2ef-ccdf-44a7-621fb635e3c4", + "id": "0a561903-9422-f97d-8a76-0757177a7471", + "wait": "10", + "type": "added", + "items": [ + "660a553b-ff5d-ca79-c114-955800c8de76" + ], + "declaredClass": "xblox.model.loops.WhileBlock", + "loopLimit": 1500, + "name": "While", + "icon": "", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "PowerState", + "send": "nada", + "group": "basicVariables", + "id": "31c98cdd-02a8-3af1-3a49-11955c0fad48", + "type": "added", + "value": "on", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0, + "isVariable": true, + "flags": 4096, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "VolumeDown", + "send": "return 'MV' + (this.getVariable('Volume') - 2);", + "group": "basic", + "id": "69f6d4fb-4300-0498-9bbf-27554f5f1fa4", + "auto": "-1", + "type": "added", + "icon": "fa-arrow-down", + "interval": "0", + "waitForResponse": false, + "declaredClass": "xcf.model.Command", + "startup": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "VolumeNormal", + "send": "MV35", + "group": "basic", + "id": "963944c2-c0b0-fe8a-504e-1b8bedd2a3cf", + "auto": false, + "type": "added", + "interval": "2000", + "waitForResponse": false, + "declaredClass": "xcf.model.Command", + "startup": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "flags": 2048, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "group": "conditionalProcess", + "id": "007e54b9-9d9a-df86-4693-9ea627443700", + "method": "console.log('run script2 ' + arguments[0]);", + "enabled": false, + "type": "added", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "shareTitle": "", + "order": 0, + "outlet": 0, + "description": "No Description" + }, + { + "_containsChildrenIds": [], + "name": "Volume-Loud", + "group": "basicVariables", + "id": "b16bfc09-e449-d514-dc98-10b8afbb14f8", + "value": "61", + "type": "added", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0, + "isVariable": true, + "flags": 4096, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "Test", + "group": "basicVariables", + "id": "487b9e80-ca4c-c096-0950-91aad9dd4612", + "value": "return [Volume] + 2;", + "type": "added", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0, + "isVariable": true, + "flags": 4096, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "condition": "", + "parentId": "c6bc0ef4-5b85-b543-4df7-3c00dd73a9eb", + "id": "0caac742-956e-de6b-6b53-36fb8174e5e0", + "command": "69f6d4fb-4300-0498-9bbf-27554f5f1fa4", + "type": "added", + "declaredClass": "xblox.model.functions.CallBlock", + "icon": "", + "_timeout": 100, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0, + "startup": false, + "send": "", + "name": "No Title", + "interval": 0, + "flags": 2048 + }, + { + "_containsChildrenIds": [], + "condition": "", + "parentId": "0a561903-9422-f97d-8a76-0757177a7471", + "id": "660a553b-ff5d-ca79-c114-955800c8de76", + "command": "6d0c5e0e-5c04-bb98-44a0-705c8269de07", + "type": "added", + "declaredClass": "xblox.model.functions.CallBlock", + "icon": "", + "_timeout": 100, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0, + "startup": false, + "send": "", + "name": "No Title", + "interval": 0, + "flags": 2048 + }, + { + "_containsChildrenIds": [], + "name": "Set Master Volume", + "group": "basic", + "id": "ad01c68d-cdbb-7ba7-0046-c9f4c9113f4b", + "send": "return \"MV \" + [Volume];", + "interval": "0", + "waitForResponse": false, + "type": "added", + "declaredClass": "xcf.model.Command", + "startup": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "init", + "id": "79fcb092-2465-6561-c1f7-4ceb81bee04a", + "event": "onDriverVariableChanged", + "enabled": false, + "type": "added", + "filterValue": "Volume", + "items": [ + "8c824b5b-8daf-0290-8b88-2a268da926ad" + ], + "reference": "", + "declaredClass": "xblox.model.events.OnEvent", + "name": "On Event", + "shareTitle": "", + "description": "No Description", + "order": 0, + "filterPath": "item.name", + "valuePath": "item.value", + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "parentId": "79fcb092-2465-6561-c1f7-4ceb81bee04a", + "id": "8c824b5b-8daf-0290-8b88-2a268da926ad", + "method": "console.log(\"variable changed\" ,arguments[0]);", + "enabled": false, + "type": "added", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "shareTitle": "", + "order": 0, + "description": "No Description", + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "Source", + "group": "basicVariables", + "id": "a95618a6-93b3-de15-6eec-2893e2eb2527", + "value": "BD", + "type": "added", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0, + "isVariable": true, + "flags": 4096, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "Ping - Volume", + "group": "basic", + "id": "dec01610-0355-f038-71c8-a46b2cde5fd2", + "send": "MV?", + "interval": "", + "waitForResponse": false, + "type": "added", + "auto": false, + "startup": true, + "declaredClass": "xcf.model.Command", + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "Ping - Power", + "group": "basic", + "id": "a5423bf7-7b99-023d-c637-363fbf9a7f18", + "startup": true, + "send": "PW?", + "interval": "", + "waitForResponse": false, + "icon": "fa-bell", + "type": "added", + "auto": false, + "declaredClass": "xcf.model.Command", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "Ping - Source", + "group": "basic", + "id": "13bd8c70-9cf3-28c9-8c5c-315e54f3cc9d", + "send": "SI?", + "interval": "", + "waitForResponse": false, + "icon": "fa-bell", + "type": "added", + "auto": false, + "declaredClass": "xcf.model.Command", + "startup": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "Last Value", + "group": "basicVariables", + "id": "611b5637-dd3e-760e-dcd4-0d21faaaeeff", + "type": "added", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0, + "isVariable": true, + "flags": 4096, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [ + "items" + ], + "dstField": "elseIfBlocks", + "parentId": "980b8fd2-3538-4003-85f9-7f70e2b92cb6", + "id": "e3720be6-741c-96f4-de07-7edce704264b", + "condition": "[value]=='END'", + "type": "added", + "items": [ + "d99f0616-ab67-efd7-f4c1-01fa0168c1f8" + ], + "name": "else if", + "declaredClass": "xblox.model.logic.ElseIfBlock", + "icon": "", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [ + "items" + ], + "dstField": "elseIfBlocks", + "parentId": "980b8fd2-3538-4003-85f9-7f70e2b92cb6", + "id": "63b534b4-2607-2749-20c5-b109c9c3df3d", + "type": "added", + "items": [ + "733c68ae-b22b-c40c-a215-e5a80c8f6dc3" + ], + "name": "else if", + "declaredClass": "xblox.model.logic.ElseIfBlock", + "condition": "", + "icon": "", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [ + "items", + "elseIfBlocks", + "consequent" + ], + "group": "conditionalProcess", + "condition": "return [value]=='PW';", + "id": "980b8fd2-3538-4003-85f9-7f70e2b92cb6", + "items": [ + "e3720be6-741c-96f4-de07-7edce704264b", + "63b534b4-2607-2749-20c5-b109c9c3df3d" + ], + "enabled": false, + "type": "added", + "elseIfBlocks": [ + "e3720be6-741c-96f4-de07-7edce704264b", + "63b534b4-2607-2749-20c5-b109c9c3df3d" + ], + "declaredClass": "xblox.model.logic.IfBlock", + "name": "if", + "icon": "", + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0, + "consequent": [ + "b45e388f-bfa9-9472-c93c-aa3f101e3a80" + ] + }, + { + "_containsChildrenIds": [], + "id": "d99f0616-ab67-efd7-f4c1-01fa0168c1f8", + "enabled": false, + "type": "added", + "parentId": "e3720be6-741c-96f4-de07-7edce704264b", + "declaredClass": "xblox.model.logging.Log", + "name": "Log Message", + "level": "info", + "message": "return \"Message: \" + arguments[0];", + "_type": "XBlox", + "host": "this host", + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "id": "733c68ae-b22b-c40c-a215-e5a80c8f6dc3", + "enabled": false, + "type": "added", + "parentId": "63b534b4-2607-2749-20c5-b109c9c3df3d", + "declaredClass": "xblox.model.logging.Log", + "name": "Log Message", + "level": "info", + "message": "return \"Message: \" + arguments[0];", + "_type": "XBlox", + "host": "this host", + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "id": "b45e388f-bfa9-9472-c93c-aa3f101e3a80", + "enabled": false, + "type": "added", + "parentId": "980b8fd2-3538-4003-85f9-7f70e2b92cb6", + "declaredClass": "xblox.model.logging.Log", + "name": "Log Message", + "level": "info", + "message": "return \"Message: \" + arguments[0];", + "_type": "XBlox", + "host": "this host", + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "Set TV", + "group": "basic", + "id": "e4d05d14-1798-a168-e984-8588d7463b75", + "send": "SITV", + "waitForResponse": false, + "type": "added", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": 0, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "init", + "id": "ee4d83cc-b3a4-c2eb-9f32-344fb476d646", + "send": "PW?", + "name": "PingPower", + "type": "added", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": 0, + "flags": 2048, + "icon": "fa-exclamation", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0 + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "init", + "id": "e63cba29-0cf3-7839-a631-75fb9424ab8e", + "send": "MV?", + "name": "PingVolume", + "interval": "0", + "type": "added", + "items": [ + "7a0bc101-6a7e-1de5-7dab-bc787953022a" + ], + "declaredClass": "xcf.model.Command", + "startup": false, + "flags": 2048, + "icon": "fa-exclamation", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0 + }, + { + "_containsChildrenIds": [], + "parentId": "e63cba29-0cf3-7839-a631-75fb9424ab8e", + "id": "7a0bc101-6a7e-1de5-7dab-bc787953022a", + "method": "console.error('init');", + "type": "added", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "description": "No Description" + }, + { + "_containsChildrenIds": [], + "name": "Set Blue-Ray", + "id": "c9bc7af6-0de9-0aa7-e6de-6a635cd50ea7", + "send": "SIBD", + "waitForResponse": false, + "type": "added", + "group": "basic", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": 0, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "conditionalProcess", + "id": "43062d7e-6cfd-040c-34bf-7a01c428c057", + "variable": "31c98cdd-02a8-3af1-3a49-11955c0fad48", + "enabled": false, + "type": "added", + "_stopped": false, + "declaredClass": "xblox.model.variables.VariableSwitch", + "name": "Switch on Variable", + "icon": "", + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "condition": "", + "parentId": "53a10527-709b-4c7d-7a90-37f58f17c8db", + "id": "68f4c183-ef18-cb55-8eb2-da850900c9e8", + "declaredClass": "xblox.model.functions.CallBlock", + "command": "command://deviceScope=user_devices&device=fa2b4417-50b5-e74f-e5c1-75c3e7c839f1&driver=8fec6dd4-f647-291d-0a9b-27eea266f6d0&driverScope=user_drivers&block=0c7d9511-eb8c-3f26-b5f9-14669497c862", + "icon": "", + "_timeout": 100, + "startup": false, + "send": "", + "name": "No Title", + "interval": 0, + "flags": 2048, + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "type": "added" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Marantz/MyMarantz.js b/shredder/asterix-pp/resources/hmi/drivers/Marantz/MyMarantz.js new file mode 100644 index 0000000..39acfe0 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Marantz/MyMarantz.js @@ -0,0 +1,270 @@ +define([ + "dcl/dcl", + "xcf/model/Command", + 'xide/utils', + 'xide/types', + 'xdojo/has', + "xdojo/has!host-node?nxapp/protocols/ProtocolBase" +], function (dcl,Command,utils,types,has,ProtocolBase) { + // The returning module + var Module = dcl(null, { + updatePower: function (value) { + value = value || this.getVariable('value'); + var out = 0; + if (value.indexOf('@PWR:') != -1) { + var _pw = value.split(':')[1]; + if (!isNaN(_pw)) { + this.setVariable('PowerState', _pw == 2 ? 'on' : 'off'); + out = _pw; + } + } + return out; + }, + updateSource: function (value) { + value = value || this.getVariable('value'); + if (value.startsWith('SI') && value.indexOf("@") ==-1 && value.length>2) { + var _source = value.substring(2, value.length); + this.setVariable('Source', _source); + } + }, + updateVolume: function (value) { + value = value || this.getVariable('value') || ""; + var out = 0; + if (value.indexOf('MV') != -1 && value.indexOf('MVMAX') == -1) { + var _volume = value.substring(2, value.length); + _volume = parseInt(_volume.substring(0, 2),10); + if (!isNaN(_volume)) { + this.setVariable('Volume', _volume); + out = _volume; + } else { + return null; + } + } else { + return null; + } + return out; + }, + testx: function (arg) { + console.log('testx'); + return "mv?"; + }, + testCall: function (test) { + var value = this.callCommand('PowerOn'); + }, + onMessage: function (data) { + var message = data.message || ""; + if(!message || !message.length){ + return; + } + this.updateVolume(message); + this.updatePower(message); + this.updateSource(message); + if (data.message.indexOf('MVMAX') != -1) { + return; + } + }, + onDriverVariableChanged:function(evt){ + + //grab the variable + var variable = evt.item; + + //grab the xblox scope + var blockScope = variable.scope; + + //abort if is not ours, we also receive here variable changes from other devices + // notice: we use != instead of !== + // this is because we compare 2 object pointers and not two primitive's values + if(blockScope != this.blockScope){ + return; + } + + //Example: make some special effort for variable "Volume" + //if(variable.name ==="Volume"){ + //console.info("Volume changed : " + variable.value); + //} + + + //Example: abort if it is not a certain variable + if(variable.name !=="value"){ + //console.warn("skip variable " + variable.name); + return; + } + + //Example: print something in console + //console.log('onDriverVariableChanged ' + variable.name + ' new value:' + variable.value); + + + //Example: do something with the variable + var value = "" + variable.value; //important, build a new string + value++; + + //Example: call a command + if(value ==='whatever'){ + this.callCommand("Command Name"); + } + + //Example: store it in another variable + if(value ==='whatever'){ + this.setVariable("the other variable's name ",value); + } + + + }, + /** + * This function is called as soon the device is connected + */ + start:function(){ + //some debugging message + //console.log('started Marantz',this); + //Example: we subscribe on variable changes, globally + this.subscribe("onDriverVariableChanged"); + //Example, specify the event handler explizit + //this.subscribe("onDriverVariableChanged",this.onDriverVariableChanged); + } + }); + ////////////////////////////////////////////////////////// + // + // Constants + // + var isServer = has('host-node'); // We are running server-side ? + var isIDE = has('xcf-ui'); // We are running client-side and in the IDE? + + function patchModule(){ + Module.getFields = function (command, fields) { + var result = []; + + if(command._gpioFunc === 'setMode') { + + command._value = command._value || 1; + + result.push(utils.createCI('test', types.ECIType.STRING, command._gpio, { + group: 'GPIO', + title: 'Value', + dst: '_gpio', + order: 199 + })); + } + return result; + }; + + /** + * + * @param label + * @param icon + * @param ctrAgs + * @param variables + * @param send + * @param func + * @param description + * @param scope + * @param owner + * @param target + * @param group + */ + function createBlock(label,icon,ctrAgs,variables,send,func,description,scope, owner, target, group){ + return { + name: label, + owner: owner, + icon: icon, + proto: Command, + target: target, + ctrArgs: utils.mixin({ + icon:icon, + flags:0, + name:label, + scope: scope, + group: group, + variables:variables ? JSON.stringify(variables) : "{}", + send:send, + _isGPIO:true, + _gpioFunc:func, + description:description + },ctrAgs) + }; + } + + /** + * Extend xblox for new blocks/commands. + * @param scope + * @param owner + * @param target + * @param group + * @param items + * @returns {*} + */ + Module.getNewBlocks=function(scope, owner, target, group, items){ + if(!items){ + return null; + } + items.push({ + name: 'Marantz', + iconClass: 'fa-code', + items: [ + createBlock('Set Input','fa-cogs',null, + { 'GPIO': '_gpio'}, + "SI {{GPIO}}","setMode", + "Sets the GPIO mode", + scope,owner,target,group) + ] + }); + return items; + }; + + /** + * Override interface for "toText" + * @param command + * @param text + * @returns {*} + */ + Module.toText = function (command, text) { + if(!command._isGPIO){ + return; + } + if(command.variables){ + var commandVariables = utils.fromJson(command.variables); + var variables = {}; + + for(var variable in commandVariables){ + variables[variable]=command[commandVariables[variable]] || " "; + } + text = utils.replace(text,null,variables,{ + begin:'{{', + end:'}}' + }); + return text; + } + + }; + Module.resolveAfter = function (command,inputString) { + if(!command._isGPIO){ + return; + } + if(command.variables){ + var commandVariables = utils.fromJson(command.variables); + var variables = {}; + for(var variable in commandVariables){ + variables[variable]=command._resolve(command[commandVariables[variable]],{ + flags:0x00000800 + },false); + } + inputString = utils.replace(inputString,null,variables,{ + begin:'{{', + end:'}}' + }); + } + return inputString; + }; + } + + //No ProtocolBase means we're running on client side + if (!ProtocolBase) { + //create dummy module + //Module = dcl(null, {}); + patchModule(); + return Module; + } + + patchModule(); + + return Module; +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Motion-Eye/Motion-Eye-MQTT.js b/shredder/asterix-pp/resources/hmi/drivers/Motion-Eye/Motion-Eye-MQTT.js new file mode 100644 index 0000000..742f3fe --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Motion-Eye/Motion-Eye-MQTT.js @@ -0,0 +1,97 @@ +/** @module xcf/driver/DefaultDriver */ +define([ + "dcl/dcl", + 'xdojo/has', + 'xide/utils' +], function (dcl, has, utils) { + + // The returning module + var Module = null; + + ////////////////////////////////////////////////////////// + // + // Constants + // + var isServer = has('host-node'); // We are running server-side ? + var isIDE = has('xcf-ui'); // We are running client-side and in the IDE? + + /** + * Default driver template. This will used for new drivers! + * + * @class module:xcf/driver/DefaultDriver + * @extends module:xcf/driver/DriverBase + * @augments module:xide/mixins/EventedMixin + * @link http://rawgit.com/net-commander/windows-dist/master/docs/Driver/modules/module-xcf_driver_DriverBase.html + */ + Module = dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + //onMessage: function (data) {} + }); + + + ////////////////////////////////////////////////////////// + // + // Optional: An example implementation to extend commands in the interface for additional fields + // + if (isIDE) { + /** + * + * @param command {module:xcf/model/Command} The command which for which want to populate the fields. + * @param fields {Object[]} + * @link http://rawgit.com/net-commander/windows-dist/master/docs/Driver/modules/xcf_model_Command.js.html + */ + Module.getFields = function (command, fields) { + /* + return [utils.createCI('test', 0, command.test, { + group: 'General', + title: 'test', + dst: 'test', + order: 198 + })]; + */ + return []; + }; + } + + ////////////////////////////////////////////////////////// + // + // Optional: An example implementation to modify the string sent to a advice. This makes sense if you added additional fields as shown above. + // + /** + * Callback when a command is before parsing the expression in the "send" field. + * @param command {module:xcf/model/Command} + * @param inputString {string} + * @returns {string} + */ + /* + Module.resolveBefore = function (command,inputString) { + return inputString; + }; + */ + /** + * Callback when a command was parsing the expression in the "send" field. + * @param command {module:xcf/model/Command} + * @param inputString {string} + * @returns {string} + */ + /* + Module.resolveAfter = function (command,inputString) { + return inputString; + }; + */ + + return Module; +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Motion-Eye/Motion-Eye-MQTT.meta.json b/shredder/asterix-pp/resources/hmi/drivers/Motion-Eye/Motion-Eye-MQTT.meta.json new file mode 100644 index 0000000..2edf705 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Motion-Eye/Motion-Eye-MQTT.meta.json @@ -0,0 +1,168 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "Motion-Eye-MQTT", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "69e4469f-f2a8-3c22-e973-49380c22f600", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": "./project1/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": "./Motion-Eye/Motion-Eye-MQTT.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "[]", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"\\\\r\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Motion-Eye/Motion-Eye-MQTT.xblox b/shredder/asterix-pp/resources/hmi/drivers/Motion-Eye/Motion-Eye-MQTT.xblox new file mode 100644 index 0000000..af9965a --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Motion-Eye/Motion-Eye-MQTT.xblox @@ -0,0 +1,171 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "id": "ff612a70-4b0c-a0bb-e4ed-a3da1715fffc", + "name": "value", + "value": "", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": "xcf.model.Variable", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "isVariable": true, + "flags": 4096, + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [ + "items" + ], + "id": "c621527a-d3e0-1db8-50ff-735adcaad462", + "items": [ + "d3a4572a-7a40-33da-7ef6-f51e565e3704", + "7c4cd1c9-8a9e-d862-6707-4b34b1ba16fa", + "4a436c03-1c4b-57a6-95c9-059c5bf0fabb", + "875b03a9-6085-0ca2-4c55-79ef7806899a" + ], + "group": "init", + "declaredClass": "xblox.model.mqtt.Subscribe", + "name": "Subscribe", + "topic": "motionEye/event_start", + "args": "", + "deferred": false, + "icon": "fa-bell", + "path": "", + "qos": 0, + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "type": "added" + }, + { + "_containsChildrenIds": [], + "parentId": "c621527a-d3e0-1db8-50ff-735adcaad462", + "id": "875b03a9-6085-0ca2-4c55-79ef7806899a", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "method": "console.error('motion detected');", + "args": "", + "deferred": false, + "icon": "fa-code", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "type": "added" + }, + { + "_containsChildrenIds": [ + "items" + ], + "id": "8f7bc17d-58df-e96c-1d21-cf00b9eab2dd", + "items": [ + "4aad0ce4-b62a-56cd-63d4-32ed11915784" + ], + "group": "init", + "topic": "motionEye/event_stop", + "type": "added", + "declaredClass": "xblox.model.mqtt.Subscribe", + "name": "Subscribe", + "args": "", + "deferred": false, + "icon": "fa-bell", + "path": "", + "qos": 0, + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "" + }, + { + "_containsChildrenIds": [], + "parentId": "8f7bc17d-58df-e96c-1d21-cf00b9eab2dd", + "id": "4aad0ce4-b62a-56cd-63d4-32ed11915784", + "method": "console.error('motion detected stopped');", + "type": "added", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "" + }, + { + "_containsChildrenIds": [], + "condition": "", + "parentId": "c621527a-d3e0-1db8-50ff-735adcaad462", + "id": "d3a4572a-7a40-33da-7ef6-f51e565e3704", + "declaredClass": "xblox.model.functions.CallBlock", + "command": "command://deviceScope=user_devices&device=1b53dd5c-bda3-a45b-27ea-b1adb876d729&driver=117554bc-f6ef-3442-f163-901d5d35d158&driverScope=user_drivers&block=2d2ce608-9a1f-18d6-5298-fefcd85f8bc9", + "icon": "", + "_timeout": 100, + "startup": false, + "send": "", + "name": "No Title", + "interval": 0, + "flags": 2048, + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "type": "added" + }, + { + "_containsChildrenIds": [], + "condition": "", + "parentId": "c621527a-d3e0-1db8-50ff-735adcaad462", + "id": "7c4cd1c9-8a9e-d862-6707-4b34b1ba16fa", + "declaredClass": "xblox.model.functions.CallBlock", + "command": "command://deviceScope=user_devices&device=bc09b5c4-cfe6-b621-c412-407dbb7bcef8&driver=9db866a4-bb3e-137b-ae23-793b729c44f8&driverScope=user_drivers&block=450d2c75-29b0-29b7-13c5-be175b2a5749", + "icon": "", + "_timeout": 100, + "startup": false, + "send": "", + "name": "No Title", + "interval": 0, + "flags": 2048, + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "type": "added" + }, + { + "_containsChildrenIds": [], + "parentId": "c621527a-d3e0-1db8-50ff-735adcaad462", + "id": "4a436c03-1c4b-57a6-95c9-059c5bf0fabb", + "declaredClass": "xblox.model.logging.Log", + "name": "Log Message", + "level": "info", + "message": "return \"Motion Detected: \" + arguments[0];", + "_type": "XBlox", + "host": "this host", + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "type": "added", + "icon": "fa-play" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PI-GPIO.js b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PI-GPIO.js new file mode 100644 index 0000000..3e65083 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PI-GPIO.js @@ -0,0 +1,685 @@ +/** @module xcf/driver/DefaultDriver */ +define([ + "dcl/dcl", + 'xdojo/has', + 'xide/utils', + "xcf/model/Command", + 'xide/types', + "xdojo/has!host-node?nxapp/protocols/ProtocolBase", + "xdojo/has!host-node?dojo/node!./node_modules/pigpio", + "xdojo/has!host-node?dojo/node!yargs-parser" +], function (dcl, has, utils, Command,types,ProtocolBase, pigpio,yargs) { + + + // The returning module + var Module = null; + ////////////////////////////////////////////////////////// + // + // Constants + // + var isServer = has('host-node'); // We are running server-side ? + var isIDE = has('xcf-ui'); // We are running client-side and in the IDE? + + //No ProtocolBase means we're running on client side + if (!ProtocolBase) { + //create dummy module + Module = dcl(null, {}); + patchModule(); + return Module; + } + + + /** + * Default driver template. This will used for new drivers! + * + * @class module:xcf/driver/DefaultDriver + * @extends module:xcf/driver/DriverBase + * @augments module:xide/mixins/EventedMixin + * @link http://rawgit.com/net-commander/windows-dist/master/docs/Driver/modules/module-xcf_driver_DriverBase.html + * @link https://github.com/fivdi/pigpio/blob/master/doc/gpio.md#pwmwritedutycycle + * @link http://www.myelectronicslab.com/tutorial/raspberry-pi-3-gpio-model-b-block-pinout/ + * @link http://razzpisampler.oreilly.com/ch05.html + */ + Module = dcl([ProtocolBase], { + _gpios:null, + destroy: function () { + for (var id in this._gpios){ + var gpio = this._gpios[id]; + gpio.disableAlert(); + } + delete this._gpios; + }, + /** + * Override connect since we're not really connecting to anything + */ + connect: function () { + this._gpios = {}; + this.owner.onConnected(); + }, + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + write: function (data, options) { + var intArray = utils.bufferFromDecString(data); + var buffer = new Buffer(intArray); + var str = data; + var args = str.split(" "); + var cmd = "" + args[0]; + args.shift(); + this.isDebug() && console.log('write : ' + str, args); + if (typeof this[cmd] === 'function') { + args.push(options); + try { + return this[cmd].apply(this, args); + }catch(e){ + console.error('Error running '+cmd + " : " + e.message); + this._sendError({ + error:e.message + },cmd,options); + } + }else{ + console.warn('cmd '+cmd +' doesnt exists'); + } + }, + _send: function (data, command, options) { + var wait = options.params.wait; + var self = this; + var outString = JSON.stringify(utils.mixin({ + command: command + }, data, null, 2)); + + if (wait) { + self.owner.onFinish(command, options, new Buffer(outString)); + } else { + self.owner.onData(outString, new Buffer(outString)); + } + }, + _sendError: function (data, command, options) { + if(!options){ + console.error('have no options',options); + } + if(!options.params){ + console.error('have no params',options); + } + var wait = options.params.wait; + var self = this; + var outString = JSON.stringify(utils.mixin({ + command: command + }, data, null, 2)); + if (wait) { + self.owner.onError(command, options, new Buffer(outString)); + } else { + self.owner.onData(outString, new Buffer(outString)); + } + }, + setMode:function(nr,mode,options){ + nr = parseInt(nr,10); + mode = parseInt(mode,10); + var gpio = this.getGPIO(nr); + gpio.mode(mode); + }, + digitalWrite:function(nr,value,options){ + nr = parseInt(nr,10); + value = parseInt(value,10); + var gpio = this.getGPIO(nr); + gpio.digitalWrite(value); + this._send({ + value:value, + gpio:nr + },'digitalWrite',options); + }, + digitalRead:function(nr,options){ + nr = parseInt(nr,10); + var gpio = this.getGPIO(nr); + var value = gpio.digitalRead(); + this._send({ + value:value, + gpio:nr + },'digitalRead',options); + }, + getGPIO:function(nr){ + var gpio = this._gpios[nr]; + if(!gpio){ + this._gpios[nr] = new pigpio.Gpio(nr); + } + return this._gpios[nr]; + }, + pwmWrite:function(nr,cycle,options){ + nr = parseInt(nr,10); + cycle = parseInt(cycle,10); + var gpio = this.getGPIO(nr); + gpio.pwmWrite(cycle); + }, + hardwarePwmWrite:function(nr,frequency,cycle,options){ + nr = parseInt(nr,10); + cycle = parseInt(cycle,10); + frequency = parseInt(frequency,10); + var gpio = this.getGPIO(nr); + gpio.hardwarePwmWrite(frequency,cycle); + }, + getPwmDutyCycle:function(nr,options){ + nr = parseInt(nr,10); + var gpio = this.getGPIO(nr); + var value = gpio.getPwmDutyCycle(); + this._send({ + value:value, + gpio:nr + },'getPwmDutyCycle',options); + }, + pwmRange:function(nr,range){ + nr = parseInt(nr,10); + range = parseInt(range,10); + var gpio = this.getGPIO(nr); + gpio.pwmRange(range); + }, + getPwmRange:function(nr,options){ + nr = parseInt(nr,10); + var gpio = this.getGPIO(nr); + var value = gpio.getPwmRange(); + this._send({ + value:value, + gpio:nr + },'getPwmRange',options); + }, + getPwmRealRange:function(nr,options){ + nr = parseInt(nr,10); + var gpio = this.getGPIO(nr); + var value = gpio.getPwmRealRange(); + this._send({ + value:value, + gpio:nr + },'getPwmRealRange',options); + }, + pwmFrequency:function(nr,frequency){ + nr = parseInt(nr,10); + frequency = parseInt(frequency,10); + var gpio = this.getGPIO(nr); + gpio.pwmFrequency(frequency); + }, + getPwmFrequency:function(nr,options){ + nr = parseInt(nr,10); + var gpio = this.getGPIO(nr); + var value = gpio.getPwmFrequency(); + this._send({ + value:value, + gpio:nr + },'getPwmFrequency',options); + }, + servoWrite:function(nr,pulseWidth,options){ + nr = parseInt(nr, 10); + pulseWidth = parseInt(pulseWidth, 10); + var gpio = this.getGPIO(nr); + gpio.servoWrite(pulseWidth); + + }, + getServoPulseWidth:function(nr,options){ + nr = parseInt(nr,10); + var gpio = this.getGPIO(nr); + var value = gpio.getServoPulseWidth(); + this._send({ + value:value, + gpio:nr + },'getServoPulseWidth',options); + }, + enableInterrupt:function(nr,edge,timeout){ + nr = parseInt(nr,10); + edge = parseInt(edge,10); + timeout = parseInt(timeout,10); + var gpio = this.getGPIO(nr); + gpio.enableInterrupt(edge,timeout); + }, + disableInterrupt:function(nr){ + nr = parseInt(nr,10); + var gpio = this.getGPIO(nr); + gpio.disableInterrupt(); + }, + enableAlert:function(nr,options){ + nr = parseInt(nr,10); + var gpio = this.getGPIO(nr); + gpio.enableAlert(); + var self = this; + gpio.on('alert',function(level,tick){ + self._send({ + level:level, + tick:tick, + gpio:nr + },'enableAlert',options); + }); + }, + disableAlert:function(nr,options){ + nr = parseInt(nr,10); + var gpio = this.getGPIO(nr); + gpio.disableAlert(); + }, + pullUpDown:function(nr,pud){ + nr = parseInt(nr,10); + pud = parseInt(pud,10); + var gpio = this.getGPIO(nr); + gpio.pullUpDown(pud); + + }, + trigger:function(nr,pulse,level){ + nr = parseInt(nr,10); + pulse = parseInt(pulse,10); + level = parseInt(level,10); + var gpio = this.getGPIO(nr); + gpio.trigger(pulse,level); + }, + init:function(){ + this._gpios = {}; + } + }); + + + ////////////////////////////////////////////////////////// + // + // Optional: An example implementation to extend commands in the interface for additional fields + // + + function patchModule(){ + Module.getFields = function (command, fields) { + var result = []; + //add a GPIO field + if(command._isGPIO) { + command._gpio = command._gpio || 17; + result.push(utils.createCI('test', types.ECIType.STRING, command._gpio, { + group: 'GPIO', + title: 'GPIO', + dst: '_gpio', + order: 197 + })); + } + + //add gpio mode field + if(command._gpioFunc === 'setMode') { + command._mode = command._mode || "OUTPUT"; + result.push(utils.createCI('test', types.ECIType.ENUMERATION, command._mode, { + group: 'GPIO', + title: 'Mode', + dst: '_mode', + order: 198, + widget:{ + options:[ + {value:0,label:"INPUT"}, + {value:1,label:"OUTPUT"}, + {value:4,label:"ALT0"}, + {value:5,label:"ALT1"}, + {value:6,label:"ALT2"}, + {value:7,label:"ALT3"}, + {value:3,label:"ALT4"}, + {value:2,label:"ALT5"} + ] + } + })); + } + + + if(command._gpioFunc === 'digitalWrite') { + command._value = command._value || 1; + result.push(utils.createCI('test', types.ECIType.ENUMERATION, command._value, { + group: 'GPIO', + title: 'Value', + dst: '_value', + order: 199, + widget:{ + options:[ + {value:0,label:"0"}, + {value:1,label:"1"} + ] + } + })); + } + + if(command._gpioFunc === 'pwmWrite') { + command._value = command._value || 1; + result.push(utils.createCI('test', types.ECIType.STRING, command._value, { + group: 'GPIO', + title: 'Value', + dst: '_value', + order: 199 + })); + } + + if(command._gpioFunc === 'hardwarePwmWrite') { + result.push(utils.createCI('test', types.ECIType.STRING, command._frequency, { + group: 'GPIO', + title: 'Frequency', + dst: '_frequency', + order: 199 + })); + } + + if(command._gpioFunc === 'servoWrite') { + result.push(utils.createCI('test', types.ECIType.STRING, command._pulse, { + group: 'GPIO', + title: 'Pulse Width', + dst: '_pulse', + order: 199 + })); + } + + if(command._gpioFunc === 'pwmRange') { + result.push(utils.createCI('test', types.ECIType.STRING, command._range, { + group: 'GPIO', + title: 'Range', + dst: '_range', + order: 199 + })); + } + + if(command._gpioFunc === 'pwmFrequency') { + result.push(utils.createCI('test', types.ECIType.STRING, command._frequency, { + group: 'GPIO', + title: 'Frequency', + dst: '_frequency', + order: 199 + })); + } + + + if(command._gpioFunc === 'enableInterrupt') { + + result.push(utils.createCI('test', types.ECIType.ENUMERATION, command._edge, { + group: 'GPIO', + title: 'Edge', + dst: '_edge', + order: 200, + widget:{ + options:[ + {value:0,label:"RISING_EDGE"}, + {value:1,label:"FALLING_EDGE"}, + {value:2,label:"EITHER_EDGE"} + ] + } + })); + + result.push(utils.createCI('test', types.ECIType.STRING, command._timeout, { + group: 'GPIO', + title: 'Timeout', + dst: '_timeout', + order: 201 + })); + } + + + //add gpio mode field + if(command._gpioFunc === 'pullUpDown') { + result.push(utils.createCI('test', types.ECIType.ENUMERATION, command._pud, { + group: 'GPIO', + title: 'PUD', + dst: '_pud', + order: 199, + widget:{ + options:[ + {value:0,label:"PUD_OFF"}, + {value:1,label:"PUD_DOWN"}, + {value:2,label:"PI_PUD_UP"} + ] + } + })); + } + + if(command._gpioFunc === 'trigger') { + + result.push(utils.createCI('test', types.ECIType.STRING, command._pulse, { + group: 'GPIO', + title: 'Pulse Length', + dst: '_pulse', + order: 199 + })); + + result.push(utils.createCI('test', types.ECIType.STRING, command._level, { + group: 'GPIO', + title: 'Level', + dst: '_level', + order: 199 + })); + } + + return result; + }; + /** + * + * @param label + * @param icon + * @param ctrAgs + * @param variables + * @param send + * @param func + * @param description + * @param scope + * @param owner + * @param target + * @param group + */ + function createBlock(label,icon,ctrAgs,variables,send,func,description,scope, owner, target, group){ + return { + name: label, + owner: owner, + icon: icon, + proto: Command, + target: target, + ctrArgs: utils.mixin({ + icon:icon, + flags:0, + name:label, + scope: scope, + group: group, + variables:variables ? JSON.stringify(variables) : "{}", + send:send, + _isGPIO:true, + _gpioFunc:func, + description:description + },ctrAgs) + }; + } + + /** + * Extend xblox for new blocks/commands. + * @param scope + * @param owner + * @param target + * @param group + * @param items + * @returns {*} + */ + Module.getNewBlocks=function(scope, owner, target, group, items){ + + if(!items){ + return null; + } + + items.push({ + name: 'PI-GPIO', + iconClass: 'fa-code', + items: [ + + createBlock('Set GPIO Mode','fa-cogs',null, + { 'GPIO': '_gpio','GPIO_MODE': '_mode'}, + "setMode {{GPIO}} {{GPIO_MODE}}","setMode", + "Sets the GPIO mode", + scope,owner,target,group), + + createBlock('Digital Write','fa-send',null, + { 'GPIO': '_gpio','GPIO_VALUE': '_value'}, + "digitalWrite {{GPIO}} {{GPIO_VALUE}}","digitalWrite", + "Sets the GPIO level to 0 or 1. If PWM or servo pulses are active on the GPIO they are switched off.", + scope,owner,target,group), + + createBlock('Digital Read','fa-send',null, + { 'GPIO': '_gpio'}, + "digitalRead {{GPIO}}","digitalRead", + "Returns the GPIO level", + scope,owner,target,group), + + createBlock('PWM Write','fa-send',null, + { 'GPIO': '_gpio','DUTY_CYCLE': '_value'}, + "pwmWrite {{GPIO}} {{DUTY_CYCLE}}","pwmWrite", + "Starts PWM on the GPIO. Uses DMA to control and schedule the pulse lengths and duty cycles. pwmRange can be used to change the default range of 255.Parameter Duty Cycle : an unsigned integer >= 0 (off) and <= range (fully on). range defaults to 255.", + scope,owner,target,group), + + createBlock('PWM Hardware Write','fa-send',null, + { 'GPIO': '_gpio','DUTY_CYCLE': '_value', 'FREQUENCY': '_frequency'}, + "hardwarePwmWrite {{GPIO}} {{FREQUENCY}} {{DUTY_CYCLE}}","hardwarePwmWrite", + "Starts hardware PWM on the GPIO at the specified frequency and dutyCycle. " + + "Frequencies above 30MHz are unlikely to work. Returns this. " + + "The actual number of steps between off and fully on is the integral part of 250 million divided by frequency. " + + "The actual frequency set is 250 million / steps. There will only be a million steps for a frequency of 250. Lower frequencies will have more steps and higher frequencies will have fewer steps. duytCycle is automatically scaled to take this into account. All models of the Raspberry Pi support hardware PWM on GPIO18.", + scope,owner,target,group), + + createBlock('Get PWM Duty Cycle','fa-send',null, + { 'GPIO': '_gpio'}, + "getPwmDutyCycle {{GPIO}}","getPwmDutyCycle", + "Returns the PWM duty cycle setting on the GPIO.", + scope,owner,target,group), + + createBlock('PWM Range','fa-send',null, + { 'GPIO': '_gpio','RANGE': '_range'}, + "pwmRange {{GPIO}} {{RANGE}}","pwmRange", + "Selects the duty cycle range to be used for the GPIO. " + + "Subsequent calls to pwmWrite will use a duty cycle between 0 (off) and range (fully on). If PWM is currently active on the GPIO its duty cycle will be scaled to reflect the new range." + + "
Parameter Range : an unsigned integer in the range 25 through 40000", + scope,owner,target,group), + + createBlock('Get PWM Range','fa-send',null, + { 'GPIO': '_gpio'}, + "getPwmRange {{GPIO}}","getPwmRange", + "Returns the duty cycle range used for the GPIO. If hardware PWM is active on the GPIO the reported range will be 1000000.", + scope,owner,target,group), + + createBlock('Get PWM Real Range','fa-send',null, + { 'GPIO': '_gpio'}, + "getPwmRealRange {{GPIO}}","getPwmRealRange", + "Returns the real range used for the GPIO. If hardware PWM is active on the GPIO the reported real range will be approximately 250M divided by the set PWM frequency.", + scope,owner,target,group), + + createBlock('Set PMW Frequency','fa-send',null, + { 'GPIO': '_gpio','FREQUENCY': '_frequency'}, + "pwmFrequency {{GPIO}} {{FREQUENCY}}","pwmFrequency", + "Sets the frequency in hertz to be used for the GPIO." + + "Each GPIO can be independently set to one of 18 different PWM frequencies."+ + "The selectable frequencies depend upon the sample rate which may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). The sample rate can be set with the configureClock function. " + + "If PWM is currently active on the GPIO it will be switched off and then back on at the new frequency.", + scope,owner,target,group), + + createBlock('Get PMW Frequency','fa-send',null, + { 'GPIO': '_gpio'}, + "getPwmFrequency {{GPIO}}","getPwmFrequency", + "Returns the frequency (in hertz) used for the GPIO. The default frequency is 800Hz." + + "If hardware PWM is active on the GPIO the reported frequency will be that set by hardwarePwmWrite.", + scope,owner,target,group), + + createBlock('Servo Write','fa-send',null, + { 'GPIO': '_gpio','PULSEW': '_pulse'}, + "servoWrite {{GPIO}} {{PULSEW}}","servoWrite", + "Starts servo pulses at 50Hz on the GPIO, 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise)." + + "
pulseWidth - pulse width in microseconds, an unsigned integer, 0 or a number in the range 500 through 2500", + scope,owner,target,group), + + createBlock('Get Servo Pulse Width','fa-send',null, + { 'GPIO': '_gpio'}, + "getServoPulseWidth {{GPIO}}","getServoPulseWidth", + "Returns the servo pulse width setting on the GPIO.", + scope,owner,target,group), + + createBlock('Enable Interrupt','fa-send',null, + { 'GPIO': '_gpio','EDGE': '_edge','TIME_OUT': '_timeout'}, + "enableInterrupt {{GPIO}} {{EDGE}} {{TIMEOUT}}","enableInterrupt", + "Enables interrupts for the GPIO. Interrupts can have an optional timeout. The level argument passed to the interrupt event listener will be TIMEOUT (2) if the optional interrupt timeout expires.", + scope,owner,target,group), + + createBlock('DisableInterrupt','fa-send',null, + { 'GPIO': '_gpio'}, + "disableInterrupt {{GPIO}}","disableInterrupt", + "Enables interrupts for the GPIO. Interrupts can have an optional timeout. The level argument passed to the interrupt event listener will be TIMEOUT (2) if the optional interrupt timeout expires.", + scope,owner,target,group), + + createBlock('Enable Alert','fa-send',null, + { 'GPIO': '_gpio'}, + "enableAlert {{GPIO}}","enableAlert", + "Enables alerts for the GPIO. An alert event will be emitted every time the GPIO changes state." + + "Add a block of type finish to retrieve the even values.", + scope,owner,target,group), + + createBlock('Disable Alert','fa-send',null, + { 'GPIO': '_gpio'}, + "disableAlert {{GPIO}}","disableAlert", + "Disables alerts for the GPIO.", + scope,owner,target,group), + + createBlock('Set Pull Type ','fa-send',null, + { 'GPIO': '_gpio','PUD': '_pud'}, + "pullUpDown {{GPIO}} {{PUD}}","pullUpDown", + "Sets or clears the resistor pull type for the GPIO.", + scope,owner,target,group), + + createBlock('Trigger','fa-send',null, + { 'GPIO': '_gpio','PULSE': '_pulse','LEVEL': '_level'}, + "trigger {{GPIO}} {{PULSE}} {{PULSE}}","trigger", + "Sends a trigger pulse to the GPIO. The GPIO is set to level for pulseLen microseconds and then reset to not level.", + scope,owner,target,group) + + + ] + }); + return items; + }; + /** + * Override interface for "toText" + * @param command + * @param text + * @returns {*} + */ + Module.toText = function (command, text) { + if(!command._isGPIO){ + return; + } + if(command.variables){ + var commandVariables = utils.fromJson(command.variables); + var variables = {}; + + for(var variable in commandVariables){ + variables[variable]=command[commandVariables[variable]] || " "; + } + text = utils.replace(text,null,variables,{ + begin:'{{', + end:'}}' + }); + return text; + } + + }; + Module.resolveAfter = function (command,inputString) { + if(!command._isGPIO){ + return; + } + if(command.variables){ + var commandVariables = utils.fromJson(command.variables); + var variables = {}; + for(var variable in commandVariables){ + variables[variable]=command._resolve(command[commandVariables[variable]],{ + flags:0x00000800 + },false); + } + inputString = utils.replace(inputString,null,variables,{ + begin:'{{', + end:'}}' + }); + } + return inputString; + }; + } + patchModule(); + return Module; +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PI-GPIO.meta.json b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PI-GPIO.meta.json new file mode 100644 index 0000000..644907c --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PI-GPIO.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "PI-GPIO", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "91e6a9e2-d2cd-4258-c647-3e708ce4a749", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": "./project1/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": "./Raspberry/PI-GPIO.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "[]", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"\\\\r\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PI-GPIO.xblox b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PI-GPIO.xblox new file mode 100644 index 0000000..940aa0c --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PI-GPIO.xblox @@ -0,0 +1,581 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "icon": "fa-cogs", + "flags": 0, + "name": "Set GPIO Mode", + "group": "basic", + "variables": "{\"GPIO\":\"_gpio\",\"GPIO_MODE\":\"_mode\"}", + "send": "setMode {{GPIO}} {{GPIO_MODE}}", + "_isGPIO": true, + "_gpioFunc": "setMode", + "description": "Sets the GPIO mode", + "id": "ebed6e03-999b-54d5-eb88-4940dbe81533", + "declaredClass": "xcf.model.Command", + "startup": true, + "interval": "0", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "17", + "_mode": "1" + }, + { + "_containsChildrenIds": [], + "icon": "fa-send", + "flags": 0, + "name": "Digital Write", + "group": "basic", + "variables": "{\"GPIO\":\"_gpio\",\"GPIO_VALUE\":\"_value\"}", + "send": "digitalWrite {{GPIO}} {{GPIO_VALUE}}", + "_isGPIO": true, + "_gpioFunc": "digitalWrite", + "description": "Sets the GPIO level to 0 or 1. If PWM or servo pulses are active on the GPIO they are switched off.", + "id": "5d6c1752-b25c-8797-fe5d-e1f566bde2af", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "18", + "_value": "1" + }, + { + "_containsChildrenIds": [], + "icon": "fa-send", + "flags": 0, + "name": "Digital Write", + "group": "basic", + "variables": "{\"GPIO\":\"_gpio\",\"GPIO_VALUE\":\"_value\"}", + "send": "digitalWrite {{GPIO}} {{GPIO_VALUE}}", + "_isGPIO": true, + "_gpioFunc": "digitalWrite", + "description": "Sets the GPIO level to 0 or 1. If PWM or servo pulses are active on the GPIO they are switched off.", + "id": "03439381-7f68-03cb-f617-70e03b149b97", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "18", + "_value": "0" + }, + { + "_containsChildrenIds": [ + "items" + ], + "icon": "fa-send", + "flags": 32768, + "name": "Digital Read", + "group": "basic", + "variables": "{\"GPIO\":\"_gpio\"}", + "send": "digitalRead {{GPIO}}", + "_isGPIO": true, + "_gpioFunc": "digitalRead", + "description": "Returns the GPIO level", + "id": "c57624ed-8818-fcb6-cb2a-1356efcefc4a", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": "0", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "18", + "items": [ + "0eca6275-b17b-c279-0316-477f3485925f" + ] + }, + { + "_containsChildrenIds": [], + "parentId": "c57624ed-8818-fcb6-cb2a-1356efcefc4a", + "id": "0eca6275-b17b-c279-0316-477f3485925f", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "method": "this.setVariable(\"GPIO - \"+arguments[0].gpio,arguments[0].value);", + "args": "", + "deferred": false, + "icon": "fa-code", + "outlet": 8, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "description": "No Description" + }, + { + "_containsChildrenIds": [], + "name": "GPIO - 18", + "group": "basicVariables", + "id": "92cae109-c27a-0d8a-9aac-2eb3a1602fb4", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": 0, + "register": true, + "readOnly": false, + "isVariable": true, + "flags": 4096, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "basic", + "id": "09ef16ec-e764-906f-3ceb-cdbd90b2e110", + "items": [ + "5fe48c36-18ce-6309-270a-a9a04bd64f92" + ], + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "", + "name": "Blink", + "interval": 0, + "flags": 2048, + "icon": "fa-exclamation", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [ + "items" + ], + "initial": "1", + "comparator": "<=", + "final": "5", + "modifier": "+1", + "counterName": "value", + "parentId": "09ef16ec-e764-906f-3ceb-cdbd90b2e110", + "id": "5fe48c36-18ce-6309-270a-a9a04bd64f92", + "items": [ + "4e05a2c6-653f-e75f-dcf1-e6095275d854", + "f41c70d6-5d18-6c17-3e3d-f9ec34594ee3" + ], + "declaredClass": "xblox.model.loops.ForBlock", + "name": "For", + "icon": "", + "ignoreErrors": false, + "_currentForIndex": 6, + "_forState": false, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [], + "icon": "fa-send", + "flags": 0, + "name": "Digital Write", + "variables": "{\"GPIO\":\"_gpio\",\"GPIO_VALUE\":\"_value\"}", + "send": "digitalWrite {{GPIO}} {{GPIO_VALUE}}", + "_isGPIO": true, + "_gpioFunc": "digitalWrite", + "description": "Sets the GPIO level to 0 or 1. If PWM or servo pulses are active on the GPIO they are switched off.", + "id": "4e05a2c6-653f-e75f-dcf1-e6095275d854", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "18", + "_value": "1", + "parentId": "5fe48c36-18ce-6309-270a-a9a04bd64f92" + }, + { + "_containsChildrenIds": [], + "icon": "fa-send", + "flags": 0, + "name": "Digital Write", + "variables": "{\"GPIO\":\"_gpio\",\"GPIO_VALUE\":\"_value\"}", + "send": "digitalWrite {{GPIO}} {{GPIO_VALUE}}", + "_isGPIO": true, + "_gpioFunc": "digitalWrite", + "description": "Sets the GPIO level to 0 or 1. If PWM or servo pulses are active on the GPIO they are switched off.", + "id": "f41c70d6-5d18-6c17-3e3d-f9ec34594ee3", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "18", + "_value": "0", + "parentId": "5fe48c36-18ce-6309-270a-a9a04bd64f92" + }, + { + "_containsChildrenIds": [ + "items" + ], + "icon": "fa-send", + "flags": 0, + "name": "Get PWM Duty Cycle", + "group": "basic", + "variables": "{\"GPIO\":\"_gpio\"}", + "send": "getPwmDutyCycle {{GPIO}}", + "_isGPIO": true, + "_gpioFunc": "pwmWrite", + "description": "Returns the PWM duty cycle setting on the GPIO.", + "id": "4afe9101-2c66-cde6-a8bc-ed7c8b2a0296", + "items": [ + "5b4cc5ad-74e1-1676-6119-2879c1acc852" + ], + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": "0", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "18", + "_value": "1" + }, + { + "_containsChildrenIds": [], + "parentId": "4afe9101-2c66-cde6-a8bc-ed7c8b2a0296", + "id": "5b4cc5ad-74e1-1676-6119-2879c1acc852", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "method": "console.log('getPwmDutyCycle',arguments);", + "args": "", + "deferred": false, + "icon": "fa-code", + "outlet": 8, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "description": "No Description" + }, + { + "_containsChildrenIds": [ + "items" + ], + "icon": "fa-send", + "flags": 0, + "name": "Get PWM Range", + "group": "basic", + "variables": "{\"GPIO\":\"_gpio\",\"RANGE\":\"_range\"}", + "send": "getPwmRange {{GPIO}}", + "_isGPIO": true, + "_gpioFunc": "getPwmRange", + "description": "Returns the duty cycle range used for the GPIO. If hardware PWM is active on the GPIO the reported range will be 1000000.", + "id": "ad989d6b-f8be-9da0-fe51-3f368549eaf1", + "items": [ + "7c6fa262-7f74-1e76-4614-baa4ed4eed81" + ], + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "17" + }, + { + "_containsChildrenIds": [], + "parentId": "ad989d6b-f8be-9da0-fe51-3f368549eaf1", + "id": "7c6fa262-7f74-1e76-4614-baa4ed4eed81", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "method": "console.log('getPwmRange',arguments);", + "args": "", + "deferred": false, + "icon": "fa-code", + "outlet": 8, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "description": "No Description" + }, + { + "_containsChildrenIds": [], + "icon": "fa-send", + "flags": 0, + "name": "Servo Write", + "variables": "{\"GPIO\":\"_gpio\",\"PULSEW\":\"_pulse\"}", + "send": "servoWrite {{GPIO}} {{PULSEW}}", + "_isGPIO": true, + "_gpioFunc": "servoWrite", + "description": "Starts servo pulses at 50Hz on the GPIO, 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise).
pulseWidth - pulse width in microseconds, an unsigned integer, 0 or a number in the range 500 through 2500", + "id": "a0ce241e-7bab-284e-34cc-11256518c1c7", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": "0", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "18", + "_pulse": "1300", + "group": "basic" + }, + { + "_containsChildrenIds": [ + "items" + ], + "icon": "fa-send", + "flags": 32768, + "name": "Enable Alert", + "group": "basic", + "variables": "{\"GPIO\":\"_gpio\"}", + "send": "enableAlert {{GPIO}}", + "_isGPIO": true, + "_gpioFunc": "enableAlert", + "description": "Enables alerts for the GPIO. An alert event will be emitted every time the GPIO changes state.Add a block of type finish to retrieve the even values.", + "id": "707af144-4dea-4d2d-62a5-b3ad9bb8cc88", + "items": [ + "e47d30fa-b474-323d-bd20-65f876bf1ee6" + ], + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": "0", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "18" + }, + { + "_containsChildrenIds": [], + "parentId": "707af144-4dea-4d2d-62a5-b3ad9bb8cc88", + "id": "e47d30fa-b474-323d-bd20-65f876bf1ee6", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "method": "console.log('alert');", + "args": "", + "deferred": false, + "icon": "fa-code", + "outlet": 8, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "description": "No Description" + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "basic", + "id": "23a14eb0-dae0-1c7b-4c0d-fea0970f9e8c", + "items": [ + "74f9dadb-0d8c-20b8-8f23-4f38a01dea50", + "5dbf7c20-5eaf-e393-4034-b0afdd6db9b1", + "14810b92-5497-771f-00e0-bab445c612ab", + "5738cbd3-6c97-39e1-74e7-e0ce08864a64" + ], + "declaredClass": "xcf.model.Command", + "startup": true, + "send": "", + "name": "Servo-Test", + "interval": "0", + "flags": 2048, + "icon": "fa-exclamation", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [], + "icon": "fa-cogs", + "flags": 0, + "name": "Set GPIO Mode", + "variables": "{\"GPIO\":\"_gpio\",\"GPIO_MODE\":\"_mode\"}", + "send": "setMode {{GPIO}} {{GPIO_MODE}}", + "_isGPIO": true, + "_gpioFunc": "setMode", + "description": "Sets the GPIO mode", + "parentId": "23a14eb0-dae0-1c7b-4c0d-fea0970f9e8c", + "id": "74f9dadb-0d8c-20b8-8f23-4f38a01dea50", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": "0", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "18", + "_mode": "1" + }, + { + "_containsChildrenIds": [], + "icon": "fa-send", + "flags": 34816, + "name": "Servo Write", + "variables": "{\"GPIO\":\"_gpio\",\"PULSEW\":\"_pulse\"}", + "send": "return \"servoWrite 18 \" + this.getVariable(\"Next Servo Pulse\");", + "_isGPIO": true, + "_gpioFunc": "servoWrite", + "description": "Starts servo pulses at 50Hz on the GPIO, 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise).
pulseWidth - pulse width in microseconds, an unsigned integer, 0 or a number in the range 500 through 2500", + "parentId": "23a14eb0-dae0-1c7b-4c0d-fea0970f9e8c", + "id": "5dbf7c20-5eaf-e393-4034-b0afdd6db9b1", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": "0", + "outlet": 0, + "enabled": false, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "18", + "_pulse": "1200" + }, + { + "_containsChildrenIds": [], + "name": "Next Servo Pulse", + "group": "basicVariables", + "id": "85365eb1-27f4-9f35-36f3-f94709996f0f", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": "2000", + "register": true, + "readOnly": false, + "isVariable": true, + "flags": 4096, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "icon": "fa-send", + "flags": 0, + "name": "Servo Write", + "variables": "{\"GPIO\":\"_gpio\",\"PULSEW\":\"_pulse\"}", + "send": "servoWrite {{GPIO}} {{PULSEW}}", + "_isGPIO": true, + "_gpioFunc": "servoWrite", + "description": "Starts servo pulses at 50Hz on the GPIO, 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise).
pulseWidth - pulse width in microseconds, an unsigned integer, 0 or a number in the range 500 through 2500", + "parentId": "23a14eb0-dae0-1c7b-4c0d-fea0970f9e8c", + "id": "14810b92-5497-771f-00e0-bab445c612ab", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": "0", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "18", + "_pulse": "1300" + }, + { + "_containsChildrenIds": [], + "icon": "fa-send", + "flags": 0, + "name": "Servo Write", + "variables": "{\"GPIO\":\"_gpio\",\"PULSEW\":\"_pulse\"}", + "send": "servoWrite {{GPIO}} {{PULSEW}}", + "_isGPIO": true, + "_gpioFunc": "servoWrite", + "description": "Starts servo pulses at 50Hz on the GPIO, 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise).
pulseWidth - pulse width in microseconds, an unsigned integer, 0 or a number in the range 500 through 2500", + "id": "5738cbd3-6c97-39e1-74e7-e0ce08864a64", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": "0", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "18", + "_pulse": "[Next Servo Pulse]", + "parentId": "23a14eb0-dae0-1c7b-4c0d-fea0970f9e8c" + }, + { + "_containsChildrenIds": [], + "icon": "fa-send", + "flags": 0, + "name": "Update Servo", + "group": "basic", + "variables": "{\"GPIO\":\"_gpio\",\"PULSEW\":\"_pulse\"}", + "send": "servoWrite {{GPIO}} {{PULSEW}}", + "_isGPIO": true, + "_gpioFunc": "servoWrite", + "description": "Starts servo pulses at 50Hz on the GPIO, 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise).
pulseWidth - pulse width in microseconds, an unsigned integer, 0 or a number in the range 500 through 2500", + "id": "8331247f-9606-7423-f8a4-77d91c9545b9", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": "0", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_gpio": "18", + "_pulse": "[SERVO_SLIDER]" + }, + { + "_containsChildrenIds": [], + "name": "SERVO_SLIDER", + "group": "basicVariables", + "id": "5868ef1a-cfa4-cb94-79f4-38a570458d14", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": "1589", + "register": true, + "readOnly": false, + "isVariable": true, + "flags": 4096, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "icon": "fa-play" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/MakeRemote b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/MakeRemote new file mode 100644 index 0000000..a3a235c --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/MakeRemote @@ -0,0 +1,101 @@ +# +CC = gcc +SIZE = size +SHLIB = gcc -shared +STRIPLIB = strip --strip-unneeded + +CFLAGS += -O3 -Wall -pthread + +ALL = libpigpiod_if.so libpigpiod_if2.so pigs x_pigpiod_if x_pigpiod_if2 + +prefix = /usr/local +exec_prefix = $(prefix) +bindir = $(exec_prefix)/bin +includedir = $(prefix)/include +libdir = $(prefix)/lib +mandir = $(prefix)/man + +all: $(ALL) pigpio.py setup.py + +pigpiod_if.o: pigpiod_if.c pigpio.h command.h pigpiod_if.h + $(CC) $(CFLAGS) -fpic -c -o pigpiod_if.o pigpiod_if.c + +pigpiod_if2.o: pigpiod_if2.c pigpio.h command.h pigpiod_if2.h + $(CC) $(CFLAGS) -fpic -c -o pigpiod_if2.o pigpiod_if2.c + +command.o: command.c pigpio.h command.h + $(CC) $(CFLAGS) -fpic -c -o command.o command.c + +pigs: command.o pigs.o + $(CC) $(CFLAGS) -fpic -o pigs pigs.c command.c + +x_pigpiod_if: x_pigpiod_if.o $(LIB1) + $(CC) -o x_pigpiod_if x_pigpiod_if.o $(LL1) + +x_pigpiod_if2: x_pigpiod_if2.o $(LIB2) + $(CC) -o x_pigpiod_if2 x_pigpiod_if2.o $(LL2) + +clean: + rm -f *.o *.i *.s *~ $(ALL) + +install: $(LIB1) $(LIB2) + install -m 0755 -d $(DESTDIR)$(includedir) + install -m 0644 pigpio.h $(DESTDIR)$(includedir) + install -m 0644 pigpiod_if.h $(DESTDIR)$(includedir) + install -m 0644 pigpiod_if2.h $(DESTDIR)$(includedir) + install -m 0755 -d $(DESTDIR)$(libdir) + install -m 0644 libpigpiod_if.so $(DESTDIR)$(libdir) + install -m 0644 libpigpiod_if2.so $(DESTDIR)$(libdir) + install -m 0755 -d $(DESTDIR)$(bindir) + install -m 0755 pigs $(DESTDIR)$(bindir) + python2 setup.py install + python3 setup.py install + install -m 0755 -d $(DESTDIR)$(mandir)/man1 + install -m 0644 *.1 $(DESTDIR)$(mandir)/man1 + install -m 0755 -d $(DESTDIR)$(mandir)/man3 + install -m 0644 *.3 $(DESTDIR)$(mandir)/man3 + +uninstall: + rm -f $(DESTDIR)$(includedir)/pigpio.h + rm -f $(DESTDIR)$(includedir)/pigpiod_if.h + rm -f $(DESTDIR)$(includedir)/pigpiod_if2.h + rm -f $(DESTDIR)$(libdir)/libpigpiod_if.so + rm -f $(DESTDIR)$(libdir)/libpigpiod_if2.so + echo removing python2 files + python2 setup.py install --record /tmp/pigpio >/dev/null + xargs rm -f < /tmp/pigpio >/dev/null + echo removing python3 files + python3 setup.py install --record /tmp/pigpio >/dev/null + xargs rm -f < /tmp/pigpio >/dev/null + rm -f $(DESTDIR)$(bindir)/pigs + rm -f $(DESTDIR)$(mandir)/man1/pig*.1 + rm -f $(DESTDIR)$(mandir)/man3/pig*.3 + +LL1 = -L. -lpigpiod_if -pthread -lrt +LL2 = -L. -lpigpiod_if2 -pthread -lrt + +LIB1 = libpigpiod_if.so +OBJ1 = pigpiod_if.o command.o + +LIB2 = libpigpiod_if2.so +OBJ2 = pigpiod_if2.o command.o + +$(LIB1): $(OBJ1) + $(SHLIB) -o $(LIB1) $(OBJ1) + $(STRIPLIB) $(LIB1) + $(SIZE) $(LIB1) + +$(LIB2): $(OBJ2) + $(SHLIB) -o $(LIB2) $(OBJ2) + $(STRIPLIB) $(LIB2) + $(SIZE) $(LIB2) + +# generated using gcc -MM *.c + +command.o: command.c pigpio.h command.h +pigpiod.o: pigpiod.c pigpio.h +pigpiod_if.o: pigpiod_if.c pigpio.h pigpiod_if.h command.h +pigpiod_if2.o: pigpiod_if2.c pigpio.h pigpiod_if2.h command.h +pigs.o: pigs.c pigpio.h command.h + + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/Makefile b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/Makefile new file mode 100644 index 0000000..846daf0 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/Makefile @@ -0,0 +1,133 @@ +# +CC = gcc +AR = ar +RANLIB = ranlib +SIZE = size +SHLIB = gcc -shared +STRIPLIB = strip --strip-unneeded + +CFLAGS += -O3 -Wall -pthread + +LIB1 = libpigpio.so +OBJ1 = pigpio.o command.o + +LIB2 = libpigpiod_if.so +OBJ2 = pigpiod_if.o command.o + +LIB3 = libpigpiod_if2.so +OBJ3 = pigpiod_if2.o command.o + +LIB = $(LIB1) $(LIB2) $(LIB3) + +ALL = $(LIB) x_pigpio x_pigpiod_if x_pigpiod_if2 pig2vcd pigpiod pigs + +LL1 = -L. -lpigpio -pthread -lrt + +LL2 = -L. -lpigpiod_if -pthread -lrt + +LL3 = -L. -lpigpiod_if2 -pthread -lrt + +prefix = /usr/local +exec_prefix = $(prefix) +bindir = $(exec_prefix)/bin +includedir = $(prefix)/include +libdir = $(prefix)/lib +mandir = $(prefix)/man + +all: $(ALL) + +pigpio.o: pigpio.c pigpio.h command.h custom.cext + $(CC) $(CFLAGS) -fpic -c -o pigpio.o pigpio.c + +pigpiod_if.o: pigpiod_if.c pigpio.h command.h pigpiod_if.h + $(CC) $(CFLAGS) -fpic -c -o pigpiod_if.o pigpiod_if.c + +pigpiod_if2.o: pigpiod_if2.c pigpio.h command.h pigpiod_if2.h + $(CC) $(CFLAGS) -fpic -c -o pigpiod_if2.o pigpiod_if2.c + +command.o: command.c pigpio.h command.h + $(CC) $(CFLAGS) -fpic -c -o command.o command.c + +x_pigpio: x_pigpio.o $(LIB1) + $(CC) -o x_pigpio x_pigpio.o $(LL1) + +x_pigpiod_if: x_pigpiod_if.o $(LIB2) + $(CC) -o x_pigpiod_if x_pigpiod_if.o $(LL2) + +x_pigpiod_if2: x_pigpiod_if2.o $(LIB3) + $(CC) -o x_pigpiod_if2 x_pigpiod_if2.o $(LL3) + +pigpiod: pigpiod.o $(LIB1) + $(CC) -o pigpiod pigpiod.o $(LL1) + +pigs: pigs.o command.o + $(CC) -o pigs pigs.o command.o + +pig2vcd: pig2vcd.o + $(CC) -o pig2vcd pig2vcd.o + +clean: + rm -f *.o *.i *.s *~ $(ALL) + +install: $(ALL) + install -m 0755 -d $(DESTDIR)/opt/pigpio/cgi + install -m 0755 -d $(DESTDIR)$(includedir) + install -m 0644 pigpio.h $(DESTDIR)$(includedir) + install -m 0644 pigpiod_if.h $(DESTDIR)$(includedir) + install -m 0644 pigpiod_if2.h $(DESTDIR)$(includedir) + install -m 0755 -d $(DESTDIR)$(libdir) + install -m 0755 libpigpio.so $(DESTDIR)$(libdir) + install -m 0755 libpigpiod_if.so $(DESTDIR)$(libdir) + install -m 0755 libpigpiod_if2.so $(DESTDIR)$(libdir) + install -m 0755 -d $(DESTDIR)$(bindir) + install -m 0755 -s pig2vcd $(DESTDIR)$(bindir) + install -m 0755 -s pigpiod $(DESTDIR)$(bindir) + install -m 0755 -s pigs $(DESTDIR)$(bindir) + if which python2; then python2 setup.py install; fi + if which python3; then python3 setup.py install; fi + install -m 0755 -d $(DESTDIR)$(mandir)/man1 + install -m 0644 *.1 $(DESTDIR)$(mandir)/man1 + install -m 0755 -d $(DESTDIR)$(mandir)/man3 + install -m 0644 *.3 $(DESTDIR)$(mandir)/man3 + ldconfig + +uninstall: + rm -f $(DESTDIR)$(includedir)/pigpio.h + rm -f $(DESTDIR)$(includedir)/pigpiod_if.h + rm -f $(DESTDIR)$(includedir)/pigpiod_if2.h + rm -f $(DESTDIR)$(libdir)/libpigpio.so + rm -f $(DESTDIR)$(libdir)/libpigpiod_if.so + rm -f $(DESTDIR)$(libdir)/libpigpiod_if2.so + rm -f $(DESTDIR)$(bindir)/pig2vcd + rm -f $(DESTDIR)$(bindir)/pigpiod + rm -f $(DESTDIR)$(bindir)/pigs + if which python2; then python2 setup.py install --record /tmp/pigpio >/dev/null; xargs rm -f < /tmp/pigpio >/dev/null; fi + if which python3; then python3 setup.py install --record /tmp/pigpio >/dev/null; xargs rm -f < /tmp/pigpio >/dev/null; fi + rm -f $(DESTDIR)$(mandir)/man1/pig*.1 + rm -f $(DESTDIR)$(mandir)/man3/pig*.3 + ldconfig + +$(LIB1): $(OBJ1) + $(SHLIB) -o $(LIB1) $(OBJ1) + $(STRIPLIB) $(LIB1) + $(SIZE) $(LIB1) + +$(LIB2): $(OBJ2) + $(SHLIB) -o $(LIB2) $(OBJ2) + $(STRIPLIB) $(LIB2) + $(SIZE) $(LIB2) + +$(LIB3): $(OBJ3) + $(SHLIB) -o $(LIB3) $(OBJ3) + $(STRIPLIB) $(LIB3) + $(SIZE) $(LIB3) + +# generated using gcc -MM *.c + +pig2vcd.o: pig2vcd.c pigpio.h +pigpiod.o: pigpiod.c pigpio.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 +x_pigpiod_if2.o: x_pigpiod_if2.c pigpiod_if2.h pigpio.h + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/README b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/README new file mode 100644 index 0000000..3f3d766 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/README @@ -0,0 +1,173 @@ +NOTE + +The initial part of the make, the compilation of pigpio.c, +takes 100 seconds on early model Pis. Be patient. The overall +install takes just over 3 minutes. + +INSTALL + +Extract the archive to a directory. + +IN THAT DIRECTORY + +Enter the following two commands (in this order) + +make +sudo make install + +This will install + +o the library (libpigpio.so) in /usr/local/lib +o the library (libpigpiod_if.so) in /usr/local/lib +o the library (libpigpiod_if2.so) in /usr/local/lib +o the header file (pigpio.h) in /usr/local/include +o the header file (pigpiod_if.h) in /usr/local/include +o the header file (pigpiod_if2.h) in /usr/local/include +o the daemon (pigpiod) in /usr/local/bin +o the socket interface (pigs) in /usr/local/bin +o the utility pig2vcd in /usr/local/bin +o man pages in /usr/local/man/man1 and /usr/local/man/man3 +o the Python module pigpio.py for Python 2 and 3 + +TEST (optional) + +*** WARNING ************************************************ +* * +* All the tests make extensive use of gpio 4 (pin P1/J8-7).* +* Ensure that either nothing or just a LED is connected to * +* gpio 4 before running any of the tests. * +* * +* Some tests are statistical in nature and so may on * +* occasion fail. Repeated failures on the same test or * +* many failures in a group of tests indicate a problem. * +************************************************************ + +To test the library do + +sudo ./x_pigpio + +To test the pigpio daemon do + +sudo pigpiod + +./x_pigpiod_if # test the C I/F to the pigpio daemon +./x_pigpiod_if2 # test the C I/F to the pigpio daemon +./x_pigpio.py # test the Python I/F to the pigpio daemon +./x_pigs # test the socket I/F to the pigpio daemon +./x_pipe # test the pipe I/F to the pigpio daemon + +EXAMPLE CODE + +x_pigpio.c, pig2vcd.c, and pigpiod.c show examples of interfacing +with the pigpio library. + +pigs.c, pigpio.py, x_pigpiod_if, x_pigpiod_if2.c, x_pigpio.py, +x_pigs, and x_pipe show examples of interfacing with the pigpio +daemon. x_pipe uses the pipe interface, the others use the +socket interface. + +DAEMON + +To launch the daemon do + +sudo pigpiod (pigpiod -? for options) + +Once the daemon is launched the socket and pipe interfaces will be +available. + +When the library starts it locks + +/var/run/pigpio.pid + +The file should be automatically deleted when the library terminates. + +SOCKET INTERFACE + +Use pigs for the socket interface (pigs help for help). + +PIPE INTERFACE + +The pipe interface accepts commands written to /dev/pigpio. + +Results are read from /dev/pigout. + +Errors are output on /dev/pigerr. + +To test the pipe interface perhaps do + +cat /dev/pigout & +cat /dev/pigerr & + +echo "help" >/dev/pigpio + +PYTHON MODULE + +The Python pigpio module is installed to the default Python location +for Python 2 and Python 3. + +You can install it for additional Python versions by + +pythonx.y setup.py install + +where x.y is the Python version. + +STOP DAEMON + +To stop the pigpiod daemon + +sudo killall pigpiod + +RUNNING ON NON Pi's + +You can access the pigpiod daemon running on the Pi from any machine which +is connected to it over the network. This access is via the socket interface. + +In particular this allows you to use the following on non-Pi's. + +o pigs +o the pigpio Python module +o the C socket I/F using libpigpiod_if (header file pigpiod_if.h) +o the C socket I/F using libpigpiod_if2 (header file pigpiod_if2.h) + +On a Linux machine + +make -f MakeRemote clean +make -f MakeRemote +make -f MakeRemote install + +This will install + +o the library (libpigpiod_if.so) in /usr/local/lib +o the library (libpigpiod_if2.so) in /usr/local/lib +o the header file (pigpio.h) in /usr/local/include +o the header file (pigpiod_if.h) in /usr/local/include +o the header file (pigpiod_if2.h) in /usr/local/include +o the socket interface (pigs) in /usr/local/bin +o man pages in /usr/local/man/man1 and /usr/local/man/man3 +o the Python module pigpio.py + +On Windows machines (and possibly Macs) + +The Python module should install with + +python setup.py install + +pigs, pigpiod_if, and pigpiod_if2 will need minor mods to +reflect the Windows/Mac socket interface. + +DOCUMENTATION + +The most up to date should be http://abyz.co.uk/rpi/pigpio/ + +On the Pi try + +man pigs +man pigpiod +man pig2vcd + +man pigpio +man pigpiod_if +man pigpiod_if2 + +pydoc pigpio + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/UNLICENCE b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/UNLICENCE new file mode 100644 index 0000000..471f09f --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/UNLICENCE @@ -0,0 +1,25 @@ +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 + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/command.c b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/command.c new file mode 100644 index 0000000..2a5d0dc --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/command.c @@ -0,0 +1,1388 @@ +/* +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 +*/ + +/* +This version is for pigpio version 56+ +*/ + +#include +#include +#include +#include +#include + +#include "pigpio.h" +#include "command.h" + +cmdInfo_t cmdInfo[]= +{ + /* num str vfyt retv */ + + {PI_CMD_BC1, "BC1", 111, 1}, // gpioWrite_Bits_0_31_Clear + {PI_CMD_BC2, "BC2", 111, 1}, // gpioWrite_Bits_32_53_Clear + + {PI_CMD_BI2CC, "BI2CC", 112, 0}, // bbI2CClose + {PI_CMD_BI2CO, "BI2CO", 131, 0}, // bbI2COpen + {PI_CMD_BI2CZ, "BI2CZ", 193, 6}, // bbI2CZip + + {PI_CMD_BR1, "BR1", 101, 3}, // gpioRead_Bits_0_31 + {PI_CMD_BR2, "BR2", 101, 3}, // gpioRead_Bits_32_53 + + {PI_CMD_BS1, "BS1", 111, 1}, // gpioWrite_Bits_0_31_Set + {PI_CMD_BS2, "BS2", 111, 1}, // gpioWrite_Bits_32_53_Set + + {PI_CMD_BSPIC, "BSPIC", 112, 0}, // bbSPIClose + {PI_CMD_BSPIO, "BSPIO", 134, 0}, // bbSPIOpen + {PI_CMD_BSPIX, "BSPIX", 193, 6}, // bbSPIXfer + + {PI_CMD_CF1, "CF1", 195, 2}, // gpioCustom1 + {PI_CMD_CF2, "CF2", 195, 6}, // gpioCustom2 + + {PI_CMD_CGI, "CGI", 101, 4}, // gpioCfgGetInternals + {PI_CMD_CSI, "CSI", 111, 1}, // gpioCfgSetInternals + + {PI_CMD_FC, "FC", 112, 0}, // fileClose + + {PI_CMD_FG, "FG", 121, 0}, // gpioGlitchFilter + + {PI_CMD_FL, "FL", 127, 6}, // fileList + + {PI_CMD_FN, "FN", 131, 0}, // gpioNoiseFilter + + {PI_CMD_FO, "FO", 127, 2}, // fileOpen + {PI_CMD_FR, "FR", 121, 6}, // fileRead + {PI_CMD_FS, "FS", 133, 2}, // fileSeek + {PI_CMD_FW, "FW", 193, 0}, // fileWrite + + {PI_CMD_GDC, "GDC", 112, 2}, // gpioGetPWMdutycycle + {PI_CMD_GPW, "GPW", 112, 2}, // gpioGetServoPulsewidth + + {PI_CMD_HELP, "H", 101, 5}, // cmdUsage + {PI_CMD_HELP, "HELP", 101, 5}, // cmdUsage + + {PI_CMD_HC, "HC", 121, 0}, // gpioHardwareClock + {PI_CMD_HP, "HP", 131, 0}, // gpioHardwarePWM + + {PI_CMD_HWVER, "HWVER", 101, 4}, // gpioHardwareRevision + + {PI_CMD_I2CC, "I2CC", 112, 0}, // i2cClose + {PI_CMD_I2CO, "I2CO", 131, 2}, // i2cOpen + + {PI_CMD_I2CPC, "I2CPC", 131, 2}, // i2cProcessCall + {PI_CMD_I2CPK, "I2CPK", 194, 6}, // i2cBlockProcessCall + + {PI_CMD_I2CRB, "I2CRB", 121, 2}, // i2cReadByteData + {PI_CMD_I2CRD, "I2CRD", 121, 6}, // i2cReadDevice + {PI_CMD_I2CRI, "I2CRI", 131, 6}, // i2cReadI2CBlockData + {PI_CMD_I2CRK, "I2CRK", 121, 6}, // i2cReadBlockData + {PI_CMD_I2CRS, "I2CRS", 112, 2}, // i2cReadByte + {PI_CMD_I2CRW, "I2CRW", 121, 2}, // i2cReadWordData + + {PI_CMD_I2CWB, "I2CWB", 131, 0}, // i2cWriteByteData + {PI_CMD_I2CWD, "I2CWD", 193, 0}, // i2cWriteDevice + {PI_CMD_I2CWI, "I2CWI", 194, 0}, // i2cWriteI2CBlockData + {PI_CMD_I2CWK, "I2CWK", 194, 0}, // i2cWriteBlockData + {PI_CMD_I2CWQ, "I2CWQ", 121, 0}, // i2cWriteQuick + {PI_CMD_I2CWS, "I2CWS", 121, 0}, // i2cWriteByte + {PI_CMD_I2CWW, "I2CWW", 131, 0}, // i2cWriteWordData + + {PI_CMD_I2CZ, "I2CZ", 193, 6}, // i2cZip + + {PI_CMD_MICS, "MICS", 112, 0}, // gpioDelay + {PI_CMD_MILS, "MILS", 112, 0}, // gpioDelay + + {PI_CMD_MODEG, "MG" , 112, 2}, // gpioGetMode + {PI_CMD_MODEG, "MODEG", 112, 2}, // gpioGetMode + + {PI_CMD_MODES, "M", 125, 0}, // gpioSetMode + {PI_CMD_MODES, "MODES", 125, 0}, // gpioSetMode + + {PI_CMD_NB, "NB", 122, 0}, // gpioNotifyBegin + {PI_CMD_NC, "NC", 112, 0}, // gpioNotifyClose + {PI_CMD_NO, "NO", 101, 2}, // gpioNotifyOpen + {PI_CMD_NP, "NP", 112, 0}, // gpioNotifyPause + + {PI_CMD_PADG, "PADG", 112, 2}, // gpioGetPad + {PI_CMD_PADS, "PADS", 121, 0}, // gpioSetPad + + {PI_CMD_PARSE, "PARSE", 115, 0}, // cmdParseScript + + {PI_CMD_PFG, "PFG", 112, 2}, // gpioGetPWMfrequency + {PI_CMD_PFS, "PFS", 121, 2}, // gpioSetPWMfrequency + + {PI_CMD_PIGPV, "PIGPV", 101, 4}, // gpioVersion + + {PI_CMD_PRG, "PRG", 112, 2}, // gpioGetPWMrange + + {PI_CMD_PROC, "PROC", 115, 2}, // gpioStoreScript + {PI_CMD_PROCD, "PROCD", 112, 0}, // gpioDeleteScript + {PI_CMD_PROCP, "PROCP", 112, 7}, // gpioScriptStatus + {PI_CMD_PROCR, "PROCR", 191, 0}, // gpioRunScript + {PI_CMD_PROCS, "PROCS", 112, 0}, // gpioStopScript + + {PI_CMD_PRRG, "PRRG", 112, 2}, // gpioGetPWMrealRange + {PI_CMD_PRS, "PRS", 121, 2}, // gpioSetPWMrange + + {PI_CMD_PUD, "PUD", 126, 0}, // gpioSetPullUpDown + + {PI_CMD_PWM, "P", 121, 0}, // gpioPWM + {PI_CMD_PWM, "PWM", 121, 0}, // gpioPWM + + {PI_CMD_READ, "R", 112, 2}, // gpioRead + {PI_CMD_READ, "READ", 112, 2}, // gpioRead + + {PI_CMD_SERRB, "SERRB", 112, 2}, // serReadByte + {PI_CMD_SERWB, "SERWB", 121, 0}, // serWriteByte + {PI_CMD_SERC, "SERC", 112, 0}, // serClose + {PI_CMD_SERDA, "SERDA", 112, 2}, // serDataAvailable + {PI_CMD_SERO, "SERO", 132, 2}, // serOpen + {PI_CMD_SERR, "SERR", 121, 6}, // serRead + {PI_CMD_SERW, "SERW", 193, 0}, // serWrite + + {PI_CMD_SERVO, "S", 121, 0}, // gpioServo + {PI_CMD_SERVO, "SERVO", 121, 0}, // gpioServo + + {PI_CMD_SHELL, "SHELL", 128, 2}, // shell + + {PI_CMD_SLR, "SLR", 121, 6}, // gpioSerialRead + {PI_CMD_SLRC, "SLRC", 112, 0}, // gpioSerialReadClose + {PI_CMD_SLRO, "SLRO", 131, 0}, // gpioSerialReadOpen + {PI_CMD_SLRI, "SLRI", 121, 0}, // gpioSerialReadInvert + + {PI_CMD_SPIC, "SPIC", 112, 0}, // spiClose + {PI_CMD_SPIO, "SPIO", 131, 2}, // spiOpen + {PI_CMD_SPIR, "SPIR", 121, 6}, // spiRead + {PI_CMD_SPIW, "SPIW", 193, 0}, // spiWrite + {PI_CMD_SPIX, "SPIX", 193, 6}, // spiXfer + + {PI_CMD_TICK, "T", 101, 4}, // gpioTick + {PI_CMD_TICK, "TICK", 101, 4}, // gpioTick + + {PI_CMD_TRIG, "TRIG", 131, 0}, // gpioTrigger + + {PI_CMD_WDOG, "WDOG", 121, 0}, // gpioSetWatchdog + + {PI_CMD_WRITE, "W", 121, 0}, // gpioWrite + {PI_CMD_WRITE, "WRITE", 121, 0}, // gpioWrite + + {PI_CMD_WVAG, "WVAG", 192, 2}, // gpioWaveAddGeneric + {PI_CMD_WVAS, "WVAS", 196, 2}, // gpioWaveAddSerial + {PI_CMD_WVTAT, "WVTAT", 101, 2}, // gpioWaveTxAt + {PI_CMD_WVBSY, "WVBSY", 101, 2}, // gpioWaveTxBusy + {PI_CMD_WVCHA, "WVCHA", 197, 0}, // gpioWaveChain + {PI_CMD_WVCLR, "WVCLR", 101, 0}, // gpioWaveClear + {PI_CMD_WVCRE, "WVCRE", 101, 2}, // gpioWaveCreate + {PI_CMD_WVDEL, "WVDEL", 112, 0}, // gpioWaveDelete + {PI_CMD_WVGO, "WVGO" , 101, 2}, // gpioWaveTxStart + {PI_CMD_WVGOR, "WVGOR", 101, 2}, // gpioWaveTxStart + {PI_CMD_WVHLT, "WVHLT", 101, 0}, // gpioWaveTxStop + {PI_CMD_WVNEW, "WVNEW", 101, 0}, // gpioWaveAddNew + {PI_CMD_WVSC, "WVSC", 112, 2}, // gpioWaveGet*Cbs + {PI_CMD_WVSM, "WVSM", 112, 2}, // gpioWaveGet*Micros + {PI_CMD_WVSP, "WVSP", 112, 2}, // gpioWaveGet*Pulses + {PI_CMD_WVTX, "WVTX", 112, 2}, // gpioWaveTxSend + {PI_CMD_WVTXM, "WVTXM", 121, 2}, // gpioWaveTxSend + {PI_CMD_WVTXR, "WVTXR", 112, 2}, // gpioWaveTxSend + + {PI_CMD_ADD , "ADD" , 111, 0}, + {PI_CMD_AND , "AND" , 111, 0}, + {PI_CMD_CALL , "CALL" , 114, 0}, + {PI_CMD_CMDR ,"CMDR" , 111, 0}, + {PI_CMD_CMDW , "CMDW" , 111, 0}, + {PI_CMD_CMP , "CMP" , 111, 0}, + {PI_CMD_DCR , "DCR" , 113, 0}, + {PI_CMD_DCRA , "DCRA" , 101, 0}, + {PI_CMD_DIV , "DIV" , 111, 0}, + {PI_CMD_HALT , "HALT" , 101, 0}, + {PI_CMD_INR , "INR" , 113, 0}, + {PI_CMD_INRA , "INRA" , 101, 0}, + {PI_CMD_JM , "JM" , 114, 0}, + {PI_CMD_JMP , "JMP" , 114, 0}, + {PI_CMD_JNZ , "JNZ" , 114, 0}, + {PI_CMD_JP , "JP" , 114, 0}, + {PI_CMD_JZ , "JZ" , 114, 0}, + {PI_CMD_LD , "LD" , 123, 0}, + {PI_CMD_LDA , "LDA" , 111, 0}, + {PI_CMD_LDAB , "LDAB" , 111, 0}, + {PI_CMD_MLT , "MLT" , 111, 0}, + {PI_CMD_MOD , "MOD" , 111, 0}, + {PI_CMD_NOP , "NOP" , 101, 0}, + {PI_CMD_OR , "OR" , 111, 0}, + {PI_CMD_POP , "POP" , 113, 0}, + {PI_CMD_POPA , "POPA" , 101, 0}, + {PI_CMD_PUSH , "PUSH" , 113, 0}, + {PI_CMD_PUSHA, "PUSHA", 101, 0}, + {PI_CMD_RET , "RET" , 101, 0}, + {PI_CMD_RL , "RL" , 123, 0}, + {PI_CMD_RLA , "RLA" , 111, 0}, + {PI_CMD_RR , "RR" , 123, 0}, + {PI_CMD_RRA , "RRA" , 111, 0}, + {PI_CMD_STA , "STA" , 113, 0}, + {PI_CMD_STAB , "STAB" , 111, 0}, + {PI_CMD_SUB , "SUB" , 111, 0}, + {PI_CMD_SYS , "SYS" , 116, 0}, + {PI_CMD_TAG , "TAG" , 114, 0}, + {PI_CMD_WAIT , "WAIT" , 111, 0}, + {PI_CMD_X , "X" , 124, 0}, + {PI_CMD_XA , "XA" , 113, 0}, + {PI_CMD_XOR , "XOR" , 111, 0}, + +}; + + +char * cmdUsage = "\n\ +BC1 bits Clear GPIO in bank 1\n\ +BC2 bits Clear GPIO in bank 2\n\ +BI2CC sda Close bit bang I2C\n\ +BI2CO sda scl baud | Open bit bang I2C\n\ +BI2CZ sda ... I2C bit bang multiple transactions\n\ +\n\ +BSPIC cs Close bit bang SPI\n\ +BSPIO cs miso mosi sclk baud flag | Open bit bang SPI\n\ +BSPIX cs ... SPI bit bang transfer\n\ +\n\ +BR1 Read bank 1 GPIO\n\ +BR2 Read bank 2 GPIO\n\ +BS1 bits Set GPIO in bank 1\n\ +BS2 bits Set GPIO in bank 2\n\ +\n\ +CF1 ... Custom function 1\n\ +CF2 ... Custom function 2\n\ +\n\ +CGI Configuration get internals\n\ +CSI v Configuration set internals\n\ +\n\ +FC h Close file handle\n\ +FG g steady Set glitch filter on GPIO\n\ +FL pat n List files which match pattern\n\ +FN g steady active | Set noise filter on GPIO\n\ +FO file mode Open a file in mode\n\ +FR h n Read bytes from file handle\n\ +FS h n from Seek to file handle position\n\ +FW h ... Write bytes to file handle\n\ +\n\ +GDC g Get PWM dutycycle for GPIO\n\ +GPW g Get servo pulsewidth for GPIO\n\ +\n\ +H/HELP Display command help\n\ +HC g f Set hardware clock frequency\n\ +HP g f dc Set hardware PWM frequency and dutycycle\n\ +HWVER Get hardware version\n\ +\n\ +I2CC h Close I2C handle\n\ +I2CO bus device flags | Open I2C bus and device with flags\n\ +I2CPC h r word SMBus Process Call: exchange register with word\n\ +I2CPK h r ... SMBus Block Process Call: exchange data bytes with register\n\ +I2CRB h r SMBus Read Byte Data: read byte from register\n\ +I2CRD h n I2C Read bytes\n\ +I2CRI h r n SMBus Read I2C Block Data: read bytes from register\n\ +I2CRK h r SMBus Read Block Data: read data from register\n\ +I2CRS h SMBus Read Byte: read byte\n\ +I2CRW h r SMBus Read Word Data: read word from register\n\ +I2CWB h r byte SMBus Write Byte Data: write byte to register\n\ +I2CWD h ... I2C Write data\n\ +I2CWI h r ... SMBus Write I2C Block Data\n\ +I2CWK h r ... SMBus Write Block Data: write data to register\n\ +I2CWQ h b SMBus Write Quick: write bit\n\ +I2CWS h b SMBus Write Byte: write byte\n\ +I2CWW h r word SMBus Write Word Data: write word to register\n\ +I2CZ h ... I2C multiple transactions\n\ +\n\ +M/MODES g mode Set GPIO mode\n\ +MG/MODEG g Get GPIO mode\n\ +MICS n Delay for microseconds\n\ +MILS n Delay for milliseconds\n\ +\n\ +NB h bits Start notification\n\ +NC h Close notification\n\ +NO Request a notification\n\ +NP h Pause notification\n\ +\n\ +P/PWM g v Set GPIO PWM value\n\ +PADG pad Get pad drive strength\n\ +PADS pad v Set pad drive strength\n\ +PARSE text Validate script\n\ +PFG g Get GPIO PWM frequency\n\ +PFS g v Set GPIO PWM frequency\n\ +PIGPV Get pigpio library version\n\ +PRG g Get GPIO PWM range\n\ +PROC text Store script\n\ +PROCD sid Delete script\n\ +PROCP sid Get script status and parameters\n\ +PROCR sid ... Run script\n\ +PROCS sid Stop script\n\ +PRRG g Get GPIO PWM real range\n\ +PRS g v Set GPIO PWM range\n\ +PUD g pud Set GPIO pull up/down\n\ +\n\ +R/READ g Read GPIO level\n\ +\n\ +S/SERVO g v Set GPIO servo pulsewidth\n\ +SERC h Close serial handle\n\ +SERDA h Check for serial data ready to read\n\ +SERO text baud flags | Open serial device at baud with flags\n\ +SERR h n Read bytes from serial handle\n\ +SERRB h Read byte from serial handle\n\ +SERW h ... Write bytes to serial handle\n\ +SERWB h byte Write byte to serial handle\n\ +SHELL name str Execute a shell command\n\ +SLR g v Read bit bang serial data from GPIO\n\ +SLRC g Close GPIO for bit bang serial data\n\ +SLRO g baud bitlen | Open GPIO for bit bang serial data\n\ +SLRI g invert Invert serial logic (1 invert, 0 normal)\n\ +SPIC h SPI close handle\n\ +SPIO channel baud flags | SPI open channel at baud with flags\n\ +SPIR h v SPI read bytes from handle\n\ +SPIW h ... SPI write bytes to handle\n\ +SPIX h ... SPI transfer bytes to handle\n\ +\n\ +T/TICK Get current tick\n\ +TRIG g micros l Trigger level for micros on GPIO\n\ +\n\ +W/WRITE g l Write level to GPIO\n\ +WDOG g millis Set millisecond watchdog on GPIO\n\ +WVAG triplets Wave add generic pulses\n\ +WVAS g baud bitlen stopbits offset ... | Wave add serial data\n\ +WVBSY Check if wave busy\n\ +WVCHA Transmit a chain of waves\n\ +WVCLR Wave clear\n\ +WVCRE Create wave from added pulses\n\ +WVDEL wid Delete waves w and higher\n\ +WVGO Wave transmit (DEPRECATED)\n\ +WVGOR Wave transmit repeatedly (DEPRECATED)\n\ +WVHLT Wave stop\n\ +WVNEW Start a new empty wave\n\ +WVSC 0,1,2 Wave get DMA control block stats\n\ +WVSM 0,1,2 Wave get micros stats\n\ +WVSP 0,1,2 Wave get pulses stats\n\ +WVTAT Returns the current transmitting wave\n\ +WVTX wid Transmit wave as one-shot\n\ +WVTXM wid wmde Transmit wave using mode\n\ +WVTXR wid Transmit wave repeatedly\n\ +\n\ +Numbers may be entered as hex (prefix 0x), octal (prefix 0),\n\ +otherwise they are assumed to be decimal.\n\ +\n\ +Examples\n\ +\n\ +pigs w 4 1 # set GPIO 4 high\n\ +pigs r 5 # read GPIO 5\n\ +pigs t # get current tick\n\ +pigs i2co 1 0x20 0 # get handle to device 0x20 on I2C bus 1\n\ +\n\ +man pigs for full details.\n\ +\n"; + +typedef struct +{ + int error; + char * str; +} errInfo_t; + +static errInfo_t errInfo[]= +{ + {PI_INIT_FAILED , "pigpio initialisation failed"}, + {PI_BAD_USER_GPIO , "GPIO not 0-31"}, + {PI_BAD_GPIO , "GPIO not 0-53"}, + {PI_BAD_MODE , "mode not 0-7"}, + {PI_BAD_LEVEL , "level not 0-1"}, + {PI_BAD_PUD , "pud not 0-2"}, + {PI_BAD_PULSEWIDTH , "pulsewidth not 0 or 500-2500"}, + {PI_BAD_DUTYCYCLE , "dutycycle not 0-range (default 255)"}, + {PI_BAD_TIMER , "timer not 0-9"}, + {PI_BAD_MS , "ms not 10-60000"}, + {PI_BAD_TIMETYPE , "timetype not 0-1"}, + {PI_BAD_SECONDS , "seconds < 0"}, + {PI_BAD_MICROS , "micros not 0-999999"}, + {PI_TIMER_FAILED , "gpioSetTimerFunc failed"}, + {PI_BAD_WDOG_TIMEOUT , "timeout not 0-60000"}, + {PI_NO_ALERT_FUNC , "DEPRECATED"}, + {PI_BAD_CLK_PERIPH , "clock peripheral not 0-1"}, + {PI_BAD_CLK_SOURCE , "DEPRECATED"}, + {PI_BAD_CLK_MICROS , "clock micros not 1, 2, 4, 5, 8, or 10"}, + {PI_BAD_BUF_MILLIS , "buf millis not 100-10000"}, + {PI_BAD_DUTYRANGE , "dutycycle range not 25-40000"}, + {PI_BAD_SIGNUM , "signum not 0-63"}, + {PI_BAD_PATHNAME , "can't open pathname"}, + {PI_NO_HANDLE , "no handle available"}, + {PI_BAD_HANDLE , "unknown handle"}, + {PI_BAD_IF_FLAGS , "ifFlags > 3"}, + {PI_BAD_CHANNEL , "DMA channel not 0-14"}, + {PI_BAD_SOCKET_PORT , "socket port not 1024-30000"}, + {PI_BAD_FIFO_COMMAND , "unknown fifo command"}, + {PI_BAD_SECO_CHANNEL , "DMA secondary channel not 0-14"}, + {PI_NOT_INITIALISED , "function called before gpioInitialise"}, + {PI_INITIALISED , "function called after gpioInitialise"}, + {PI_BAD_WAVE_MODE , "waveform mode not 0-1"}, + {PI_BAD_CFG_INTERNAL , "bad parameter in gpioCfgInternals call"}, + {PI_BAD_WAVE_BAUD , "baud rate not 50-250K(RX)/50-1M(TX)"}, + {PI_TOO_MANY_PULSES , "waveform has too many pulses"}, + {PI_TOO_MANY_CHARS , "waveform has too many chars"}, + {PI_NOT_SERIAL_GPIO , "no bit bang serial read in progress on GPIO"}, + {PI_BAD_SERIAL_STRUC , "bad (null) serial structure parameter"}, + {PI_BAD_SERIAL_BUF , "bad (null) serial buf parameter"}, + {PI_NOT_PERMITTED , "no permission to update GPIO"}, + {PI_SOME_PERMITTED , "no permission to update one or more GPIO"}, + {PI_BAD_WVSC_COMMND , "bad WVSC subcommand"}, + {PI_BAD_WVSM_COMMND , "bad WVSM subcommand"}, + {PI_BAD_WVSP_COMMND , "bad WVSP subcommand"}, + {PI_BAD_PULSELEN , "trigger pulse length not 1-100"}, + {PI_BAD_SCRIPT , "invalid script"}, + {PI_BAD_SCRIPT_ID , "unknown script id"}, + {PI_BAD_SER_OFFSET , "add serial data offset > 30 minute"}, + {PI_GPIO_IN_USE , "GPIO already in use"}, + {PI_BAD_SERIAL_COUNT , "must read at least a byte at a time"}, + {PI_BAD_PARAM_NUM , "script parameter id not 0-9"}, + {PI_DUP_TAG , "script has duplicate tag"}, + {PI_TOO_MANY_TAGS , "script has too many tags"}, + {PI_BAD_SCRIPT_CMD , "illegal script command"}, + {PI_BAD_VAR_NUM , "script variable id not 0-149"}, + {PI_NO_SCRIPT_ROOM , "no more room for scripts"}, + {PI_NO_MEMORY , "can't allocate temporary memory"}, + {PI_SOCK_READ_FAILED , "socket read failed"}, + {PI_SOCK_WRIT_FAILED , "socket write failed"}, + {PI_TOO_MANY_PARAM , "too many script parameters (> 10)"}, + {PI_SCRIPT_NOT_READY , "script initialising"}, + {PI_BAD_TAG , "script has unresolved tag"}, + {PI_BAD_MICS_DELAY , "bad MICS delay (too large)"}, + {PI_BAD_MILS_DELAY , "bad MILS delay (too large)"}, + {PI_BAD_WAVE_ID , "non existent wave id"}, + {PI_TOO_MANY_CBS , "No more CBs for waveform"}, + {PI_TOO_MANY_OOL , "No more OOL for waveform"}, + {PI_EMPTY_WAVEFORM , "attempt to create an empty waveform"}, + {PI_NO_WAVEFORM_ID , "no more waveform ids"}, + {PI_I2C_OPEN_FAILED , "can't open I2C device"}, + {PI_SER_OPEN_FAILED , "can't open serial device"}, + {PI_SPI_OPEN_FAILED , "can't open SPI device"}, + {PI_BAD_I2C_BUS , "bad I2C bus"}, + {PI_BAD_I2C_ADDR , "bad I2C address"}, + {PI_BAD_SPI_CHANNEL , "bad SPI channel"}, + {PI_BAD_FLAGS , "bad i2c/spi/ser open flags"}, + {PI_BAD_SPI_SPEED , "bad SPI speed"}, + {PI_BAD_SER_DEVICE , "bad serial device name"}, + {PI_BAD_SER_SPEED , "bad serial baud rate"}, + {PI_BAD_PARAM , "bad i2c/spi/ser parameter"}, + {PI_I2C_WRITE_FAILED , "I2C write failed"}, + {PI_I2C_READ_FAILED , "I2C read failed"}, + {PI_BAD_SPI_COUNT , "bad SPI count"}, + {PI_SER_WRITE_FAILED , "ser write failed"}, + {PI_SER_READ_FAILED , "ser read failed"}, + {PI_SER_READ_NO_DATA , "ser read no data available"}, + {PI_UNKNOWN_COMMAND , "unknown command"}, + {PI_SPI_XFER_FAILED , "spi xfer/read/write failed"}, + {PI_BAD_POINTER , "bad (NULL) pointer"}, + {PI_NO_AUX_SPI , "no auxiliary SPI on Pi A or B"}, + {PI_NOT_PWM_GPIO , "GPIO is not in use for PWM"}, + {PI_NOT_SERVO_GPIO , "GPIO is not in use for servo pulses"}, + {PI_NOT_HCLK_GPIO , "GPIO has no hardware clock"}, + {PI_NOT_HPWM_GPIO , "GPIO has no hardware PWM"}, + {PI_BAD_HPWM_FREQ , "hardware PWM frequency not 1-125M"}, + {PI_BAD_HPWM_DUTY , "hardware PWM dutycycle not 0-1M"}, + {PI_BAD_HCLK_FREQ , "hardware clock frequency not 4689-250M"}, + {PI_BAD_HCLK_PASS , "need password to use hardware clock 1"}, + {PI_HPWM_ILLEGAL , "illegal, PWM in use for main clock"}, + {PI_BAD_DATABITS , "serial data bits not 1-32"}, + {PI_BAD_STOPBITS , "serial (half) stop bits not 2-8"}, + {PI_MSG_TOOBIG , "socket/pipe message too big"}, + {PI_BAD_MALLOC_MODE , "bad memory allocation mode"}, + {PI_TOO_MANY_SEGS , "too many I2C transaction segments"}, + {PI_BAD_I2C_SEG , "an I2C transaction segment failed"}, + {PI_BAD_SMBUS_CMD , "SMBus command not supported by driver"}, + {PI_NOT_I2C_GPIO , "no bit bang I2C in progress on GPIO"}, + {PI_BAD_I2C_WLEN , "bad I2C write length"}, + {PI_BAD_I2C_RLEN , "bad I2C read length"}, + {PI_BAD_I2C_CMD , "bad I2C command"}, + {PI_BAD_I2C_BAUD , "bad I2C baud rate, not 50-500k"}, + {PI_CHAIN_LOOP_CNT , "bad chain loop count"}, + {PI_BAD_CHAIN_LOOP , "empty chain loop"}, + {PI_CHAIN_COUNTER , "too many chain counters"}, + {PI_BAD_CHAIN_CMD , "bad chain command"}, + {PI_BAD_CHAIN_DELAY , "bad chain delay micros"}, + {PI_CHAIN_NESTING , "chain counters nested too deeply"}, + {PI_CHAIN_TOO_BIG , "chain is too long"}, + {PI_DEPRECATED , "deprecated function removed"}, + {PI_BAD_SER_INVERT , "bit bang serial invert not 0 or 1"}, + {PI_BAD_EDGE , "bad ISR edge, not 1, 1, or 2"}, + {PI_BAD_ISR_INIT , "bad ISR initialisation"}, + {PI_BAD_FOREVER , "loop forever must be last chain command"}, + {PI_BAD_FILTER , "bad filter parameter"}, + {PI_BAD_PAD , "bad pad number"}, + {PI_BAD_STRENGTH , "bad pad drive strength"}, + {PI_FIL_OPEN_FAILED , "file open failed"}, + {PI_BAD_FILE_MODE , "bad file mode"}, + {PI_BAD_FILE_FLAG , "bad file flag"}, + {PI_BAD_FILE_READ , "bad file read"}, + {PI_BAD_FILE_WRITE , "bad file write"}, + {PI_FILE_NOT_ROPEN , "file not open for read"}, + {PI_FILE_NOT_WOPEN , "file not open for write"}, + {PI_BAD_FILE_SEEK , "bad file seek"}, + {PI_NO_FILE_MATCH , "no files match pattern"}, + {PI_NO_FILE_ACCESS , "no permission to access file"}, + {PI_FILE_IS_A_DIR , "file is a directory"}, + {PI_BAD_SHELL_STATUS , "bad shell return status"}, + {PI_BAD_SCRIPT_NAME , "bad script name"}, + {PI_BAD_SPI_BAUD , "bad SPI baud rate, not 50-500k"}, + {PI_NOT_SPI_GPIO , "no bit bang SPI in progress on GPIO"}, + +}; + +static char * fmtMdeStr="RW540123"; +static char * fmtPudStr="ODU"; + +static int cmdMatch(char *str) +{ + int i; + + for (i=0; i<(sizeof(cmdInfo)/sizeof(cmdInfo_t)); i++) + { + if (strcasecmp(str, cmdInfo[i].name) == 0) return i; + } + return CMD_UNKNOWN_CMD; +} + +static int getNum(char *str, uint32_t *val, int8_t *opt) +{ + int f, n; + intmax_t v; + + *opt = 0; + + f = sscanf(str, " %ji %n", &v, &n); + + if (f == 1) + { + *val = v; + *opt = CMD_NUMERIC; + return n; + } + + f = sscanf(str, " v%ji %n", &v, &n); + + if (f == 1) + { + *val = v; + if (v < PI_MAX_SCRIPT_VARS) *opt = CMD_VAR; + else *opt = -CMD_VAR; + return n; + } + + f = sscanf(str, " p%ji %n", &v, &n); + + if (f == 1) + { + *val = v; + if (v < PI_MAX_SCRIPT_PARAMS) *opt = CMD_PAR; + else *opt = -CMD_PAR; + return n; + } + + return 0; +} + +static char intCmdStr[32]; + +char *cmdStr(void) +{ + return intCmdStr; +} + +int cmdParse( + char *buf, uint32_t *p, unsigned ext_len, char *ext, cmdCtlParse_t *ctl) +{ + int f, valid, idx, val, pp, pars, n, n2; + char *p8; + int32_t *p32; + char c; + uint32_t tp1=0, tp2=0, tp3=0, tp4=0, tp5=0; + int8_t to1, to2, to3, to4, to5; + int eaten; + + /* Check that ext is big enough for the largest message. */ + if (ext_len < (4 * CMD_MAX_PARAM)) return CMD_EXT_TOO_SMALL; + + bzero(&ctl->opt, sizeof(ctl->opt)); + + sscanf(buf+ctl->eaten, " %31s %n", intCmdStr, &pp); + + ctl->eaten += pp; + + p[0] = -1; + + idx = cmdMatch(intCmdStr); + + if (idx < 0) return idx; + + valid = 0; + + p[0] = cmdInfo[idx].cmd; + p[1] = 0; + p[2] = 0; + p[3] = 0; + + switch (cmdInfo[idx].vt) + { + case 101: /* BR1 BR2 CGI H HELP HWVER + DCRA HALT INRA NO + PIGPV POPA PUSHA RET T TICK WVBSY WVCLR + WVCRE WVGO WVGOR WVHLT WVNEW + + No parameters, always valid. + */ + valid = 1; + + break; + + case 111: /* ADD AND BC1 BC2 BS1 BS2 + CMP CSI DIV LDA LDAB MLT + MOD OR RLA RRA STAB SUB WAIT XOR + + One parameter, any value. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + + if (ctl->opt[1] > 0) valid = 1; + + break; + + case 112: /* BI2CC FC GDC GPW I2CC I2CRB + MG MICS MILS MODEG NC NP PADG PFG PRG + PROCD PROCP PROCS PRRG R READ SLRC SPIC + WVDEL WVSC WVSM WVSP WVTX WVTXR BSPIC + + One positive parameter. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + + if ((ctl->opt[1] > 0) && ((int)p[1] >= 0)) valid = 1; + + break; + + case 113: /* DCR INR POP PUSH STA XA + + One register parameter. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + + if ((ctl->opt[1] > 0) && (p[1] < PI_MAX_SCRIPT_VARS)) valid = 1; + + break; + + case 114: /* CALL JM JMP JNZ JP JZ TAG + + One numeric parameter, any value. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + if (ctl->opt[1] == CMD_NUMERIC) valid = 1; + + break; + + case 115: /* PARSE PROC + + One parameter, string (rest of input). + */ + p[3] = strlen(buf+ctl->eaten); + memcpy(ext, buf+ctl->eaten, p[3]); + ctl->eaten += p[3]; + valid = 1; + + break; + + case 116: /* SYS + + One parameter, a string. + */ + f = sscanf(buf+ctl->eaten, " %*s%n %n", &n, &n2); + if ((f >= 0) && n) + { + p[3] = n; + ctl->opt[3] = CMD_NUMERIC; + memcpy(ext, buf+ctl->eaten, n); + ctl->eaten += n2; + valid = 1; + } + + break; + + case 121: /* HC FR I2CRD I2CRR I2CRW I2CWB I2CWQ P + PADS PFS PRS PWM S SERVO SLR SLRI W + WDOG WRITE WVTXM + + Two positive parameters. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]); + + if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) && + (ctl->opt[2] > 0) && ((int)p[2] >= 0)) valid = 1; + + break; + + case 122: /* NB + + Two parameters, first positive, second any value. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]); + + if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) && + (ctl->opt[2] > 0)) valid = 1; + + break; + + case 123: /* LD RL RR + + Two parameters, first register, second any value. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]); + + if ((ctl->opt[1] > 0) && + (p[1] < PI_MAX_SCRIPT_VARS) && + (ctl->opt[2] > 0)) valid = 1; + + break; + + case 124: /* X + + Two register parameters. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]); + + if ((ctl->opt[1] > 0) && (p[1] < PI_MAX_SCRIPT_VARS) && + (ctl->opt[2] > 0) && (p[2] < PI_MAX_SCRIPT_VARS)) valid = 1; + + break; + + case 125: /* M MODES + + Two parameters, first positive, second in 'RW540123'. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + + f = sscanf(buf+ctl->eaten, " %c %n", &c, &n); + + if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) && (f >= 1)) + { + ctl->eaten += n; + val = toupper(c); + p8 = strchr(fmtMdeStr, val); + + if (p8 != NULL) + { + val = p8 - fmtMdeStr; + p[2] = val; + valid = 1; + } + } + + break; + + case 126: /* PUD + + Two parameters, first positive, second in 'ODU'. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + + f = sscanf(buf+ctl->eaten, " %c %n", &c, &n); + + if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) && (f >= 1)) + { + ctl->eaten += n; + val = toupper(c); + p8 = strchr(fmtPudStr, val); + if (p8 != NULL) + { + val = p8 - fmtPudStr; + p[2] = val; + valid = 1; + } + } + + break; + + case 127: /* FL FO + + Two parameters, first a string, other positive. + */ + f = sscanf(buf+ctl->eaten, " %*s%n %n", &n, &n2); + if ((f >= 0) && n) + { + p[3] = n; + ctl->opt[2] = CMD_NUMERIC; + memcpy(ext, buf+ctl->eaten, n); + ctl->eaten += n2; + + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + + if ((ctl->opt[1] > 0) && ((int)p[1] >= 0)) + valid = 1; + } + + break; + + case 128: /* SHELL + + Two string parameters, the first space teminated. + The second arbitrary. + */ + f = sscanf(buf+ctl->eaten, " %*s%n %n", &n, &n2); + + if ((f >= 0) && n) + { + valid = 1; + + p[1] = n; + memcpy(ext, buf+ctl->eaten, n); + ctl->eaten += n; + ext[n] = 0; /* terminate first string */ + + n2 = strlen(buf+ctl->eaten+1); + memcpy(ext+n+1, buf+ctl->eaten+1, n2); + ctl->eaten += n2; + ctl->eaten ++; + p[3] = p[1] + n2 + 1; + } + + break; + + case 131: /* BI2CO HP I2CO I2CPC I2CRI I2CWB I2CWW + SLRO SPIO TRIG + + Three positive parameters. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]); + ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1); + + if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) && + (ctl->opt[2] > 0) && ((int)p[2] >= 0) && + (to1 == CMD_NUMERIC) && ((int)tp1 >= 0)) + { + p[3] = 4; + memcpy(ext, &tp1, 4); + valid = 1; + } + + break; + + case 132: /* SERO + + Three parameters, first a string, rest >=0 + */ + f = sscanf(buf+ctl->eaten, " %*s%n %n", &n, &n2); + if ((f >= 0) && n) + { + p[3] = n; + ctl->opt[2] = CMD_NUMERIC; + memcpy(ext, buf+ctl->eaten, n); + ctl->eaten += n2; + + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]); + + if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) && + (ctl->opt[2] > 0) && ((int)p[2] >= 0)) + valid = 1; + } + + break; + + case 133: /* FS + + Three parameters. First and third positive. + Second may be negative when interpreted as an int. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]); + ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1); + + if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) && + (ctl->opt[2] > 0) && + (to1 == CMD_NUMERIC) && ((int)tp1 >= 0)) + { + p[3] = 4; + memcpy(ext, &tp1, 4); + valid = 1; + } + + break; + + case 134: /* BSPIO + + Six parameters. First to Fifth positive. + Sixth may be negative when interpreted as an int. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1); + ctl->eaten += getNum(buf+ctl->eaten, &tp2, &to2); + ctl->eaten += getNum(buf+ctl->eaten, &tp3, &to3); + ctl->eaten += getNum(buf+ctl->eaten, &tp4, &to4); + ctl->eaten += getNum(buf+ctl->eaten, &tp5, &to5); + + if ((ctl->opt[1] > 0) && ((int)p[1] >= 0) && + (to1 == CMD_NUMERIC) && ((int)tp1 >= 0) && + (to2 == CMD_NUMERIC) && ((int)tp2 >= 0) && + (to3 == CMD_NUMERIC) && ((int)tp3 >= 0) && + (to4 == CMD_NUMERIC) && ((int)tp4 >= 0) && + (to5 == CMD_NUMERIC)) + { + p[3] = 5 * 4; + memcpy(ext+ 0, &tp1, 4); + memcpy(ext+ 4, &tp2, 4); + memcpy(ext+ 8, &tp3, 4); + memcpy(ext+12, &tp4, 4); + memcpy(ext+16, &tp5, 4); + valid = 1; + } + + break; + + case 191: /* PROCR + + One to 11 parameters, first positive, + optional remainder, any value. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + + if ((ctl->opt[1] == CMD_NUMERIC) && ((int)p[1] >= 0)) + { + pars = 0; + p32 = (int32_t *)ext; + + while (pars < PI_MAX_SCRIPT_PARAMS) + { + ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1); + if (to1 == CMD_NUMERIC) + { + pars++; + *p32++ = tp1; + } + else break; + } + + p[3] = pars * 4; + + valid = 1; + } + + break; + + case 192: /* WVAG + + One or more triplets (gpios on, gpios off, delay), + any value. + */ + + pars = 0; + p32 = (int32_t *)ext; + + while (pars < CMD_MAX_PARAM) + { + ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1); + if (to1 == CMD_NUMERIC) + { + pars++; + *p32++ = tp1; + } + else break; + } + + p[3] = pars * 4; + + if (pars && ((pars % 3) == 0)) valid = 1; + + break; + + case 193: /* BI2CZ FW I2CWD I2CZ SERW SPIW SPIX + BSPIX + + Two or more parameters, first >=0, rest 0-255. + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + + if ((ctl->opt[1] == CMD_NUMERIC) && ((int)p[1] >= 0)) + { + pars = 0; + p8 = ext; + + while (pars < CMD_MAX_PARAM) + { + eaten = getNum(buf+ctl->eaten, &tp1, &to1); + if (to1 == CMD_NUMERIC) + { + if (((int)tp1>=0) && ((int)tp1<=255)) + { + pars++; + *p8++ = tp1; + ctl->eaten += eaten; + } + else break; /* invalid number, end of command */ + } + else break; + } + + p[3] = pars; + + if (pars) valid = 1; + } + + break; + + case 194: /* I2CPK I2CWI I2CWK + + Three to 34 parameters, all 0-255. + */ + + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]); + + if ((ctl->opt[1] == CMD_NUMERIC) && + (ctl->opt[2] == CMD_NUMERIC) && + ((int)p[1]>=0) && ((int)p[2]>=0) && ((int)p[2]<=255)) + { + pars = 0; + p8 = ext; + + while (pars < 32) + { + eaten = getNum(buf+ctl->eaten, &tp1, &to1); + if (to1 == CMD_NUMERIC) + { + if (((int)tp1>=0) && ((int)tp1<=255)) + { + pars++; + *p8++ = tp1; + ctl->eaten += eaten; + } + else break; /* invalid number, end of command */ + } + else break; + } + + p[3] = pars; + + if (pars > 0) valid = 1; + } + + break; + + case 195: /* CF1 CF2 + + Zero or more parameters, first two >=0, rest 0-255. + */ + valid = 1; + + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + + if (ctl->opt[1] == CMD_NUMERIC) + { + if ((int)p[1] >= 0) + { + ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]); + + if (ctl->opt[2] == CMD_NUMERIC) + { + if ((int)p[2] >= 0) + { + pars = 0; + p8 = ext; + + while (pars < CMD_MAX_PARAM) + { + eaten = getNum(buf+ctl->eaten, &tp1, &to1); + if (to1 == CMD_NUMERIC) + { + if (((int)tp1>=0) && ((int)tp1<=255)) + { + pars++; + *p8++ = tp1; + ctl->eaten += eaten; + } + else break; + } + else break; + } + + p[3] = pars; + } + else valid = 0; + } + } + else valid = 0; + } + + break; + + case 196: /* WVAS + + gpio baud offset char... + + p1 gpio + p2 baud + p3 len + 4 + --------- + uint32_t databits + uint32_t stophalfbits + uint32_t offset + uint8_t[len] + */ + ctl->eaten += getNum(buf+ctl->eaten, &p[1], &ctl->opt[1]); + ctl->eaten += getNum(buf+ctl->eaten, &p[2], &ctl->opt[2]); + ctl->eaten += getNum(buf+ctl->eaten, &tp1, &to1); + ctl->eaten += getNum(buf+ctl->eaten, &tp2, &to2); + ctl->eaten += getNum(buf+ctl->eaten, &tp3, &to3); + + if ((ctl->opt[1] == CMD_NUMERIC) && ((int)p[1] >= 0) && + (ctl->opt[2] == CMD_NUMERIC) && ((int)p[2] > 0) && + (to1 == CMD_NUMERIC) && + (to2 == CMD_NUMERIC) && + (to3 == CMD_NUMERIC)) + { + pars = 0; + + memcpy(ext, &tp1, 4); + memcpy(ext+4, &tp2, 4); + memcpy(ext+8, &tp3, 4); + p8 = ext + 12; + while (pars < CMD_MAX_PARAM) + { + eaten = getNum(buf+ctl->eaten, &tp1, &to1); + if (to1 == CMD_NUMERIC) + { + if (((int)tp1>=0) && ((int)tp1<=255)) + { + *p8++ = tp1; + pars++; + ctl->eaten += eaten; + } + else break; /* invalid number, end of command */ + } + else break; + } + + p[3] = pars + 12; + + if (pars > 0) valid = 1; + } + + break; + + case 197: /* WVCHA + + One or more parameters, all 0-255. + */ + pars = 0; + p8 = ext; + + while (pars < CMD_MAX_PARAM) + { + eaten = getNum(buf+ctl->eaten, &tp1, &to1); + if (to1 == CMD_NUMERIC) + { + if (((int)tp1>=0) && ((int)tp1<=255)) + { + pars++; + *p8++ = tp1; + ctl->eaten += eaten; + } + else break; /* invalid number, end of command */ + } + else break; + } + + p[3] = pars; + + if (pars) valid = 1; + + break; + + + } + + if (valid) return idx; else return CMD_BAD_PARAMETER; +} + +char * cmdErrStr(int error) +{ + int i; + + for (i=0; i<(sizeof(errInfo)/sizeof(errInfo_t)); i++) + { + if (errInfo[i].error == error) return errInfo[i].str; + } + return "unknown error"; +} + +int cmdParseScript(char *script, cmdScript_t *s, int diags) +{ + int idx, len, b, i, j, tags, resolved; + int status; + uint32_t p[10]; + cmdInstr_t instr; + cmdCtlParse_t ctl; + char v[CMD_MAX_EXTENSION]; + + ctl.eaten = 0; + + status = 0; + + cmdTagStep_t tag_step[PI_MAX_SCRIPT_TAGS]; + + len = strlen(script); + + /* calloc space for PARAMS, VARS, CMDS, and STRINGS */ + + b = (sizeof(int) * (PI_MAX_SCRIPT_PARAMS + PI_MAX_SCRIPT_VARS)) + + (sizeof(cmdInstr_t) * (len + 2) / 2) + len; + + s->par = calloc(1, b); + + if (s->par == NULL) return -1; + + s->var = s->par + PI_MAX_SCRIPT_PARAMS; + + s->instr = (cmdInstr_t *)(s->var + PI_MAX_SCRIPT_VARS); + + s->str_area = (char *)(s->instr + ((len + 2) / 2)); + + s->str_area_len = len; + s->str_area_pos = 0; + + s->instrs = 0; + + tags = 0; + + idx = 0; + + while (ctl.eaten= 0) + { + if (p[3]) + { + memcpy(s->str_area + s->str_area_pos, v, p[3]); + s->str_area[s->str_area_pos + p[3]] = 0; + p[4] = (intptr_t) s->str_area + s->str_area_pos; + s->str_area_pos += (p[3] + 1); + } + + memcpy(&instr.p, p, sizeof(instr.p)); + + if (instr.p[0] == PI_CMD_TAG) + { + if (tags < PI_MAX_SCRIPT_TAGS) + { + /* check tag not already used */ + for (j=0; jinstrs; + tags++; + } + else + { + if (diags) + { + fprintf(stderr, "Too many tags: %d\n", instr.p[1]); + } + if (!status) status = PI_TOO_MANY_TAGS; + idx = -1; + } + } + } + else + { + if (diags) + { + if (idx == CMD_UNKNOWN_CMD) + fprintf(stderr, "Unknown command: %s\n", cmdStr()); + else + fprintf(stderr, "Bad parameter to %s\n", cmdStr()); + } + if (!status) status = PI_BAD_SCRIPT_CMD; + } + + if (idx >= 0) + { + if (instr.p[0] != PI_CMD_TAG) + { + memcpy(instr.opt, &ctl.opt, sizeof(instr.opt)); + s->instr[s->instrs++] = instr; + } + } + } + + for (i=0; iinstrs; i++) + { + instr = s->instr[i]; + + /* resolve jumps */ + + if ((instr.p[0] == PI_CMD_JMP) || (instr.p[0] == PI_CMD_CALL) || + (instr.p[0] == PI_CMD_JZ) || (instr.p[0] == PI_CMD_JNZ) || + (instr.p[0] == PI_CMD_JM) || (instr.p[0] == PI_CMD_JP)) + { + resolved = 0; + + for (j=0; jinstr[i].p[1] = tag_step[j].step; + resolved = 1; + break; + } + } + + if (!resolved) + { + if (diags) + { + fprintf(stderr, "Can't resolve tag %d\n", instr.p[1]); + } + if (!status) status = PI_BAD_TAG; + } + } + } + return status; +} + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/command.h b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/command.h new file mode 100644 index 0000000..c27d64f --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/command.h @@ -0,0 +1,122 @@ +/* +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 +*/ + +/* +This version is for pigpio version 56+ +*/ + +#ifndef COMMAND_H +#define COMMAND_H + +#include +#include + +#include "pigpio.h" + +#define CMD_MAX_PARAM 512 +#define CMD_MAX_EXTENSION (1<<16) + +#define CMD_UNKNOWN_CMD -1 +#define CMD_BAD_PARAMETER -2 +#define CMD_EXT_TOO_SMALL -3 + +#define CMD_P_ARR 10 +#define CMD_V_ARR 10 + +#define CMD_NUMERIC 1 +#define CMD_VAR 2 +#define CMD_PAR 3 + +typedef struct +{ + uint32_t cmd; + uint32_t p1; + uint32_t p2; + union + { + uint32_t p3; + uint32_t ext_len; + uint32_t res; + }; +} cmdCmd_t; + +typedef struct +{ + int eaten; + int8_t opt[4]; +} cmdCtlParse_t; + +typedef struct +{ + int cmd; /* command number */ + char *name; /* command name */ + int vt; /* command verification type */ + int rv; /* command return value type */ +} cmdInfo_t; + +typedef struct +{ + uint32_t tag; + int step; +} cmdTagStep_t; + +typedef struct +{ + uint32_t p[5]; + int8_t opt[4]; +} cmdInstr_t; + +typedef struct +{ + /* + +-----------+---------+---------+----------------+ + | PARAMS... | VARS... | CMDS... | STRING AREA... | + +-----------+---------+---------+----------------+ + */ + int *par; + int *var; + cmdInstr_t *instr; + int instrs; + char *str_area; + int str_area_len; + int str_area_pos; +} cmdScript_t; + +extern cmdInfo_t cmdInfo[]; + +extern char *cmdUsage; + +int cmdParse(char *buf, uint32_t *p, unsigned ext_len, char *ext, cmdCtlParse_t *ctl); + +int cmdParseScript(char *script, cmdScript_t *s, int diags); + +char *cmdErrStr(int error); + +char *cmdStr(void); + +#endif + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/command.o b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/command.o new file mode 100644 index 0000000..091bae1 Binary files /dev/null and b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/command.o differ diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/custom.cext b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/custom.cext new file mode 100644 index 0000000..905884d --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/custom.cext @@ -0,0 +1,54 @@ +/* +This version is for pigpio version 26+ + +If you want customised functions replace this file with your own +definitions for gpioCustom1 and gpioCustom2. +*/ + +#include "pigpio.h" + +int gpioCustom1(unsigned arg1, unsigned arg2, char *argx, unsigned count) +{ + int i; + unsigned max; + + DBG(DBG_USER, "arg1=%d arg2=%d count=%d [%s]", + arg1, arg2, count, myBuf2Str(count, argx)); + + CHECK_INITED; + + /* for dummy just return max parameter */ + + if (arg1 > arg2) max = arg1; else max = arg2; + + for (i=0; i max) max = argx[i]; + + return max; +} + + +int gpioCustom2(unsigned arg1, char *argx, unsigned count, + char *retBuf, unsigned retMax) +{ + int i, j, t; + + DBG(DBG_USER, "arg1=%d count=%d [%s] retMax=%d", + arg1, count, myBuf2Str(count, argx), retMax); + + CHECK_INITED; + + /* for dummy just return argx reversed */ + + if (count > retMax) count = retMax; + + for (i=0, j=count-1; i<=j; i++, j--) + { + /* t used as argx and retBuf may be the same buffer */ + t = argx[i]; + retBuf[i] = argx[j]; + retBuf[j] = t; + } + + return count; +} + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/libpigpio.so b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/libpigpio.so new file mode 100644 index 0000000..0c6d19e Binary files /dev/null and b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/libpigpio.so differ diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/libpigpiod_if.so b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/libpigpiod_if.so new file mode 100644 index 0000000..80ba132 Binary files /dev/null and b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/libpigpiod_if.so differ diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/libpigpiod_if2.so b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/libpigpiod_if2.so new file mode 100644 index 0000000..88c077e Binary files /dev/null and b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/libpigpiod_if2.so differ diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pig2vcd.1 b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pig2vcd.1 new file mode 100644 index 0000000..24b5a6c --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pig2vcd.1 @@ -0,0 +1,246 @@ + +." Process this file with +." groff -man -Tascii pig2vcd.1 +." +.TH pig2vcd 1 2012-2015 Linux "pigpio archive" +.SH NAME +pig2vd - A utility to convert pigpio notifications to VCD. + +.SH SYNOPSIS + +pig2vcd file.VCD +.SH DESCRIPTION + + +.ad l + +.nh +pig2vcd is a utility which reads notifications on stdin and writes the +output as a Value Change Dump (VCD) file on stdout. + +.br + +.br +The VCD file can be viewed using GTKWave. + +.br + +.br +.SS Notifications +.br + +.br +Notifications consist of 12 bytes with the following binary format. + +.br + +.br + +.EX +typedef struct +.br +{ +.br + uint16_t seqno; +.br + uint16_t flags; +.br + uint32_t tick; +.br + uint32_t level; +.br +} gpioReport_t; +.br + +.EE + +.br + +.br +seqno: starts at 0 each time the handle is opened and then increments by one for each report. + +.br + +.br +flags: two flags are defined, PI_NTFY_FLAGS_WDOG and PI_NTFY_FLAGS_ALIVE. If bit 5 is set (PI_NTFY_FLAGS_WDOG) then bits 0-4 of the flags indicate a gpio which has had a watchdog timeout; if bit 6 is set (PI_NTFY_FLAGS_ALIVE) this indicates a keep alive signal on the pipe/socket and is sent once a minute in the absence of other notification activity. + +.br + +.br +tick: the number of microseconds since system boot. It wraps around after 1h12m. + +.br + +.br +level: indicates the level of each gpio. If bit 1< +*/ + +/* +This version is for pigpio version 3+ +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pigpio.h" + +/* +This software converts pigpio notification reports +into a VCD format understood by GTKWave. +*/ + +#define RS (sizeof(gpioReport_t)) + +static char * timeStamp() +{ + static char buf[32]; + + struct timeval now; + struct tm tmp; + + gettimeofday(&now, NULL); + + localtime_r(&now.tv_sec, &tmp); + strftime(buf, sizeof(buf), "%F %T", &tmp); + + return buf; +} + +int symbol(int bit) +{ + if (bit < 26) return ('A' + bit); + else return ('a' + bit - 26); +} + +int main(int argc, char * argv[]) +{ + int b, r, v; + uint32_t t0; + uint32_t lastLevel, changed; + + gpioReport_t report; + + r=read(STDIN_FILENO, &report, RS); + + if (r != RS) exit(-1); + + printf("$date %s $end\n", timeStamp()); + printf("$version pig2vcd V1 $end\n"); + printf("$timescale 1 us $end\n"); + printf("$scope module top $end\n"); + + for (b=0; b<32; b++) + printf("$var wire 1 %c %d $end\n", symbol(b), b); + + printf("$upscope $end\n"); + printf("$enddefinitions $end\n"); + + t0 = report.tick; + lastLevel =0; + + while ((r=read(STDIN_FILENO, &report, RS)) == RS) + { + if (report.level != lastLevel) + { + printf("#%u\n", report.tick - t0); + + changed = report.level ^ lastLevel; + + lastLevel = report.level; + + for (b=0; b<32; b++) + { + if (changed & (1< + + +gcc -Wall -pthread -o prog prog.c -lpigpio -lrt + +sudo ./prog +.SH DESCRIPTION + + +.ad l + +.nh + +.br + +.br +pigpio is a C library for the Raspberry which allows control of the GPIO. + +.br + +.br +.SS Features +.br + +.br +o hardware timed PWM on any of GPIO 0-31 + +.br + +.br +o hardware timed servo pulses on any of GPIO 0-31 + +.br + +.br +o callbacks when any of GPIO 0-31 change state + +.br + +.br +o callbacks at timed intervals + +.br + +.br +o reading/writing all of the GPIO in a bank as one operation + +.br + +.br +o individually setting GPIO modes, reading and writing + +.br + +.br +o notifications when any of GPIO 0-31 change state + +.br + +.br +o the construction of output waveforms with microsecond timing + +.br + +.br +o rudimentary permission control over GPIO + +.br + +.br +o a simple interface to start and stop new threads + +.br + +.br +o I2C, SPI, and serial link wrappers + +.br + +.br +o creating and running scripts + +.br + +.br +.SS GPIO +.br + +.br +ALL GPIO are identified by their Broadcom number. + +.br + +.br +.SS Credits +.br + +.br +The PWM and servo pulses are timed using the DMA and PWM peripherals. + +.br + +.br +This use was inspired by Richard Hirst's servoblaster kernel module. + +.br + +.br +See \fBhttps://github.com/richardghirst/PiBits/tree/master/ServoBlaster\fP + +.br + +.br +.SS Usage +.br + +.br +Include in your source files. + +.br + +.br +Assuming your source is in prog.c use the following command to build and +run the executable. + +.br + +.br + +.EX +gcc -Wall -pthread -o prog prog.c -lpigpio -lrt +.br +sudo ./prog +.br + +.EE + +.br + +.br +For examples of usage see the C programs within the pigpio archive file. + +.br + +.br +.SS Notes +.br + +.br +All the functions which return an int return < 0 on error. + +.br + +.br +\fBgpioInitialise\fP must be called before all other library functions +with the following exceptions: + +.br + +.br + +.EX +\fBgpioCfg*\fP +.br +\fBgpioVersion\fP +.br +\fBgpioHardwareRevision\fP +.br + +.EE + +.br + +.br +If the library is not initialised all but the \fBgpioCfg*\fP, +\fBgpioVersion\fP, and \fBgpioHardwareRevision\fP functions will +return error PI_NOT_INITIALISED. + +.br + +.br +If the library is initialised the \fBgpioCfg*\fP functions will return +error PI_INITIALISED. + +.br + +.br +.SH FUNCTIONS + +.IP "\fBint gpioInitialise(void)\fP" +.IP "" 4 +Initialises the library. + +.br + +.br +Returns the pigpio version number if OK, otherwise PI_INIT_FAILED. + +.br + +.br +gpioInitialise must be called before using the other library functions +with the following exceptions: + +.br + +.br + +.EX +\fBgpioCfg*\fP +.br +\fBgpioVersion\fP +.br +\fBgpioHardwareRevision\fP +.br + +.EE + +.br + +.br +\fBExample\fP +.br + +.EX +if (gpioInitialise() < 0) +.br +{ +.br + // pigpio initialisation failed. +.br +} +.br +else +.br +{ +.br + // pigpio initialised okay. +.br +} +.br + +.EE + +.IP "\fBvoid gpioTerminate(void)\fP" +.IP "" 4 +Terminates the library. + +.br + +.br +Returns nothing. + +.br + +.br +Call before program exit. + +.br + +.br +This function resets the used DMA channels, releases memory, and +terminates any running threads. + +.br + +.br +\fBExample\fP +.br + +.EX +gpioTerminate(); +.br + +.EE + +.IP "\fBint gpioSetMode(unsigned gpio, unsigned mode)\fP" +.IP "" 4 +Sets the GPIO mode, typically input or output. + +.br + +.br + +.EX +gpio: 0-53 +.br +mode: 0-7 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_MODE. + +.br + +.br +Arduino style: pinMode. + +.br + +.br +\fBExample\fP +.br + +.EX +gpioSetMode(17, PI_INPUT); // Set GPIO17 as input. +.br + +.br +gpioSetMode(18, PI_OUTPUT); // Set GPIO18 as output. +.br + +.br +gpioSetMode(22,PI_ALT0); // Set GPIO22 to alternative mode 0. +.br + +.EE + +.IP "\fBint gpioGetMode(unsigned gpio)\fP" +.IP "" 4 +Gets the GPIO mode. + +.br + +.br + +.EX +gpio: 0-53 +.br + +.EE + +.br + +.br +Returns the GPIO mode if OK, otherwise PI_BAD_GPIO. + +.br + +.br +\fBExample\fP +.br + +.EX +if (gpioGetMode(17) != PI_ALT0) +.br +{ +.br + gpioSetMode(17, PI_ALT0); // set GPIO17 to ALT0 +.br +} +.br + +.EE + +.IP "\fBint gpioSetPullUpDown(unsigned gpio, unsigned pud)\fP" +.IP "" 4 +Sets or clears resistor pull ups or downs on the GPIO. + +.br + +.br + +.EX +gpio: 0-53 +.br + pud: 0-2 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_PUD. + +.br + +.br +\fBExample\fP +.br + +.EX +gpioSetPullUpDown(17, PI_PUD_UP); // Sets a pull-up. +.br + +.br +gpioSetPullUpDown(18, PI_PUD_DOWN); // Sets a pull-down. +.br + +.br +gpioSetPullUpDown(23, PI_PUD_OFF); // Clear any pull-ups/downs. +.br + +.EE + +.IP "\fBint gpioRead(unsigned gpio)\fP" +.IP "" 4 +Reads the GPIO level, on or off. + +.br + +.br + +.EX +gpio: 0-53 +.br + +.EE + +.br + +.br +Returns the GPIO level if OK, otherwise PI_BAD_GPIO. + +.br + +.br +Arduino style: digitalRead. + +.br + +.br +\fBExample\fP +.br + +.EX +printf("GPIO24 is level %d", gpioRead(24)); +.br + +.EE + +.IP "\fBint gpioWrite(unsigned gpio, unsigned level)\fP" +.IP "" 4 +Sets the GPIO level, on or off. + +.br + +.br + +.EX + gpio: 0-53 +.br +level: 0-1 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_LEVEL. + +.br + +.br +If PWM or servo pulses are active on the GPIO they are switched off. + +.br + +.br +Arduino style: digitalWrite + +.br + +.br +\fBExample\fP +.br + +.EX +gpioWrite(24, 1); // Set GPIO24 high. +.br + +.EE + +.IP "\fBint gpioPWM(unsigned user_gpio, unsigned dutycycle)\fP" +.IP "" 4 +Starts PWM on the GPIO, dutycycle between 0 (off) and range (fully on). +Range defaults to 255. + +.br + +.br + +.EX +user_gpio: 0-31 +.br +dutycycle: 0-range +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_DUTYCYCLE. + +.br + +.br +Arduino style: analogWrite + +.br + +.br +This and the servo functionality use the DMA and PWM or PCM peripherals +to control and schedule the pulse lengths and dutycycles. + +.br + +.br +The \fBgpioSetPWMrange\fP function may be used to change the default +range of 255. + +.br + +.br +\fBExample\fP +.br + +.EX +gpioPWM(17, 255); // Sets GPIO17 full on. +.br + +.br +gpioPWM(18, 128); // Sets GPIO18 half on. +.br + +.br +gpioPWM(23, 0); // Sets GPIO23 full off. +.br + +.EE + +.IP "\fBint gpioGetPWMdutycycle(unsigned user_gpio)\fP" +.IP "" 4 +Returns the PWM dutycycle setting for the GPIO. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + +.EE + +.br + +.br +Returns between 0 (off) and range (fully on) if OK, otherwise +PI_BAD_USER_GPIO or PI_NOT_PWM_GPIO. + +.br + +.br +For normal PWM the dutycycle will be out of the defined range +for the GPIO (see \fBgpioGetPWMrange\fP). + +.br + +.br +If a hardware clock is active on the GPIO the reported dutycycle +will be 500000 (500k) out of 1000000 (1M). + +.br + +.br +If hardware PWM is active on the GPIO the reported dutycycle +will be out of a 1000000 (1M). + +.br + +.br +Normal PWM range defaults to 255. + +.IP "\fBint gpioSetPWMrange(unsigned user_gpio, unsigned range)\fP" +.IP "" 4 +Selects the dutycycle range to be used for the GPIO. Subsequent calls +to gpioPWM will use a dutycycle between 0 (off) and range (fully on). + +.br + +.br + +.EX +user_gpio: 0-31 +.br + range: 25-40000 +.br + +.EE + +.br + +.br +Returns the real range for the given GPIO's frequency if OK, +otherwise PI_BAD_USER_GPIO or PI_BAD_DUTYRANGE. + +.br + +.br +If PWM is currently active on the GPIO its dutycycle will be scaled +to reflect the new range. + +.br + +.br +The real range, the number of steps between fully off and fully +on for each frequency, is given in the following table. + +.br + +.br + +.EX + 25, 50, 100, 125, 200, 250, 400, 500, 625, +.br + 800, 1000, 1250, 2000, 2500, 4000, 5000, 10000, 20000 +.br + +.EE + +.br + +.br +The real value set by \fBgpioPWM\fP is (dutycycle * real range) / range. + +.br + +.br +\fBExample\fP +.br + +.EX +gpioSetPWMrange(24, 2000); // Now 2000 is fully on +.br + // 1000 is half on +.br + // 500 is quarter on, etc. +.br + +.EE + +.IP "\fBint gpioGetPWMrange(unsigned user_gpio)\fP" +.IP "" 4 +Returns the dutycycle range used for the GPIO if OK, otherwise +PI_BAD_USER_GPIO. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + +.EE + +.br + +.br +If a hardware clock or hardware PWM is active on the GPIO +the reported range will be 1000000 (1M). + +.br + +.br +\fBExample\fP +.br + +.EX +r = gpioGetPWMrange(23); +.br + +.EE + +.IP "\fBint gpioGetPWMrealRange(unsigned user_gpio)\fP" +.IP "" 4 +Returns the real range used for the GPIO if OK, otherwise +PI_BAD_USER_GPIO. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + +.EE + +.br + +.br +If a hardware clock is active on the GPIO the reported real +range will be 1000000 (1M). + +.br + +.br +If hardware PWM is active on the GPIO the reported real range +will be approximately 250M divided by the set PWM frequency. + +.br + +.br +\fBExample\fP +.br + +.EX +rr = gpioGetPWMrealRange(17); +.br + +.EE + +.IP "\fBint gpioSetPWMfrequency(unsigned user_gpio, unsigned frequency)\fP" +.IP "" 4 +Sets the frequency in hertz to be used for the GPIO. + +.br + +.br + +.EX +user_gpio: 0-31 +.br +frequency: >=0 +.br + +.EE + +.br + +.br +Returns the numerically closest frequency if OK, otherwise +PI_BAD_USER_GPIO. + +.br + +.br +If PWM is currently active on the GPIO it will be +switched off and then back on at the new frequency. + +.br + +.br +Each GPIO can be independently set to one of 18 different PWM +frequencies. + +.br + +.br +The selectable frequencies depend upon the sample rate which +may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). + +.br + +.br +The frequencies for each sample rate are: + +.br + +.br + +.EX + Hertz +.br + +.br + 1: 40000 20000 10000 8000 5000 4000 2500 2000 1600 +.br + 1250 1000 800 500 400 250 200 100 50 +.br + +.br + 2: 20000 10000 5000 4000 2500 2000 1250 1000 800 +.br + 625 500 400 250 200 125 100 50 25 +.br + +.br + 4: 10000 5000 2500 2000 1250 1000 625 500 400 +.br + 313 250 200 125 100 63 50 25 13 +.br +sample +.br + rate +.br + (us) 5: 8000 4000 2000 1600 1000 800 500 400 320 +.br + 250 200 160 100 80 50 40 20 10 +.br + +.br + 8: 5000 2500 1250 1000 625 500 313 250 200 +.br + 156 125 100 63 50 31 25 13 6 +.br + +.br + 10: 4000 2000 1000 800 500 400 250 200 160 +.br + 125 100 80 50 40 25 20 10 5 +.br + +.EE + +.br + +.br +\fBExample\fP +.br + +.EX +gpioSetPWMfrequency(23, 0); // Set GPIO23 to lowest frequency. +.br + +.br +gpioSetPWMfrequency(24, 500); // Set GPIO24 to 500Hz. +.br + +.br +gpioSetPWMfrequency(25, 100000); // Set GPIO25 to highest frequency. +.br + +.EE + +.IP "\fBint gpioGetPWMfrequency(unsigned user_gpio)\fP" +.IP "" 4 +Returns the frequency (in hertz) used for the GPIO if OK, otherwise +PI_BAD_USER_GPIO. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + +.EE + +.br + +.br +For normal PWM the frequency will be that defined for the GPIO by +\fBgpioSetPWMfrequency\fP. + +.br + +.br +If a hardware clock is active on the GPIO the reported frequency +will be that set by \fBgpioHardwareClock\fP. + +.br + +.br +If hardware PWM is active on the GPIO the reported frequency +will be that set by \fBgpioHardwarePWM\fP. + +.br + +.br +\fBExample\fP +.br + +.EX +f = gpioGetPWMfrequency(23); // Get frequency used for GPIO23. +.br + +.EE + +.IP "\fBint gpioServo(unsigned user_gpio, unsigned pulsewidth)\fP" +.IP "" 4 +Starts servo pulses on the GPIO, 0 (off), 500 (most anti-clockwise) to +2500 (most clockwise). + +.br + +.br + +.EX + user_gpio: 0-31 +.br +pulsewidth: 0, 500-2500 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_PULSEWIDTH. + +.br + +.br +The range supported by servos varies and should probably be determined +by experiment. A value of 1500 should always be safe and represents +the mid-point of rotation. You can DAMAGE a servo if you command it +to move beyond its limits. + +.br + +.br +The following causes an on pulse of 1500 microseconds duration to be +transmitted on GPIO 17 at a rate of 50 times per second. This will +command a servo connected to GPIO 17 to rotate to its mid-point. + +.br + +.br +\fBExample\fP +.br + +.EX +gpioServo(17, 1000); // Move servo to safe position anti-clockwise. +.br + +.br +gpioServo(23, 1500); // Move servo to centre position. +.br + +.br +gpioServo(25, 2000); // Move servo to safe position clockwise. +.br + +.EE + +.br + +.br +OTHER UPDATE RATES: + +.br + +.br +This function updates servos at 50Hz. If you wish to use a different +update frequency you will have to use the PWM functions. + +.br + +.br + +.EX +PWM Hz 50 100 200 400 500 +.br +1E6/Hz 20000 10000 5000 2500 2000 +.br + +.EE + +.br + +.br +Firstly set the desired PWM frequency using \fBgpioSetPWMfrequency\fP. + +.br + +.br +Then set the PWM range using \fBgpioSetPWMrange\fP to 1E6/frequency. +Doing this allows you to use units of microseconds when setting +the servo pulsewidth. + +.br + +.br +E.g. If you want to update a servo connected to GPIO25 at 400Hz + +.br + +.br + +.EX +gpioSetPWMfrequency(25, 400); +.br + +.br +gpioSetPWMrange(25, 2500); +.br + +.EE + +.br + +.br +Thereafter use the PWM command to move the servo, +e.g. gpioPWM(25, 1500) will set a 1500 us pulse. + +.IP "\fBint gpioGetServoPulsewidth(unsigned user_gpio)\fP" +.IP "" 4 +Returns the servo pulsewidth setting for the GPIO. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + +.EE + +.br + +.br +Returns 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise) +if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_SERVO_GPIO. + +.IP "\fBint gpioSetAlertFunc(unsigned user_gpio, gpioAlertFunc_t f)\fP" +.IP "" 4 +Registers a function to be called (a callback) when the specified +GPIO changes state. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + f: the callback function +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO. + +.br + +.br +One function may be registered per GPIO. + +.br + +.br +The function is passed the GPIO, the new level, and the tick. + +.br + +.br +The alert may be cancelled by passing NULL as the function. + +.br + +.br +The GPIO are sampled at a rate set when the library is started. + +.br + +.br +If a value isn't specifically set the default of 5 us is used. + +.br + +.br +The number of samples per second is given in the following table. + +.br + +.br + +.EX + samples +.br + per sec +.br + +.br + 1 1,000,000 +.br + 2 500,000 +.br +sample 4 250,000 +.br +rate 5 200,000 +.br +(us) 8 125,000 +.br + 10 100,000 +.br + +.EE + +.br + +.br +Level changes shorter than the sample rate may be missed. + +.br + +.br +The thread which calls the alert functions is triggered nominally +1000 times per second. The active alert functions will be called +once per level change since the last time the thread was activated. +i.e. The active alert functions will get all level changes but there +will be a latency. + +.br + +.br +The tick value is the time stamp of the sample in microseconds, see +\fBgpioTick\fP for more details. + +.br + +.br +\fBExample\fP +.br + +.EX +void aFunction(int gpio, int level, uint32_t tick) +.br +{ +.br + printf("GPIO %d became %d at %d", gpio, level, tick); +.br +} +.br + +.br +// call aFunction whenever GPIO 4 changes state +.br + +.br +gpioSetAlertFunc(4, aFunction); +.br + +.EE + +.IP "\fBint gpioSetAlertFuncEx(unsigned user_gpio, gpioAlertFuncEx_t f, void *userdata)\fP" +.IP "" 4 +Registers a function to be called (a callback) when the specified +GPIO changes state. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + f: the callback function +.br + userdata: pointer to arbitrary user data +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO. + +.br + +.br +One function may be registered per GPIO. + +.br + +.br +The function is passed the GPIO, the new level, the tick, and +the userdata pointer. + +.br + +.br +Only one of \fBgpioSetAlertFunc\fP or \fBgpioSetAlertFuncEx\fP can be +registered per GPIO. + +.br + +.br +See \fBgpioSetAlertFunc\fP for further details. + +.IP "\fBint gpioSetISRFunc(unsigned user_gpio, unsigned edge, int timeout, gpioISRFunc_t f)\fP" +.IP "" 4 +Registers a function to be called (a callback) whenever the specified +GPIO interrupt occurs. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE +.br + timeout: interrupt timeout in milliseconds (<=0 to cancel) +.br + f: the callback function +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_EDGE, +or PI_BAD_ISR_INIT. + +.br + +.br +One function may be registered per GPIO. + +.br + +.br +The function is passed the GPIO, the current level, and the +current tick. The level will be PI_TIMEOUT if the optional +interrupt timeout expires. + +.br + +.br +The underlying Linux sysfs GPIO interface is used to provide +the interrupt services. + +.br + +.br +The first time the function is called, with a non-NULL f, the +GPIO is exported, set to be an input, and set to interrupt +on the given edge and timeout. + +.br + +.br +Subsequent calls, with a non-NULL f, can vary one or more of the +edge, timeout, or function. + +.br + +.br +The ISR may be cancelled by passing a NULL f, in which case the +GPIO is unexported. + +.br + +.br +The tick is that read at the time the process was informed of +the interrupt. This will be a variable number of microseconds +after the interrupt occurred. Typically the latency will be of +the order of 50 microseconds. The latency is not guaranteed +and will vary with system load. + +.br + +.br +The level is that read at the time the process was informed of +the interrupt, or PI_TIMEOUT if the optional interrupt timeout +expired. It may not be the same as the expected edge as +interrupts happening in rapid succession may be missed by the +kernel (i.e. this mechanism can not be used to capture several +interrupts only a few microseconds apart). + +.IP "\fBint gpioSetISRFuncEx(unsigned user_gpio, unsigned edge, int timeout, gpioISRFuncEx_t f, void *userdata)\fP" +.IP "" 4 +Registers a function to be called (a callback) whenever the specified +GPIO interrupt occurs. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE +.br + timeout: interrupt timeout in milliseconds (<=0 to cancel) +.br + f: the callback function +.br + userdata: pointer to arbitrary user data +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_EDGE, +or PI_BAD_ISR_INIT. + +.br + +.br +The function is passed the GPIO, the current level, the +current tick, and the userdata pointer. + +.br + +.br +Only one of \fBgpioSetISRFunc\fP or \fBgpioSetISRFuncEx\fP can be +registered per GPIO. + +.br + +.br +See \fBgpioSetISRFunc\fP for further details. + +.IP "\fBint gpioNotifyOpen(void)\fP" +.IP "" 4 +This function requests a free notification handle. + +.br + +.br +Returns a handle greater than or equal to zero if OK, +otherwise PI_NO_HANDLE. + +.br + +.br +A notification is a method for being notified of GPIO state changes +via a pipe or socket. + +.br + +.br +Pipe notifications for handle x will be available at the pipe +named /dev/pigpiox (where x is the handle number). E.g. if the +function returns 15 then the notifications must be read +from /dev/pigpio15. + +.br + +.br +Socket notifications are returned to the socket which requested the +handle. + +.br + +.br +\fBExample\fP +.br + +.EX +h = gpioNotifyOpen(); +.br + +.br +if (h >= 0) +.br +{ +.br + sprintf(str, "/dev/pigpio%d", h); +.br + +.br + fd = open(str, O_RDONLY); +.br + +.br + if (fd >= 0) +.br + { +.br + // Okay. +.br + } +.br + else +.br + { +.br + // Error. +.br + } +.br +} +.br +else +.br +{ +.br + // Error. +.br +} +.br + +.EE + +.IP "\fBint gpioNotifyOpenWithSize(int bufSize)\fP" +.IP "" 4 +This function requests a free notification handle. + +.br + +.br +It differs from \fBgpioNotifyOpen\fP in that the pipe size may be +specified, whereas \fBgpioNotifyOpen\fP uses the default pipe size. + +.br + +.br +See \fBgpioNotifyOpen\fP for further details. + +.IP "\fBint gpioNotifyBegin(unsigned handle, uint32_t bits)\fP" +.IP "" 4 +This function starts notifications on a previously opened handle. + +.br + +.br + +.EX +handle: >=0, as returned by \fBgpioNotifyOpen\fP +.br + bits: a bit mask indicating the GPIO of interest +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.br + +.br +The notification sends state changes for each GPIO whose corresponding +bit in bits is set. + +.br + +.br +Each notification occupies 12 bytes in the fifo and has the +following structure. + +.br + +.br + +.EX +typedef struct +.br +{ +.br + uint16_t seqno; +.br + uint16_t flags; +.br + uint32_t tick; +.br + uint32_t level; +.br +} gpioReport_t; +.br + +.EE + +.br + +.br +seqno: starts at 0 each time the handle is opened and then increments +by one for each report. + +.br + +.br +flags: two flags are defined, PI_NTFY_FLAGS_WDOG and PI_NTFY_FLAGS_ALIVE. + +.br + +.br +PI_NTFY_FLAGS_WDOG, if bit 5 is set then bits 0-4 of the flags +indicate a GPIO which has had a watchdog timeout. + +.br + +.br +PI_NTFY_FLAGS_ALIVE, if bit 6 is set this indicates a keep alive +signal on the pipe/socket and is sent once a minute in the absence +of other notification activity. + +.br + +.br +tick: the number of microseconds since system boot. It wraps around +after 1h12m. + +.br + +.br +level: indicates the level of each GPIO. If bit 1<=0, as returned by \fBgpioNotifyOpen\fP +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.br + +.br +Notifications for the handle are suspended until \fBgpioNotifyBegin\fP +is called again. + +.br + +.br +\fBExample\fP +.br + +.EX +gpioNotifyPause(h); +.br + +.EE + +.IP "\fBint gpioNotifyClose(unsigned handle)\fP" +.IP "" 4 +This function stops notifications on a previously opened handle +and releases the handle for reuse. + +.br + +.br + +.EX +handle: >=0, as returned by \fBgpioNotifyOpen\fP +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.br + +.br +\fBExample\fP +.br + +.EX +gpioNotifyClose(h); +.br + +.EE + +.IP "\fBint gpioWaveClear(void)\fP" +.IP "" 4 +This function clears all waveforms and any data added by calls to the +\fBgpioWaveAdd*\fP functions. + +.br + +.br +Returns 0 if OK. + +.br + +.br +\fBExample\fP +.br + +.EX +gpioWaveClear(); +.br + +.EE + +.IP "\fBint gpioWaveAddNew(void)\fP" +.IP "" 4 +This function starts a new empty waveform. + +.br + +.br +You wouldn't normally need to call this function as it is automatically +called after a waveform is created with the \fBgpioWaveCreate\fP function. + +.br + +.br +Returns 0 if OK. + +.br + +.br +\fBExample\fP +.br + +.EX +gpioWaveAddNew(); +.br + +.EE + +.IP "\fBint gpioWaveAddGeneric(unsigned numPulses, gpioPulse_t *pulses)\fP" +.IP "" 4 +This function adds a number of pulses to the current waveform. + +.br + +.br + +.EX +numPulses: the number of pulses +.br + pulses: an array of pulses +.br + +.EE + +.br + +.br +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_TOO_MANY_PULSES. + +.br + +.br +The pulses are interleaved in time order within the existing waveform +(if any). + +.br + +.br +Merging allows the waveform to be built in parts, that is the settings +for GPIO#1 can be added, and then GPIO#2 etc. + +.br + +.br +If the added waveform is intended to start after or within the existing +waveform then the first pulse should consist of a delay. + +.br + +.br +\fBExample\fP +.br + +.EX +// Construct and send a 30 microsecond square wave. +.br + +.br +gpioSetMode(gpio, PI_OUTPUT); +.br + +.br +pulse[0].gpioOn = (1<= 0) +.br +{ +.br + gpioWaveTxSend(wave_id, PI_WAVE_MODE_REPEAT); +.br + +.br + // Transmit for 30 seconds. +.br + +.br + sleep(30); +.br + +.br + gpioWaveTxStop(); +.br +} +.br +else +.br +{ +.br + // Wave create failed. +.br +} +.br + +.EE + +.IP "\fBint gpioWaveAddSerial(unsigned user_gpio, unsigned baud, unsigned data_bits, unsigned stop_bits, unsigned offset, unsigned numBytes, char *str)\fP" +.IP "" 4 +This function adds a waveform representing serial data to the +existing waveform (if any). The serial data starts offset +microseconds from the start of the waveform. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + baud: 50-1000000 +.br +data_bits: 1-32 +.br +stop_bits: 2-8 +.br + offset: >=0 +.br + numBytes: >=1 +.br + str: an array of chars (which may contain nulls) +.br + +.EE + +.br + +.br +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_BAD_DATABITS, +PI_BAD_STOPBITS, PI_TOO_MANY_CHARS, PI_BAD_SER_OFFSET, +or PI_TOO_MANY_PULSES. + +.br + +.br +NOTES: + +.br + +.br +The serial data is formatted as one start bit, data_bits data bits, and +stop_bits/2 stop bits. + +.br + +.br +It is legal to add serial data streams with different baud rates to +the same waveform. + +.br + +.br +numBytes is the number of bytes of data in str. + +.br + +.br +The bytes required for each character depend upon data_bits. + +.br + +.br +For data_bits 1-8 there will be one byte per character. +.br +For data_bits 9-16 there will be two bytes per character. +.br +For data_bits 17-32 there will be four bytes per character. + +.br + +.br +\fBExample\fP +.br + +.EX +#define MSG_LEN 8 +.br + +.br +int i; +.br +char *str; +.br +char data[MSG_LEN]; +.br + +.br +str = "Hello world!"; +.br + +.br +gpioWaveAddSerial(4, 9600, 8, 2, 0, strlen(str), str); +.br + +.br +for (i=0; i=0, as returned by \fBgpioWaveCreate\fP +.br + +.EE + +.br + +.br +Wave ids are allocated in order, 0, 1, 2, etc. + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_WAVE_ID. + +.IP "\fBint gpioWaveTxSend(unsigned wave_id, unsigned wave_mode)\fP" +.IP "" 4 +This function transmits the waveform with id wave_id. The mode +determines whether the waveform is sent once or cycles endlessly. +The SYNC variants wait for the current waveform to reach the +end of a cycle or finish before starting the new waveform. + +.br + +.br +WARNING: bad things may happen if you delete the previous +waveform before it has been synced to the new waveform. + +.br + +.br +NOTE: Any hardware PWM started by \fBgpioHardwarePWM\fP will be cancelled. + +.br + +.br + +.EX + wave_id: >=0, as returned by \fBgpioWaveCreate\fP +.br +wave_mode: PI_WAVE_MODE_ONE_SHOT, PI_WAVE_MODE_REPEAT, +.br + PI_WAVE_MODE_ONE_SHOT_SYNC, PI_WAVE_MODE_REPEAT_SYNC +.br + +.EE + +.br + +.br +Returns the number of DMA control blocks in the waveform if OK, +otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE. + +.IP "\fBint gpioWaveChain(char *buf, unsigned bufSize)\fP" +.IP "" 4 +This function transmits a chain of waveforms. + +.br + +.br +NOTE: Any hardware PWM started by \fBgpioHardwarePWM\fP will be cancelled. + +.br + +.br +The waves to be transmitted are specified by the contents of buf +which contains an ordered list of \fBwave_id\fPs and optional command +codes and related data. + +.br + +.br + +.EX + buf: pointer to the wave_ids and optional command codes +.br +bufSize: the number of bytes in buf +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_CHAIN_NESTING, PI_CHAIN_LOOP_CNT, PI_BAD_CHAIN_LOOP, PI_BAD_CHAIN_CMD, PI_CHAIN_COUNTER, +PI_BAD_CHAIN_DELAY, PI_CHAIN_TOO_BIG, or PI_BAD_WAVE_ID. + +.br + +.br +Each wave is transmitted in the order specified. A wave may +occur multiple times per chain. + +.br + +.br +A blocks of waves may be transmitted multiple times by using +the loop commands. The block is bracketed by loop start and +end commands. Loops may be nested. + +.br + +.br +Delays between waves may be added with the delay command. + +.br + +.br +The following command codes are supported: + +.br + +.br +Name Cmd & Data Meaning +.br +Loop Start 255 0 Identify start of a wave block +.br +Loop Repeat 255 1 x y loop x + y*256 times +.br +Delay 255 2 x y delay x + y*256 microseconds +.br +Loop Forever 255 3 loop forever +.br + +.br + +.br +If present Loop Forever must be the last entry in the chain. + +.br + +.br +The code is currently dimensioned to support a chain with roughly +600 entries and 20 loop counters. + +.br + +.br +\fBExample\fP +.br + +.EX +#include +.br +#include +.br + +.br +#define WAVES 5 +.br +#define GPIO 4 +.br + +.br +int main(int argc, char *argv[]) +.br +{ +.br + int i, wid[WAVES]; +.br + +.br + if (gpioInitialise()<0) return -1; +.br + +.br + gpioSetMode(GPIO, PI_OUTPUT); +.br + +.br + printf("start piscope, press return"); getchar(); +.br + +.br + for (i=0; i=0 +.br + +.EE + +.br + +.br +Returns the number of bytes copied if OK, otherwise PI_BAD_USER_GPIO +or PI_NOT_SERIAL_GPIO. + +.br + +.br +The bytes returned for each character depend upon the number of +data bits \fBdata_bits\fP specified in the \fBgpioSerialReadOpen\fP command. + +.br + +.br +For \fBdata_bits\fP 1-8 there will be one byte per character. +.br +For \fBdata_bits\fP 9-16 there will be two bytes per character. +.br +For \fBdata_bits\fP 17-32 there will be four bytes per character. + +.IP "\fBint gpioSerialReadClose(unsigned user_gpio)\fP" +.IP "" 4 +This function closes a GPIO for bit bang reading of serial data. + +.br + +.br + +.EX +user_gpio: 0-31, previously opened with \fBgpioSerialReadOpen\fP +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SERIAL_GPIO. + +.IP "\fBint i2cOpen(unsigned i2cBus, unsigned i2cAddr, unsigned i2cFlags)\fP" +.IP "" 4 +This returns a handle for the device at the address on the I2C bus. + +.br + +.br + +.EX + i2cBus: >=0 +.br + i2cAddr: 0-0x7F +.br +i2cFlags: 0 +.br + +.EE + +.br + +.br +No flags are currently defined. This parameter should be set to zero. + +.br + +.br +Physically buses 0 and 1 are available on the Pi. Higher numbered buses +will be available if a kernel supported bus multiplexor is being used. + +.br + +.br +Returns a handle (>=0) if OK, otherwise PI_BAD_I2C_BUS, PI_BAD_I2C_ADDR, +PI_BAD_FLAGS, PI_NO_HANDLE, or PI_I2C_OPEN_FAILED. + +.br + +.br +For the SMBus commands the low level transactions are shown at the end +of the function description. The following abbreviations are used. + +.br + +.br + +.EX +S (1 bit) : Start bit +.br +P (1 bit) : Stop bit +.br +Rd/Wr (1 bit) : Read/Write bit. Rd equals 1, Wr equals 0. +.br +A, NA (1 bit) : Accept and not accept bit. +.br +.br +.br +Addr (7 bits): I2C 7 bit address. +.br +i2cReg (8 bits): Command byte, a byte which often selects a register. +.br +Data (8 bits): A data byte. +.br +Count (8 bits): A byte defining the length of a block operation. +.br + +.br +[..]: Data sent by the device. +.br + +.EE + +.IP "\fBint i2cClose(unsigned handle)\fP" +.IP "" 4 +This closes the I2C device associated with the handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.IP "\fBint i2cWriteQuick(unsigned handle, unsigned bit)\fP" +.IP "" 4 +This sends a single bit (in the Rd/Wr bit) to the device associated +with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br + bit: 0-1, the value to write +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Quick command. SMBus 2.0 5.5.1 + +.EX +S Addr bit [A] P +.br + +.EE + +.IP "\fBint i2cWriteByte(unsigned handle, unsigned bVal)\fP" +.IP "" 4 +This sends a single byte to the device associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br + bVal: 0-0xFF, the value to write +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Send byte. SMBus 2.0 5.5.2 + +.EX +S Addr Wr [A] bVal [A] P +.br + +.EE + +.IP "\fBint i2cReadByte(unsigned handle)\fP" +.IP "" 4 +This reads a single byte from the device associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br + +.EE + +.br + +.br +Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, +or PI_I2C_READ_FAILED. + +.br + +.br +Receive byte. SMBus 2.0 5.5.3 + +.EX +S Addr Rd [A] [Data] NA P +.br + +.EE + +.IP "\fBint i2cWriteByteData(unsigned handle, unsigned i2cReg, unsigned bVal)\fP" +.IP "" 4 +This writes a single byte to the specified register of the device +associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br +i2cReg: 0-255, the register to write +.br + bVal: 0-0xFF, the value to write +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Write byte. SMBus 2.0 5.5.4 + +.EX +S Addr Wr [A] i2cReg [A] bVal [A] P +.br + +.EE + +.IP "\fBint i2cWriteWordData(unsigned handle, unsigned i2cReg, unsigned wVal)\fP" +.IP "" 4 +This writes a single 16 bit word to the specified register of the device +associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br +i2cReg: 0-255, the register to write +.br + wVal: 0-0xFFFF, the value to write +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Write word. SMBus 2.0 5.5.4 + +.EX +S Addr Wr [A] i2cReg [A] wValLow [A] wValHigh [A] P +.br + +.EE + +.IP "\fBint i2cReadByteData(unsigned handle, unsigned i2cReg)\fP" +.IP "" 4 +This reads a single byte from the specified register of the device +associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br +i2cReg: 0-255, the register to read +.br + +.EE + +.br + +.br +Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +Read byte. SMBus 2.0 5.5.5 + +.EX +S Addr Wr [A] i2cReg [A] S Addr Rd [A] [Data] NA P +.br + +.EE + +.IP "\fBint i2cReadWordData(unsigned handle, unsigned i2cReg)\fP" +.IP "" 4 +This reads a single 16 bit word from the specified register of the device +associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br +i2cReg: 0-255, the register to read +.br + +.EE + +.br + +.br +Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +Read word. SMBus 2.0 5.5.5 + +.EX +S Addr Wr [A] i2cReg [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P +.br + +.EE + +.IP "\fBint i2cProcessCall(unsigned handle, unsigned i2cReg, unsigned wVal)\fP" +.IP "" 4 +This writes 16 bits of data to the specified register of the device +associated with handle and reads 16 bits of data in return. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br +i2cReg: 0-255, the register to write/read +.br + wVal: 0-0xFFFF, the value to write +.br + +.EE + +.br + +.br +Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +Process call. SMBus 2.0 5.5.6 + +.EX +S Addr Wr [A] i2cReg [A] wValLow [A] wValHigh [A] +.br + S Addr Rd [A] [DataLow] A [DataHigh] NA P +.br + +.EE + +.IP "\fBint i2cWriteBlockData(unsigned handle, unsigned i2cReg, char *buf, unsigned count)\fP" +.IP "" 4 +This writes up to 32 bytes to the specified register of the device +associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br +i2cReg: 0-255, the register to write +.br + buf: an array with the data to send +.br + count: 1-32, the number of bytes to write +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Block write. SMBus 2.0 5.5.7 + +.EX +S Addr Wr [A] i2cReg [A] count [A] +.br + buf0 [A] buf1 [A] ... [A] bufn [A] P +.br + +.EE + +.IP "\fBint i2cReadBlockData(unsigned handle, unsigned i2cReg, char *buf)\fP" +.IP "" 4 +This reads a block of up to 32 bytes from the specified register of +the device associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br +i2cReg: 0-255, the register to read +.br + buf: an array to receive the read data +.br + +.EE + +.br + +.br +The amount of returned data is set by the device. + +.br + +.br +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +Block read. SMBus 2.0 5.5.7 + +.EX +S Addr Wr [A] i2cReg [A] +.br + S Addr Rd [A] [Count] A [buf0] A [buf1] A ... A [bufn] NA P +.br + +.EE + +.IP "\fBint i2cBlockProcessCall(unsigned handle, unsigned i2cReg, char *buf, unsigned count)\fP" +.IP "" 4 +This writes data bytes to the specified register of the device +associated with handle and reads a device specified number +of bytes of data in return. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br +i2cReg: 0-255, the register to write/read +.br + buf: an array with the data to send and to receive the read data +.br + count: 1-32, the number of bytes to write +.br + +.EE + +.br + +.br +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +The SMBus 2.0 documentation states that a minimum of 1 byte may be +sent and a minimum of 1 byte may be received. The total number of +bytes sent/received must be 32 or less. + +.br + +.br +Block write-block read. SMBus 2.0 5.5.8 + +.EX +S Addr Wr [A] i2cReg [A] count [A] buf0 [A] ... bufn [A] +.br + S Addr Rd [A] [Count] A [buf0] A ... [bufn] A P +.br + +.EE + +.IP "\fBint i2cReadI2CBlockData(unsigned handle, unsigned i2cReg, char *buf, unsigned count)\fP" +.IP "" 4 +This reads count bytes from the specified register of the device +associated with handle . The count may be 1-32. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br +i2cReg: 0-255, the register to read +.br + buf: an array to receive the read data +.br + count: 1-32, the number of bytes to read +.br + +.EE + +.br + +.br +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br + +.EX +S Addr Wr [A] i2cReg [A] +.br + S Addr Rd [A] [buf0] A [buf1] A ... A [bufn] NA P +.br + +.EE + +.IP "\fBint i2cWriteI2CBlockData(unsigned handle, unsigned i2cReg, char *buf, unsigned count)\fP" +.IP "" 4 +This writes 1 to 32 bytes to the specified register of the device +associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br +i2cReg: 0-255, the register to write +.br + buf: the data to write +.br + count: 1-32, the number of bytes to write +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br + +.EX +S Addr Wr [A] i2cReg [A] buf0 [A] buf1 [A] ... [A] bufn [A] P +.br + +.EE + +.IP "\fBint i2cReadDevice(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This reads count bytes from the raw device into buf. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br + buf: an array to receive the read data bytes +.br + count: >0, the number of bytes to read +.br + +.EE + +.br + +.br +Returns count (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_READ_FAILED. + +.br + +.br + +.EX +S Addr Rd [A] [buf0] A [buf1] A ... A [bufn] NA P +.br + +.EE + +.IP "\fBint i2cWriteDevice(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This writes count bytes from buf to the raw device. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br + buf: an array containing the data bytes to write +.br + count: >0, the number of bytes to write +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br + +.EX +S Addr Wr [A] buf0 [A] buf1 [A] ... [A] bufn [A] P +.br + +.EE + +.IP "\fBvoid i2cSwitchCombined(int setting)\fP" +.IP "" 4 +This sets the I2C (i2c-bcm2708) module "use combined transactions" +parameter on or off. + +.br + +.br + +.EX +setting: 0 to set the parameter off, non-zero to set it on +.br + +.EE + +.br + +.br + +.br + +.br +NOTE: when the flag is on a write followed by a read to the same +slave address will use a repeated start (rather than a stop/start). + +.IP "\fBint i2cSegments(unsigned handle, pi_i2c_msg_t *segs, unsigned numSegs)\fP" +.IP "" 4 +This function executes multiple I2C segments in one transaction by +calling the I2C_RDWR ioctl. + +.br + +.br + +.EX + handle: >=0, as returned by a call to \fBi2cOpen\fP +.br + segs: an array of I2C segments +.br +numSegs: >0, the number of I2C segments +.br + +.EE + +.br + +.br +Returns the number of segments if OK, otherwise PI_BAD_I2C_SEG. + +.IP "\fBint i2cZip(unsigned handle, char *inBuf, unsigned inLen, char *outBuf, unsigned outLen)\fP" +.IP "" 4 +This function executes a sequence of I2C operations. The +operations to be performed are specified by the contents of inBuf +which contains the concatenated command codes and associated data. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br + inBuf: pointer to the concatenated I2C commands, see below +.br + inLen: size of command buffer +.br +outBuf: pointer to buffer to hold returned data +.br +outLen: size of output buffer +.br + +.EE + +.br + +.br +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_HANDLE, PI_BAD_POINTER, PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN. +PI_BAD_I2C_WLEN, or PI_BAD_I2C_SEG. + +.br + +.br +The following command codes are supported: + +.br + +.br +Name Cmd & Data Meaning +.br +End 0 No more commands +.br +Escape 1 Next P is two bytes +.br +On 2 Switch combined flag on +.br +Off 3 Switch combined flag off +.br +Address 4 P Set I2C address to P +.br +Flags 5 lsb msb Set I2C flags to lsb + (msb << 8) +.br +Read 6 P Read P bytes of data +.br +Write 7 P ... Write P bytes of data +.br + +.br + +.br +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +.br + +.br +The address defaults to that associated with the handle. +The flags default to 0. The address and flags maintain their +previous value until updated. + +.br + +.br +The returned I2C data is stored in consecutive locations of outBuf. + +.br + +.br +\fBExample\fP +.br + +.EX +Set address 0x53, write 0x32, read 6 bytes +.br +Set address 0x1E, write 0x03, read 6 bytes +.br +Set address 0x68, write 0x1B, read 8 bytes +.br +End +.br + +.br +0x04 0x53 0x07 0x01 0x32 0x06 0x06 +.br +0x04 0x1E 0x07 0x01 0x03 0x06 0x06 +.br +0x04 0x68 0x07 0x01 0x1B 0x06 0x08 +.br +0x00 +.br + +.EE + +.IP "\fBint bbI2COpen(unsigned SDA, unsigned SCL, unsigned baud)\fP" +.IP "" 4 +This function selects a pair of GPIO for bit banging I2C at a +specified baud rate. + +.br + +.br +Bit banging I2C allows for certain operations which are not possible +with the standard I2C driver. + +.br + +.br +o baud rates as low as 50 +.br +o repeated starts +.br +o clock stretching +.br +o I2C on any pair of spare GPIO + +.br + +.br + +.EX + SDA: 0-31 +.br + SCL: 0-31 +.br +baud: 50-500000 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_I2C_BAUD, or +PI_GPIO_IN_USE. + +.br + +.br +NOTE: + +.br + +.br +The GPIO used for SDA and SCL must have pull-ups to 3V3 connected. As +a guide the hardware pull-ups on pins 3 and 5 are 1k8 in value. + +.IP "\fBint bbI2CClose(unsigned SDA)\fP" +.IP "" 4 +This function stops bit banging I2C on a pair of GPIO previously +opened with \fBbbI2COpen\fP. + +.br + +.br + +.EX +SDA: 0-31, the SDA GPIO used in a prior call to \fBbbI2COpen\fP +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_I2C_GPIO. + +.IP "\fBint bbI2CZip(unsigned SDA, char *inBuf, unsigned inLen, char *outBuf, unsigned outLen)\fP" +.IP "" 4 +This function executes a sequence of bit banged I2C operations. The +operations to be performed are specified by the contents of inBuf +which contains the concatenated command codes and associated data. + +.br + +.br + +.EX + SDA: 0-31 (as used in a prior call to \fBbbI2COpen\fP) +.br + inBuf: pointer to the concatenated I2C commands, see below +.br + inLen: size of command buffer +.br +outBuf: pointer to buffer to hold returned data +.br +outLen: size of output buffer +.br + +.EE + +.br + +.br +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_USER_GPIO, PI_NOT_I2C_GPIO, PI_BAD_POINTER, +PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN, PI_BAD_I2C_WLEN, +PI_I2C_READ_FAILED, or PI_I2C_WRITE_FAILED. + +.br + +.br +The following command codes are supported: + +.br + +.br +Name Cmd & Data Meaning +.br +End 0 No more commands +.br +Escape 1 Next P is two bytes +.br +Start 2 Start condition +.br +Stop 3 Stop condition +.br +Address 4 P Set I2C address to P +.br +Flags 5 lsb msb Set I2C flags to lsb + (msb << 8) +.br +Read 6 P Read P bytes of data +.br +Write 7 P ... Write P bytes of data +.br + +.br + +.br +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +.br + +.br +The address and flags default to 0. The address and flags maintain +their previous value until updated. + +.br + +.br +No flags are currently defined. + +.br + +.br +The returned I2C data is stored in consecutive locations of outBuf. + +.br + +.br +\fBExample\fP +.br + +.EX +Set address 0x53 +.br +start, write 0x32, (re)start, read 6 bytes, stop +.br +Set address 0x1E +.br +start, write 0x03, (re)start, read 6 bytes, stop +.br +Set address 0x68 +.br +start, write 0x1B, (re)start, read 8 bytes, stop +.br +End +.br + +.br +0x04 0x53 +.br +0x02 0x07 0x01 0x32 0x02 0x06 0x06 0x03 +.br + +.br +0x04 0x1E +.br +0x02 0x07 0x01 0x03 0x02 0x06 0x06 0x03 +.br + +.br +0x04 0x68 +.br +0x02 0x07 0x01 0x1B 0x02 0x06 0x08 0x03 +.br + +.br +0x00 +.br + +.EE + +.IP "\fBint bbSPIOpen(unsigned CS, unsigned MISO, unsigned MOSI, unsigned SCLK, unsigned baud, unsigned spiFlags)\fP" +.IP "" 4 +This function selects a set of GPIO for bit banging SPI with +a specified baud rate and mode. + +.br + +.br + +.EX + CS: 0-31 +.br + MISO: 0-31 +.br + MOSI: 0-31 +.br + SCLK: 0-31 +.br + baud: 50-250000 +.br +spiFlags: see below +.br + +.EE + +.br + +.br +spiFlags consists of the least significant 22 bits. + +.br + +.br + +.EX +21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 +.br + 0 0 0 0 0 0 R T 0 0 0 0 0 0 0 0 0 0 0 p m m +.br + +.EE + +.br + +.br +mm defines the SPI mode, defaults to 0 + +.br + +.br + +.EX +Mode CPOL CPHA +.br + 0 0 0 +.br + 1 0 1 +.br + 2 1 0 +.br + 3 1 1 +.br + +.EE + +.br + +.br +p is 0 if CS is active low (default) and 1 for active high. + +.br + +.br +T is 1 if the least significant bit is transmitted on MOSI first, the +default (0) shifts the most significant bit out first. + +.br + +.br +R is 1 if the least significant bit is received on MISO first, the +default (0) receives the most significant bit first. + +.br + +.br +The other bits in flags should be set to zero. + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_SPI_BAUD, or +PI_GPIO_IN_USE. + +.br + +.br +If more than one device is connected to the SPI bus (defined by +SCLK, MOSI, and MISO) each must have its own CS. + +.br + +.br +\fBExample\fP +.br + +.EX +bbSPIOpen(10, MISO, MOSI, SCLK, 10000, 0); // device 1 +.br +bbSPIOpen(11, MISO, MOSI, SCLK, 20000, 3); // device 2 +.br + +.EE + +.IP "\fBint bbSPIClose(unsigned CS)\fP" +.IP "" 4 +This function stops bit banging SPI on a set of GPIO +opened with \fBbbSPIOpen\fP. + +.br + +.br + +.EX +CS: 0-31, the CS GPIO used in a prior call to \fBbbSPIOpen\fP +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SPI_GPIO. + +.IP "\fBint bbSPIXfer(unsigned CS, char *inBuf, char *outBuf, unsigned count)\fP" +.IP "" 4 +This function executes a bit banged SPI transfer. + +.br + +.br + +.EX + CS: 0-31 (as used in a prior call to \fBbbSPIOpen\fP) +.br + inBuf: pointer to buffer to hold data to be sent +.br +outBuf: pointer to buffer to hold returned data +.br + count: size of data transfer +.br + +.EE + +.br + +.br +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_USER_GPIO, PI_NOT_SPI_GPIO or PI_BAD_POINTER. + +.br + +.br +\fBExample\fP +.br + +.EX +// gcc -Wall -pthread -o bbSPIx_test bbSPIx_test.c -lpigpio +.br +// sudo ./bbSPIx_test +.br + +.br + +.br +#include +.br + +.br +#include "pigpio.h" +.br + +.br +#define CE0 5 +.br +#define CE1 6 +.br +#define MISO 13 +.br +#define MOSI 19 +.br +#define SCLK 12 +.br + +.br +int main(int argc, char *argv[]) +.br +{ +.br + int i, count, set_val, read_val; +.br + unsigned char inBuf[3]; +.br + char cmd1[] = {0, 0}; +.br + char cmd2[] = {12, 0}; +.br + char cmd3[] = {1, 128, 0}; +.br + +.br + if (gpioInitialise() < 0) +.br + { +.br + fprintf(stderr, "pigpio initialisation failed.\n"); +.br + return 1; +.br + } +.br + +.br + bbSPIOpen(CE0, MISO, MOSI, SCLK, 10000, 0); // MCP4251 DAC +.br + bbSPIOpen(CE1, MISO, MOSI, SCLK, 20000, 3); // MCP3008 ADC +.br + +.br + for (i=0; i<256; i++) +.br + { +.br + cmd1[1] = i; +.br + +.br + count = bbSPIXfer(CE0, cmd1, (char *)inBuf, 2); // > DAC +.br + +.br + if (count == 2) +.br + { +.br + count = bbSPIXfer(CE0, cmd2, (char *)inBuf, 2); // < DAC +.br + +.br + if (count == 2) +.br + { +.br + set_val = inBuf[1]; +.br + +.br + count = bbSPIXfer(CE1, cmd3, (char *)inBuf, 3); // < ADC +.br + +.br + if (count == 3) +.br + { +.br + read_val = ((inBuf[1]&3)<<8) | inBuf[2]; +.br + printf("%d %d\n", set_val, read_val); +.br + } +.br + } +.br + } +.br + } +.br + +.br + bbSPIClose(CE0); +.br + bbSPIClose(CE1); +.br + +.br + gpioTerminate(); +.br + +.br + return 0; +.br +} +.br + +.EE + +.IP "\fBint spiOpen(unsigned spiChan, unsigned baud, unsigned spiFlags)\fP" +.IP "" 4 +This function returns a handle for the SPI device on the channel. +Data will be transferred at baud bits per second. The flags may +be used to modify the default behaviour of 4-wire operation, mode 0, +active low chip select. + +.br + +.br +An auxiliary SPI device is available on all models but the +A and B and may be selected by setting the A bit in the flags. +The auxiliary device has 3 chip selects and a selectable word +size in bits. + +.br + +.br + +.EX + spiChan: 0-1 (0-2 for the auxiliary SPI device) +.br + baud: 32K-125M (values above 30M are unlikely to work) +.br +spiFlags: see below +.br + +.EE + +.br + +.br +Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL, +PI_BAD_SPI_SPEED, PI_BAD_FLAGS, PI_NO_AUX_SPI, or PI_SPI_OPEN_FAILED. + +.br + +.br +spiFlags consists of the least significant 22 bits. + +.br + +.br + +.EX +21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 +.br + b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m +.br + +.EE + +.br + +.br +mm defines the SPI mode. + +.br + +.br +Warning: modes 1 and 3 do not appear to work on the auxiliary device. + +.br + +.br + +.EX +Mode POL PHA +.br + 0 0 0 +.br + 1 0 1 +.br + 2 1 0 +.br + 3 1 1 +.br + +.EE + +.br + +.br +px is 0 if CEx is active low (default) and 1 for active high. + +.br + +.br +ux is 0 if the CEx GPIO is reserved for SPI (default) and 1 otherwise. + +.br + +.br +A is 0 for the standard SPI device, 1 for the auxiliary SPI. + +.br + +.br +W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard +SPI device only. + +.br + +.br +nnnn defines the number of bytes (0-15) to write before switching +the MOSI line to MISO to read data. This field is ignored +if W is not set. Standard SPI device only. + +.br + +.br +T is 1 if the least significant bit is transmitted on MOSI first, the +default (0) shifts the most significant bit out first. Auxiliary SPI +device only. + +.br + +.br +R is 1 if the least significant bit is received on MISO first, the +default (0) receives the most significant bit first. Auxiliary SPI +device only. + +.br + +.br +bbbbbb defines the word size in bits (0-32). The default (0) +sets 8 bits per word. Auxiliary SPI device only. + +.br + +.br +The \fBspiRead\fP, \fBspiWrite\fP, and \fBspiXfer\fP functions +transfer data packed into 1, 2, or 4 bytes according to +the word size in bits. + +.br + +.br +For bits 1-8 there will be one byte per character. +.br +For bits 9-16 there will be two bytes per character. +.br +For bits 17-32 there will be four bytes per character. + +.br + +.br +E.g. to transfer 32 12-bit words buf should contain 64 bytes +and count should be 64. + +.br + +.br +The other bits in flags should be set to zero. + +.IP "\fBint spiClose(unsigned handle)\fP" +.IP "" 4 +This functions closes the SPI device identified by the handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBspiOpen\fP +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.IP "\fBint spiRead(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function reads count bytes of data from the SPI +device associated with the handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBspiOpen\fP +.br + buf: an array to receive the read data bytes +.br + count: the number of bytes to read +.br + +.EE + +.br + +.br +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. + +.IP "\fBint spiWrite(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function writes count bytes of data from buf to the SPI +device associated with the handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBspiOpen\fP +.br + buf: the data bytes to write +.br + count: the number of bytes to write +.br + +.EE + +.br + +.br +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. + +.IP "\fBint spiXfer(unsigned handle, char *txBuf, char *rxBuf, unsigned count)\fP" +.IP "" 4 +This function transfers count bytes of data from txBuf to the SPI +device associated with the handle. Simultaneously count bytes of +data are read from the device and placed in rxBuf. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBspiOpen\fP +.br + txBuf: the data bytes to write +.br + rxBuf: the received data bytes +.br + count: the number of bytes to transfer +.br + +.EE + +.br + +.br +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. + +.IP "\fBint serOpen(char *sertty, unsigned baud, unsigned serFlags)\fP" +.IP "" 4 +This function opens a serial device at a specified baud rate +and with specified flags. The device name must start with +/dev/tty or /dev/serial. + +.br + +.br + +.EX + sertty: the serial device to open +.br + baud: the baud rate in bits per second, see below +.br +serFlags: 0 +.br + +.EE + +.br + +.br +Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, or +PI_SER_OPEN_FAILED. + +.br + +.br +The baud rate must be one of 50, 75, 110, 134, 150, +200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200, +38400, 57600, 115200, or 230400. + +.br + +.br +No flags are currently defined. This parameter should be set to zero. + +.IP "\fBint serClose(unsigned handle)\fP" +.IP "" 4 +This function closes the serial device associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBserOpen\fP +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.IP "\fBint serWriteByte(unsigned handle, unsigned bVal)\fP" +.IP "" 4 +This function writes bVal to the serial port associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBserOpen\fP +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_SER_WRITE_FAILED. + +.IP "\fBint serReadByte(unsigned handle)\fP" +.IP "" 4 +This function reads a byte from the serial port associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBserOpen\fP +.br + +.EE + +.br + +.br +Returns the read byte (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_SER_READ_NO_DATA, or PI_SER_READ_FAILED. + +.IP "\fBint serWrite(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function writes count bytes from buf to the the serial port +associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBserOpen\fP +.br + buf: the array of bytes to write +.br + count: the number of bytes to write +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_SER_WRITE_FAILED. + +.IP "\fBint serRead(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function reads up count bytes from the the serial port +associated with handle and writes them to buf. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBserOpen\fP +.br + buf: an array to receive the read data +.br + count: the maximum number of bytes to read +.br + +.EE + +.br + +.br +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_SER_READ_NO_DATA. + +.IP "\fBint serDataAvailable(unsigned handle)\fP" +.IP "" 4 +This function returns the number of bytes available +to be read from the device associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBserOpen\fP +.br + +.EE + +.br + +.br +Returns the number of bytes of data available (>=0) if OK, +otherwise PI_BAD_HANDLE. + +.IP "\fBint gpioTrigger(unsigned user_gpio, unsigned pulseLen, unsigned level)\fP" +.IP "" 4 +This function sends a trigger pulse to a GPIO. The GPIO is set to +level for pulseLen microseconds and then reset to not level. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + pulseLen: 1-100 +.br + level: 0,1 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_LEVEL, +or PI_BAD_PULSELEN. + +.IP "\fBint gpioSetWatchdog(unsigned user_gpio, unsigned timeout)\fP" +.IP "" 4 +Sets a watchdog for a GPIO. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + timeout: 0-60000 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_WDOG_TIMEOUT. + +.br + +.br +The watchdog is nominally in milliseconds. + +.br + +.br +One watchdog may be registered per GPIO. + +.br + +.br +The watchdog may be cancelled by setting timeout to 0. + +.br + +.br +If no level change has been detected for the GPIO for timeout +milliseconds:- + +.br + +.br +1) any registered alert function for the GPIO is called with + the level set to PI_TIMEOUT. +.br +2) any notification for the GPIO has a report written to the + fifo with the flags set to indicate a watchdog timeout. + +.br + +.br +\fBExample\fP +.br + +.EX +void aFunction(int gpio, int level, uint32_t tick) +.br +{ +.br + printf("GPIO %d became %d at %d", gpio, level, tick); +.br +} +.br + +.br +// call aFunction whenever GPIO 4 changes state +.br +gpioSetAlertFunc(4, aFunction); +.br + +.br +// or approximately every 5 millis +.br +gpioSetWatchdog(4, 5); +.br + +.EE + +.IP "\fBint gpioNoiseFilter(unsigned user_gpio, unsigned steady, unsigned active)\fP" +.IP "" 4 +Sets a noise filter on a GPIO. + +.br + +.br +Level changes on the GPIO are ignored until a level which has +been stable for \fBsteady\fP microseconds is detected. Level changes +on the GPIO are then reported for \fBactive\fP microseconds after +which the process repeats. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + steady: 0-300000 +.br + active: 0-1000000 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. + +.br + +.br +Note, level changes before and after the active period may +be reported. Your software must be designed to cope with +such reports. + +.IP "\fBint gpioGlitchFilter(unsigned user_gpio, unsigned steady)\fP" +.IP "" 4 +Sets a glitch filter on a GPIO. + +.br + +.br +Level changes on the GPIO are not reported unless the level +has been stable for at least \fBsteady\fP microseconds. The +level is then reported. Level changes of less than \fBsteady\fP +microseconds are ignored. + +.br + +.br + +.EX +user_gpio: 0-31 +.br + steady: 0-300000 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. + +.br + +.br +Note, each (stable) edge will be timestamped \fBsteady\fP microseconds +after it was first detected. + +.IP "\fBint gpioSetGetSamplesFunc(gpioGetSamplesFunc_t f, uint32_t bits)\fP" +.IP "" 4 +Registers a function to be called (a callback) every millisecond +with the latest GPIO samples. + +.br + +.br + +.EX + f: the function to call +.br +bits: the GPIO of interest +.br + +.EE + +.br + +.br +Returns 0 if OK. + +.br + +.br +The function is passed a pointer to the samples (an array of +\fBgpioSample_t\fP), and the number of samples. + +.br + +.br +Only one function can be registered. + +.br + +.br +The callback may be cancelled by passing NULL as the function. + +.br + +.br +The samples returned will be the union of bits, plus any active alerts, +plus any active notifications. + +.br + +.br +e.g. if there are alerts for GPIO 7, 8, and 9, notifications for GPIO +8, 10, 23, 24, and bits is (1<<23)|(1<<17) then samples for GPIO +7, 8, 9, 10, 17, 23, and 24 will be reported. + +.IP "\fBint gpioSetGetSamplesFuncEx(gpioGetSamplesFuncEx_t f, uint32_t bits, void *userdata)\fP" +.IP "" 4 +Registers a function to be called (a callback) every millisecond +with the latest GPIO samples. + +.br + +.br + +.EX + f: the function to call +.br + bits: the GPIO of interest +.br +userdata: a pointer to arbitrary user data +.br + +.EE + +.br + +.br +Returns 0 if OK. + +.br + +.br +The function is passed a pointer to the samples (an array of +\fBgpioSample_t\fP), the number of samples, and the userdata pointer. + +.br + +.br +Only one of \fBgpioGetSamplesFunc\fP or \fBgpioGetSamplesFuncEx\fP can be +registered. + +.br + +.br +See \fBgpioSetGetSamplesFunc\fP for further details. + +.IP "\fBint gpioSetTimerFunc(unsigned timer, unsigned millis, gpioTimerFunc_t f)\fP" +.IP "" 4 +Registers a function to be called (a callback) every millis milliseconds. + +.br + +.br + +.EX + timer: 0-9 +.br +millis: 10-60000 +.br + f: the function to call +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_TIMER, PI_BAD_MS, or PI_TIMER_FAILED. + +.br + +.br +10 timers are supported numbered 0 to 9. + +.br + +.br +One function may be registered per timer. + +.br + +.br +The timer may be cancelled by passing NULL as the function. + +.br + +.br +\fBExample\fP +.br + +.EX +void bFunction(void) +.br +{ +.br + printf("two seconds have elapsed"); +.br +} +.br + +.br +// call bFunction every 2000 milliseconds +.br +gpioSetTimerFunc(0, 2000, bFunction); +.br + +.EE + +.IP "\fBint gpioSetTimerFuncEx(unsigned timer, unsigned millis, gpioTimerFuncEx_t f, void *userdata)\fP" +.IP "" 4 +Registers a function to be called (a callback) every millis milliseconds. + +.br + +.br + +.EX + timer: 0-9. +.br + millis: 10-60000 +.br + f: the function to call +.br +userdata: a pointer to arbitrary user data +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_TIMER, PI_BAD_MS, or PI_TIMER_FAILED. + +.br + +.br +The function is passed the userdata pointer. + +.br + +.br +Only one of \fBgpioSetTimerFunc\fP or \fBgpioSetTimerFuncEx\fP can be +registered per timer. + +.br + +.br +See \fBgpioSetTimerFunc\fP for further details. + +.IP "\fBpthread_t *gpioStartThread(gpioThreadFunc_t f, void *userdata)\fP" +.IP "" 4 +Starts a new thread of execution with f as the main routine. + +.br + +.br + +.EX + f: the main function for the new thread +.br +userdata: a pointer to arbitrary user data +.br + +.EE + +.br + +.br +Returns a pointer to pthread_t if OK, otherwise NULL. + +.br + +.br +The function is passed the single argument arg. + +.br + +.br +The thread can be cancelled by passing the pointer to pthread_t to +\fBgpioStopThread\fP. + +.br + +.br +\fBExample\fP +.br + +.EX +#include +.br +#include +.br + +.br +void *myfunc(void *arg) +.br +{ +.br + while (1) +.br + { +.br + printf("%s", arg); +.br + sleep(1); +.br + } +.br +} +.br + +.br +int main(int argc, char *argv[]) +.br +{ +.br + pthread_t *p1, *p2, *p3; +.br + +.br + if (gpioInitialise() < 0) return 1; +.br + +.br + p1 = gpioStartThread(myfunc, "thread 1"); sleep(3); +.br + +.br + p2 = gpioStartThread(myfunc, "thread 2"); sleep(3); +.br + +.br + p3 = gpioStartThread(myfunc, "thread 3"); sleep(3); +.br + +.br + gpioStopThread(p3); sleep(3); +.br + +.br + gpioStopThread(p2); sleep(3); +.br + +.br + gpioStopThread(p1); sleep(3); +.br + +.br + gpioTerminate(); +.br +} +.br + +.EE + +.IP "\fBvoid gpioStopThread(pthread_t *pth)\fP" +.IP "" 4 +Cancels the thread pointed at by pth. + +.br + +.br + +.EX +pth: a thread pointer returned by \fBgpioStartThread\fP +.br + +.EE + +.br + +.br +No value is returned. + +.br + +.br +The thread to be stopped should have been started with \fBgpioStartThread\fP. + +.IP "\fBint gpioStoreScript(char *script)\fP" +.IP "" 4 +This function stores a null terminated script for later execution. + +.br + +.br +See \fBhttp://abyz.co.uk/rpi/pigpio/pigs.html#Scripts\fP for details. + +.br + +.br + +.EX +script: the text of the script +.br + +.EE + +.br + +.br +The function returns a script id if the script is valid, +otherwise PI_BAD_SCRIPT. + +.IP "\fBint gpioRunScript(unsigned script_id, unsigned numPar, uint32_t *param)\fP" +.IP "" 4 +This function runs a stored script. + +.br + +.br + +.EX +script_id: >=0, as returned by \fBgpioStoreScript\fP +.br + numPar: 0-10, the number of parameters +.br + param: an array of parameters +.br + +.EE + +.br + +.br +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID, or +PI_TOO_MANY_PARAM. + +.br + +.br +param is an array of up to 10 parameters which may be referenced in +the script as p0 to p9. + +.IP "\fBint gpioScriptStatus(unsigned script_id, uint32_t *param)\fP" +.IP "" 4 +This function returns the run status of a stored script as well as +the current values of parameters 0 to 9. + +.br + +.br + +.EX +script_id: >=0, as returned by \fBgpioStoreScript\fP +.br + param: an array to hold the returned 10 parameters +.br + +.EE + +.br + +.br +The function returns greater than or equal to 0 if OK, +otherwise PI_BAD_SCRIPT_ID. + +.br + +.br +The run status may be + +.br + +.br + +.EX +PI_SCRIPT_INITING +.br +PI_SCRIPT_HALTED +.br +PI_SCRIPT_RUNNING +.br +PI_SCRIPT_WAITING +.br +PI_SCRIPT_FAILED +.br + +.EE + +.br + +.br +The current value of script parameters 0 to 9 are returned in param. + +.IP "\fBint gpioStopScript(unsigned script_id)\fP" +.IP "" 4 +This function stops a running script. + +.br + +.br + +.EX +script_id: >=0, as returned by \fBgpioStoreScript\fP +.br + +.EE + +.br + +.br +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. + +.IP "\fBint gpioDeleteScript(unsigned script_id)\fP" +.IP "" 4 +This function deletes a stored script. + +.br + +.br + +.EX +script_id: >=0, as returned by \fBgpioStoreScript\fP +.br + +.EE + +.br + +.br +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. + +.IP "\fBint gpioSetSignalFunc(unsigned signum, gpioSignalFunc_t f)\fP" +.IP "" 4 +Registers a function to be called (a callback) when a signal occurs. + +.br + +.br + +.EX +signum: 0-63 +.br + f: the callback function +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_SIGNUM. + +.br + +.br +The function is passed the signal number. + +.br + +.br +One function may be registered per signal. + +.br + +.br +The callback may be cancelled by passing NULL. + +.br + +.br +By default all signals are treated as fatal and cause the library +to call gpioTerminate and then exit. + +.IP "\fBint gpioSetSignalFuncEx(unsigned signum, gpioSignalFuncEx_t f, void *userdata)\fP" +.IP "" 4 +Registers a function to be called (a callback) when a signal occurs. + +.br + +.br + +.EX + signum: 0-63 +.br + f: the callback function +.br +userdata: a pointer to arbitrary user data +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_SIGNUM. + +.br + +.br +The function is passed the signal number and the userdata pointer. + +.br + +.br +Only one of gpioSetSignalFunc or gpioSetSignalFuncEx can be +registered per signal. + +.br + +.br +See gpioSetSignalFunc for further details. + +.IP "\fBuint32_t gpioRead_Bits_0_31(void)\fP" +.IP "" 4 +Returns the current level of GPIO 0-31. + +.IP "\fBuint32_t gpioRead_Bits_32_53(void)\fP" +.IP "" 4 +Returns the current level of GPIO 32-53. + +.IP "\fBint gpioWrite_Bits_0_31_Clear(uint32_t bits)\fP" +.IP "" 4 +Clears GPIO 0-31 if the corresponding bit in bits is set. + +.br + +.br + +.EX +bits: a bit mask of GPIO to clear +.br + +.EE + +.br + +.br +Returns 0 if OK. + +.br + +.br +\fBExample\fP +.br + +.EX +// To clear (set to 0) GPIO 4, 7, and 15 +.br +gpioWrite_Bits_0_31_Clear( (1<<4) | (1<<7) | (1<<15) ); +.br + +.EE + +.IP "\fBint gpioWrite_Bits_32_53_Clear(uint32_t bits)\fP" +.IP "" 4 +Clears GPIO 32-53 if the corresponding bit (0-21) in bits is set. + +.br + +.br + +.EX +bits: a bit mask of GPIO to clear +.br + +.EE + +.br + +.br +Returns 0 if OK. + +.IP "\fBint gpioWrite_Bits_0_31_Set(uint32_t bits)\fP" +.IP "" 4 +Sets GPIO 0-31 if the corresponding bit in bits is set. + +.br + +.br + +.EX +bits: a bit mask of GPIO to set +.br + +.EE + +.br + +.br +Returns 0 if OK. + +.IP "\fBint gpioWrite_Bits_32_53_Set(uint32_t bits)\fP" +.IP "" 4 +Sets GPIO 32-53 if the corresponding bit (0-21) in bits is set. + +.br + +.br + +.EX +bits: a bit mask of GPIO to set +.br + +.EE + +.br + +.br +Returns 0 if OK. + +.br + +.br +\fBExample\fP +.br + +.EX +// To set (set to 1) GPIO 32, 40, and 53 +.br +gpioWrite_Bits_32_53_Set((1<<(32-32)) | (1<<(40-32)) | (1<<(53-32))); +.br + +.EE + +.IP "\fBint gpioHardwareClock(unsigned gpio, unsigned clkfreq)\fP" +.IP "" 4 +Starts a hardware clock on a GPIO at the specified frequency. +Frequencies above 30MHz are unlikely to work. + +.br + +.br + +.EX + gpio: see description +.br +clkfreq: 0 (off) or 4689-250000000 (250M) +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_NOT_HCLK_GPIO, +PI_BAD_HCLK_FREQ,or PI_BAD_HCLK_PASS. + +.br + +.br +The same clock is available on multiple GPIO. The latest +frequency setting will be used by all GPIO which share a clock. + +.br + +.br +The GPIO must be one of the following. + +.br + +.br + +.EX +4 clock 0 All models +.br +5 clock 1 All models but A and B (reserved for system use) +.br +6 clock 2 All models but A and B +.br +20 clock 0 All models but A and B +.br +21 clock 1 All models but A and Rev.2 B (reserved for system use) +.br + +.br +32 clock 0 Compute module only +.br +34 clock 0 Compute module only +.br +42 clock 1 Compute module only (reserved for system use) +.br +43 clock 2 Compute module only +.br +44 clock 1 Compute module only (reserved for system use) +.br + +.EE + +.br + +.br +Access to clock 1 is protected by a password as its use will likely +crash the Pi. The password is given by or'ing 0x5A000000 with the +GPIO number. + +.IP "\fBint gpioHardwarePWM(unsigned gpio, unsigned PWMfreq, unsigned PWMduty)\fP" +.IP "" 4 +Starts hardware PWM on a GPIO at the specified frequency and dutycycle. +Frequencies above 30MHz are unlikely to work. + +.br + +.br +NOTE: Any waveform started by \fBgpioWaveTxSend\fP, or +\fBgpioWaveChain\fP will be cancelled. + +.br + +.br +This function is only valid if the pigpio main clock is PCM. The +main clock defaults to PCM but may be overridden by a call to +\fBgpioCfgClock\fP. + +.br + +.br + +.EX + gpio: see description +.br +PWMfreq: 0 (off) or 1-125000000 (125M) +.br +PWMduty: 0 (off) to 1000000 (1M)(fully on) +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_NOT_HPWM_GPIO, +PI_BAD_HPWM_DUTY, PI_BAD_HPWM_FREQ, or PI_HPWM_ILLEGAL. + +.br + +.br +The same PWM channel is available on multiple GPIO. The latest +frequency and dutycycle setting will be used by all GPIO which +share a PWM channel. + +.br + +.br +The GPIO must be one of the following. + +.br + +.br + +.EX +12 PWM channel 0 All models but A and B +.br +13 PWM channel 1 All models but A and B +.br +18 PWM channel 0 All models +.br +19 PWM channel 1 All models but A and B +.br + +.br +40 PWM channel 0 Compute module only +.br +41 PWM channel 1 Compute module only +.br +45 PWM channel 1 Compute module only +.br +52 PWM channel 0 Compute module only +.br +53 PWM channel 1 Compute module only +.br + +.EE + +.br + +.br +The actual number of steps beween off and fully on is the +integral part of 250 million divided by PWMfreq. + +.br + +.br +The actual frequency set is 250 million / steps. + +.br + +.br +There will only be a million steps for a PWMfreq of 250. +Lower frequencies will have more steps and higher +frequencies will have fewer steps. PWMduty is +automatically scaled to take this into account. + +.IP "\fBint gpioTime(unsigned timetype, int *seconds, int *micros)\fP" +.IP "" 4 +Updates the seconds and micros variables with the current time. + +.br + +.br + +.EX +timetype: 0 (relative), 1 (absolute) +.br + seconds: a pointer to an int to hold seconds +.br + micros: a pointer to an int to hold microseconds +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_TIMETYPE. + +.br + +.br +If timetype is PI_TIME_ABSOLUTE updates seconds and micros with the +number of seconds and microseconds since the epoch (1st January 1970). + +.br + +.br +If timetype is PI_TIME_RELATIVE updates seconds and micros with the +number of seconds and microseconds since the library was initialised. + +.br + +.br +\fBExample\fP +.br + +.EX +int secs, mics; +.br + +.br +// print the number of seconds since the library was started +.br +gpioTime(PI_TIME_RELATIVE, &secs, &mics); +.br +printf("library started %d.%03d seconds ago", secs, mics/1000); +.br + +.EE + +.IP "\fBint gpioSleep(unsigned timetype, int seconds, int micros)\fP" +.IP "" 4 +Sleeps for the number of seconds and microseconds specified by seconds +and micros. + +.br + +.br + +.EX +timetype: 0 (relative), 1 (absolute) +.br + seconds: seconds to sleep +.br + micros: microseconds to sleep +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_TIMETYPE, PI_BAD_SECONDS, +or PI_BAD_MICROS. + +.br + +.br +If timetype is PI_TIME_ABSOLUTE the sleep ends when the number of seconds +and microseconds since the epoch (1st January 1970) has elapsed. System +clock changes are taken into account. + +.br + +.br +If timetype is PI_TIME_RELATIVE the sleep is for the specified number +of seconds and microseconds. System clock changes do not effect the +sleep length. + +.br + +.br +For short delays (say, 50 microseonds or less) use \fBgpioDelay\fP. + +.br + +.br +\fBExample\fP +.br + +.EX +gpioSleep(PI_TIME_RELATIVE, 2, 500000); // sleep for 2.5 seconds +.br + +.br +gpioSleep(PI_TIME_RELATIVE, 0, 100000); // sleep for 0.1 seconds +.br + +.br +gpioSleep(PI_TIME_RELATIVE, 60, 0); // sleep for one minute +.br + +.EE + +.IP "\fBuint32_t gpioDelay(uint32_t micros)\fP" +.IP "" 4 +Delays for at least the number of microseconds specified by micros. + +.br + +.br + +.EX +micros: the number of microseconds to sleep +.br + +.EE + +.br + +.br +Returns the actual length of the delay in microseconds. + +.br + +.br +Delays of 100 microseconds or less use busy waits. + +.IP "\fBuint32_t gpioTick(void)\fP" +.IP "" 4 +Returns the current system tick. + +.br + +.br +Tick is the number of microseconds since system boot. + +.br + +.br +As tick is an unsigned 32 bit quantity it wraps around after +2^32 microseconds, which is approximately 1 hour 12 minutes. + +.br + +.br +You don't need to worry about the wrap around as long as you +take a tick (uint32_t) from another tick, i.e. the following +code will always provide the correct difference. + +.br + +.br +\fBExample\fP +.br + +.EX +uint32_t startTick, endTick; +.br +int diffTick; +.br + +.br +startTick = gpioTick(); +.br + +.br +// do some processing +.br + +.br +endTick = gpioTick(); +.br + +.br +diffTick = endTick - startTick; +.br + +.br +printf("some processing took %d microseconds", diffTick); +.br + +.EE + +.IP "\fBunsigned gpioHardwareRevision(void)\fP" +.IP "" 4 +Returns the hardware revision. + +.br + +.br +If the hardware revision can not be found or is not a valid hexadecimal +number the function returns 0. + +.br + +.br +The hardware revision is the last few characters on the Revision line of +/proc/cpuinfo. + +.br + +.br +The revision number can be used to determine the assignment of GPIO +to pins (see \fBgpio\fP). + +.br + +.br +There are at least three types of board. + +.br + +.br +Type 1 boards have hardware revision numbers of 2 and 3. + +.br + +.br +Type 2 boards have hardware revision numbers of 4, 5, 6, and 15. + +.br + +.br +Type 3 boards have hardware revision numbers of 16 or greater. + +.br + +.br +for "Revision : 0002" the function returns 2. +.br +for "Revision : 000f" the function returns 15. +.br +for "Revision : 000g" the function returns 0. + +.IP "\fBunsigned gpioVersion(void)\fP" +.IP "" 4 +Returns the pigpio version. + +.IP "\fBint gpioGetPad(unsigned pad)\fP" +.IP "" 4 +This function returns the pad drive strength in mA. + +.br + +.br + +.EX +pad: 0-2, the pad to get +.br + +.EE + +.br + +.br +Returns the pad drive strength if OK, otherwise PI_BAD_PAD. + +.br + +.br +Pad GPIO +.br +0 0-27 +.br +1 28-45 +.br +2 46-53 +.br + +.br + +.br +\fBExample\fP +.br + +.EX +strength = gpioGetPad(1); // get pad 1 strength +.br + +.EE + +.IP "\fBint gpioSetPad(unsigned pad, unsigned padStrength)\fP" +.IP "" 4 +This function sets the pad drive strength in mA. + +.br + +.br + +.EX + pad: 0-2, the pad to set +.br +padStrength: 1-16 mA +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_PAD, or PI_BAD_STRENGTH. + +.br + +.br +Pad GPIO +.br +0 0-27 +.br +1 28-45 +.br +2 46-53 +.br + +.br + +.br +\fBExample\fP +.br + +.EX +gpioSetPad(0, 16); // set pad 0 strength to 16 mA +.br + +.EE + +.IP "\fBint shell(char *scriptName, char *scriptString)\fP" +.IP "" 4 +This function uses the system call to execute a shell script +with the given string as its parameter. + +.br + +.br + +.EX + scriptName: the name of the script, only alphanumeric characters, +.br + '-' and '_' are allowed in the name +.br +scriptString: the string to pass to the script +.br + +.EE + +.br + +.br +The exit status of the system call is returned if OK, otherwise +PI_BAD_SHELL_STATUS. + +.br + +.br +scriptName must exist in /opt/pigpio/cgi and must be executable. + +.br + +.br +The returned exit status is normally 256 times that set by the +shell script exit function. If the script can't be found 32512 will +be returned. + +.br + +.br +The following table gives some example returned statuses. + +.br + +.br +Script exit status Returned system call status +.br +1 256 +.br +5 1280 +.br +10 2560 +.br +200 51200 +.br +script not found 32512 +.br + +.br + +.br +\fBExample\fP +.br + +.EX +// pass two parameters, hello and world +.br +status = shell("scr1", "hello world"); +.br + +.br +// pass three parameters, hello, string with spaces, and world +.br +status = shell("scr1", "hello 'string with spaces' world"); +.br + +.br +// pass one parameter, hello string with spaces world +.br +status = shell("scr1", "\"hello string with spaces world\""); +.br + +.EE + +.IP "\fBint fileOpen(char *file, unsigned mode)\fP" +.IP "" 4 +This function returns a handle to a file opened in a specified mode. + +.br + +.br + +.EX +file: the file to open +.br +mode: the file open mode +.br + +.EE + +.br + +.br +Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, PI_NO_FILE_ACCESS, +PI_BAD_FILE_MODE, PI_FILE_OPEN_FAILED, or PI_FILE_IS_A_DIR. + +.br + +.br +File + +.br + +.br +A file may only be opened if permission is granted by an entry in +/opt/pigpio/access. This is intended to allow remote access to files +in a more or less controlled manner. + +.br + +.br +Each entry in /opt/pigpio/access takes the form of a file path +which may contain wildcards followed by a single letter permission. +The permission may be R for read, W for write, U for read/write, +and N for no access. + +.br + +.br +Where more than one entry matches a file the most specific rule +applies. If no entry matches a file then access is denied. + +.br + +.br +Suppose /opt/pigpio/access contains the following entries + +.br + +.br + +.EX +/home/* n +.br +/home/pi/shared/dir_1/* w +.br +/home/pi/shared/dir_2/* r +.br +/home/pi/shared/dir_3/* u +.br +/home/pi/shared/dir_1/file.txt n +.br + +.EE + +.br + +.br +Files may be written in directory dir_1 with the exception +of file.txt. + +.br + +.br +Files may be read in directory dir_2. + +.br + +.br +Files may be read and written in directory dir_3. + +.br + +.br +If a directory allows read, write, or read/write access then files may +be created in that directory. + +.br + +.br +In an attempt to prevent risky permissions the following paths are +ignored in /opt/pigpio/access. + +.br + +.br + +.EX +a path containing .. +.br +a path containing only wildcards (*?) +.br +a path containing less than two non-wildcard parts +.br + +.EE + +.br + +.br +Mode + +.br + +.br +The mode may have the following values. + +.br + +.br +Macro Value Meaning +.br +PI_FILE_READ 1 open file for reading +.br +PI_FILE_WRITE 2 open file for writing +.br +PI_FILE_RW 3 open file for reading and writing +.br + +.br + +.br +The following values may be or'd into the mode. + +.br + +.br +Macro Value Meaning +.br +PI_FILE_APPEND 4 Writes append data to the end of the file +.br +PI_FILE_CREATE 8 The file is created if it doesn't exist +.br +PI_FILE_TRUNC 16 The file is truncated +.br + +.br + +.br +Newly created files are owned by root with permissions owner read and write. + +.br + +.br +\fBExample\fP +.br + +.EX +#include +.br +#include +.br + +.br +int main(int argc, char *argv[]) +.br +{ +.br + int handle, c; +.br + char buf[60000]; +.br + +.br + if (gpioInitialise() < 0) return 1; +.br + +.br + // assumes /opt/pigpio/access contains the following line +.br + // /ram/*.c r +.br + +.br + handle = fileOpen("/ram/pigpio.c", PI_FILE_READ); +.br + +.br + if (handle >= 0) +.br + { +.br + while ((c=fileRead(handle, buf, sizeof(buf)-1))) +.br + { +.br + buf[c] = 0; +.br + printf("%s", buf); +.br + } +.br + +.br + fileClose(handle); +.br + } +.br + +.br + gpioTerminate(); +.br +} +.br + +.EE + +.IP "\fBint fileClose(unsigned handle)\fP" +.IP "" 4 +This function closes the file associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBfileOpen\fP +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.br + +.br +\fBExample\fP +.br + +.EX +fileClose(h); +.br + +.EE + +.IP "\fBint fileWrite(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function writes count bytes from buf to the the file +associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBfileOpen\fP +.br + buf: the array of bytes to write +.br + count: the number of bytes to write +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, +PI_FILE_NOT_WOPEN, or PI_BAD_FILE_WRITE. + +.br + +.br +\fBExample\fP +.br + +.EX +status = fileWrite(h, buf, count); +.br +if (status == 0) +.br +{ +.br + // okay +.br +} +.br +else +.br +{ +.br + // error +.br +} +.br + +.EE + +.IP "\fBint fileRead(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function reads up to count bytes from the the file +associated with handle and writes them to buf. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBfileOpen\fP +.br + buf: an array to receive the read data +.br + count: the maximum number of bytes to read +.br + +.EE + +.br + +.br +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, PI_FILE_NOT_ROPEN, or PI_BAD_FILE_WRITE. + +.br + +.br +\fBExample\fP +.br + +.EX +if (fileRead(h, buf, sizeof(buf)) > 0) +.br +{ +.br + // process read data +.br +} +.br + +.EE + +.IP "\fBint fileSeek(unsigned handle, int32_t seekOffset, int seekFrom)\fP" +.IP "" 4 +This function seeks to a position within the file associated +with handle. + +.br + +.br + +.EX + handle: >=0, as returned by a call to \fBfileOpen\fP +.br +seekOffset: the number of bytes to move. Positive offsets +.br + move forward, negative offsets backwards. +.br + seekFrom: one of PI_FROM_START (0), PI_FROM_CURRENT (1), +.br + or PI_FROM_END (2) +.br + +.EE + +.br + +.br +Returns the new byte position within the file (>=0) if OK, otherwise PI_BAD_HANDLE, or PI_BAD_FILE_SEEK. + +.br + +.br +\fBExample\fP +.br + +.EX +fileSeek(0, 20, PI_FROM_START); // Seek to start plus 20 +.br + +.br +size = fileSeek(0, 0, PI_FROM_END); // Seek to end, return size +.br + +.br +pos = fileSeek(0, 0, PI_FROM_CURRENT); // Return current position +.br + +.EE + +.IP "\fBint fileList(char *fpat, char *buf, unsigned count)\fP" +.IP "" 4 +This function returns a list of files which match a pattern. The +pattern may contain wildcards. + +.br + +.br + +.EX + fpat: file pattern to match +.br + buf: an array to receive the matching file names +.br +count: the maximum number of bytes to read +.br + +.EE + +.br + +.br +Returns the number of returned bytes if OK, otherwise PI_NO_FILE_ACCESS, +or PI_NO_FILE_MATCH. + +.br + +.br +The pattern must match an entry in /opt/pigpio/access. The pattern +may contain wildcards. See \fBfileOpen\fP. + +.br + +.br +NOTE + +.br + +.br +The returned value is not the number of files, it is the number +of bytes in the buffer. The file names are separated by newline +characters. + +.br + +.br +\fBExample\fP +.br + +.EX +#include +.br +#include +.br + +.br +int main(int argc, char *argv[]) +.br +{ +.br + int c; +.br + char buf[1000]; +.br + +.br + if (gpioInitialise() < 0) return 1; +.br + +.br + // assumes /opt/pigpio/access contains the following line +.br + // /ram/*.c r +.br + +.br + c = fileList("/ram/p*.c", buf, sizeof(buf)); +.br + +.br + if (c >= 0) +.br + { +.br + // terminate string +.br + buf[c] = 0; +.br + printf("%s", buf); +.br + } +.br + +.br + gpioTerminate(); +.br +} +.br + +.EE + +.IP "\fBint gpioCfgBufferSize(unsigned cfgMillis)\fP" +.IP "" 4 +Configures pigpio to buffer cfgMillis milliseconds of GPIO samples. + +.br + +.br +This function is only effective if called before \fBgpioInitialise\fP. + +.br + +.br + +.EX +cfgMillis: 100-10000 +.br + +.EE + +.br + +.br +The default setting is 120 milliseconds. + +.br + +.br +The intention is to allow for bursts of data and protection against +other processes hogging cpu time. + +.br + +.br +I haven't seen a process locked out for more than 100 milliseconds. + +.br + +.br +Making the buffer bigger uses a LOT of memory at the more frequent +sampling rates as shown in the following table in MBs. + +.br + +.br + +.EX + buffer milliseconds +.br + 120 250 500 1sec 2sec 4sec 8sec +.br + +.br + 1 16 31 55 107 --- --- --- +.br + 2 10 18 31 55 107 --- --- +.br +sample 4 8 12 18 31 55 107 --- +.br + rate 5 8 10 14 24 45 87 --- +.br + (us) 8 6 8 12 18 31 55 107 +.br + 10 6 8 10 14 24 45 87 +.br + +.EE + +.IP "\fBint gpioCfgClock(unsigned cfgMicros, unsigned cfgPeripheral, unsigned cfgSource)\fP" +.IP "" 4 +Configures pigpio to use a particular sample rate timed by a specified +peripheral. + +.br + +.br +This function is only effective if called before \fBgpioInitialise\fP. + +.br + +.br + +.EX + cfgMicros: 1, 2, 4, 5, 8, 10 +.br +cfgPeripheral: 0 (PWM), 1 (PCM) +.br + cfgSource: deprecated, value is ignored +.br + +.EE + +.br + +.br +The timings are provided by the specified peripheral (PWM or PCM). + +.br + +.br +The default setting is 5 microseconds using the PCM peripheral. + +.br + +.br +The approximate CPU percentage used for each sample rate is: + +.br + +.br + +.EX +sample cpu +.br + rate % +.br + +.br + 1 25 +.br + 2 16 +.br + 4 11 +.br + 5 10 +.br + 8 15 +.br + 10 14 +.br + +.EE + +.br + +.br +A sample rate of 5 microseconds seeems to be the sweet spot. + +.IP "\fBint gpioCfgDMAchannel(unsigned DMAchannel)\fP" +.IP "" 4 +Configures pigpio to use the specified DMA channel. + +.br + +.br +This function is only effective if called before \fBgpioInitialise\fP. + +.br + +.br + +.EX +DMAchannel: 0-14 +.br + +.EE + +.br + +.br +The default setting is to use channel 14. + +.IP "\fBint gpioCfgDMAchannels(unsigned primaryChannel, unsigned secondaryChannel)\fP" +.IP "" 4 +Configures pigpio to use the specified DMA channels. + +.br + +.br +This function is only effective if called before \fBgpioInitialise\fP. + +.br + +.br + +.EX + primaryChannel: 0-14 +.br +secondaryChannel: 0-14 +.br + +.EE + +.br + +.br +The default setting is to use channel 14 for the primary channel and +channel 6 for the secondary channel. + +.br + +.br +The secondary channel is only used for the transmission of waves. + +.br + +.br +If possible use one of channels 0 to 6 for the secondary channel +(a full channel). + +.br + +.br +A full channel only requires one DMA control block regardless of the +length of a pulse delay. Channels 7 to 14 (lite channels) require +one DMA control block for each 16383 microseconds of delay. I.e. +a 10 second pulse delay requires one control block on a full channel +and 611 control blocks on a lite channel. + +.IP "\fBint gpioCfgPermissions(uint64_t updateMask)\fP" +.IP "" 4 +Configures pigpio to only allow updates (writes or mode changes) for the +GPIO specified by the mask. + +.br + +.br +This function is only effective if called before \fBgpioInitialise\fP. + +.br + +.br + +.EX +updateMask: bit (1<=0 +.br +arg2: >=0 +.br +argx: extra (byte) arguments +.br +argc: number of extra arguments +.br + +.EE + +.br + +.br +Returns >= 0 if OK, less than 0 indicates a user defined error. + +.IP "\fBint gpioCustom2(unsigned arg1, char *argx, unsigned argc, char *retBuf, unsigned retMax)\fP" +.IP "" 4 +This function is available for user customisation. + +.br + +.br +It differs from gpioCustom1 in that it returns an array of bytes +rather than just an integer. + +.br + +.br +The returned value is an integer indicating the number of returned bytes. + +.EX + arg1: >=0 +.br + argx: extra (byte) arguments +.br + argc: number of extra arguments +.br +retBuf: buffer for returned bytes +.br +retMax: maximum number of bytes to return +.br + +.EE + +.br + +.br +Returns >= 0 if OK, less than 0 indicates a user defined error. + +.br + +.br +The number of returned bytes must be retMax or less. + +.IP "\fBint rawWaveAddSPI(rawSPI_t *spi, unsigned offset, unsigned spiSS, char *buf, unsigned spiTxBits, unsigned spiBitFirst, unsigned spiBitLast, unsigned spiBits)\fP" +.IP "" 4 +This function adds a waveform representing SPI data to the +existing waveform (if any). + +.br + +.br + +.EX + spi: a pointer to a spi object +.br + offset: microseconds from the start of the waveform +.br + spiSS: the slave select GPIO +.br + buf: the bits to transmit, most significant bit first +.br + spiTxBits: the number of bits to write +.br +spiBitFirst: the first bit to read +.br + spiBitLast: the last bit to read +.br + spiBits: the number of bits to transfer +.br + +.EE + +.br + +.br +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_BAD_USER_GPIO, PI_BAD_SER_OFFSET, or PI_TOO_MANY_PULSES. + +.br + +.br +Not intended for general use. + +.IP "\fBint rawWaveAddGeneric(unsigned numPulses, rawWave_t *pulses)\fP" +.IP "" 4 +This function adds a number of pulses to the current waveform. + +.br + +.br + +.EX +numPulses: the number of pulses +.br + pulses: the array containing the pulses +.br + +.EE + +.br + +.br +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_TOO_MANY_PULSES. + +.br + +.br +The advantage of this function over gpioWaveAddGeneric is that it +allows the setting of the flags field. + +.br + +.br +The pulses are interleaved in time order within the existing waveform +(if any). + +.br + +.br +Merging allows the waveform to be built in parts, that is the settings +for GPIO#1 can be added, and then GPIO#2 etc. + +.br + +.br +If the added waveform is intended to start after or within the existing +waveform then the first pulse should consist of a delay. + +.br + +.br +Not intended for general use. + +.IP "\fBunsigned rawWaveCB(void)\fP" +.IP "" 4 +Returns the number of the cb being currently output. + +.br + +.br +Not intended for general use. + +.IP "\fBrawCbs_t *rawWaveCBAdr(int cbNum)\fP" +.IP "" 4 +Return the (Linux) address of contol block cbNum. + +.br + +.br + +.EX +cbNum: the cb of interest +.br + +.EE + +.br + +.br +Not intended for general use. + +.IP "\fBuint32_t rawWaveGetOOL(int pos)\fP" +.IP "" 4 +Gets the OOL parameter stored at pos. + +.br + +.br + +.EX +pos: the position of interest. +.br + +.EE + +.br + +.br +Not intended for general use. + +.IP "\fBvoid rawWaveSetOOL(int pos, uint32_t lVal)\fP" +.IP "" 4 +Sets the OOL parameter stored at pos to value. + +.br + +.br + +.EX + pos: the position of interest +.br +lVal: the value to write +.br + +.EE + +.br + +.br +Not intended for general use. + +.IP "\fBuint32_t rawWaveGetOut(int pos)\fP" +.IP "" 4 +Gets the wave output parameter stored at pos. + +.br + +.br +DEPRECATED: use rawWaveGetOOL instead. + +.br + +.br + +.EX +pos: the position of interest. +.br + +.EE + +.br + +.br +Not intended for general use. + +.IP "\fBvoid rawWaveSetOut(int pos, uint32_t lVal)\fP" +.IP "" 4 +Sets the wave output parameter stored at pos to value. + +.br + +.br +DEPRECATED: use rawWaveSetOOL instead. + +.br + +.br + +.EX + pos: the position of interest +.br +lVal: the value to write +.br + +.EE + +.br + +.br +Not intended for general use. + +.IP "\fBuint32_t rawWaveGetIn(int pos)\fP" +.IP "" 4 +Gets the wave input value parameter stored at pos. + +.br + +.br +DEPRECATED: use rawWaveGetOOL instead. + +.br + +.br + +.EX +pos: the position of interest +.br + +.EE + +.br + +.br +Not intended for general use. + +.IP "\fBvoid rawWaveSetIn(int pos, uint32_t lVal)\fP" +.IP "" 4 +Sets the wave input value stored at pos to value. + +.br + +.br +DEPRECATED: use rawWaveSetOOL instead. + +.br + +.br + +.EX + pos: the position of interest +.br +lVal: the value to write +.br + +.EE + +.br + +.br +Not intended for general use. + +.IP "\fBrawWaveInfo_t rawWaveInfo(int wave_id)\fP" +.IP "" 4 +Gets details about the wave with id wave_id. + +.br + +.br + +.EX +wave_id: the wave of interest +.br + +.EE + +.br + +.br +Not intended for general use. + +.IP "\fBint getBitInBytes(int bitPos, char *buf, int numBits)\fP" +.IP "" 4 +Returns the value of the bit bitPos bits from the start of buf. Returns +0 if bitPos is greater than or equal to numBits. + +.br + +.br + +.EX + bitPos: bit index from the start of buf +.br + buf: array of bits +.br +numBits: number of valid bits in buf +.br + +.EE + +.br + +.br + +.IP "\fBvoid putBitInBytes(int bitPos, char *buf, int bit)\fP" +.IP "" 4 +Sets the bit bitPos bits from the start of buf to bit. + +.br + +.br + +.EX +bitPos: bit index from the start of buf +.br + buf: array of bits +.br + bit: 0-1, value to set +.br + +.EE + +.br + +.br + +.IP "\fBdouble time_time(void)\fP" +.IP "" 4 +Return the current time in seconds since the Epoch. + +.IP "\fBvoid time_sleep(double seconds)\fP" +.IP "" 4 +Delay execution for a given number of seconds + +.br + +.br + +.EX +seconds: the number of seconds to sleep +.br + +.EE + +.IP "\fBvoid rawDumpWave(void)\fP" +.IP "" 4 +Used to print a readable version of the current waveform to stderr. + +.br + +.br +Not intended for general use. + +.IP "\fBvoid rawDumpScript(unsigned script_id)\fP" +.IP "" 4 +Used to print a readable version of a script to stderr. + +.br + +.br + +.EX +script_id: >=0, a script_id returned by \fBgpioStoreScript\fP +.br + +.EE + +.br + +.br +Not intended for general use. +.SH PARAMETERS + +.br + +.br + +.IP "\fBactive\fP: 0-1000000" 0 + +.br + +.br +The number of microseconds level changes are reported for once +a noise filter has been triggered (by \fBsteady\fP microseconds of +a stable level). + +.br + +.br + +.IP "\fBarg1\fP" 0 + +.br + +.br +An unsigned argument passed to a user customised function. Its +meaning is defined by the customiser. + +.br + +.br + +.IP "\fBarg2\fP" 0 + +.br + +.br +An unsigned argument passed to a user customised function. Its +meaning is defined by the customiser. + +.br + +.br + +.IP "\fBargc\fP" 0 +The count of bytes passed to a user customised function. + +.br + +.br + +.IP "\fB*argx\fP" 0 +A pointer to an array of bytes passed to a user customised function. +Its meaning and content is defined by the customiser. + +.br + +.br + +.IP "\fBbaud\fP" 0 +The speed of serial communication (I2C, SPI, serial link, waves) in +bits per second. + +.br + +.br + +.IP "\fBbit\fP" 0 +A value of 0 or 1. + +.br + +.br + +.IP "\fBbitPos\fP" 0 +A bit position within a byte or word. The least significant bit is +position 0. + +.br + +.br + +.IP "\fBbits\fP" 0 +A value used to select GPIO. If bit n of bits is set then GPIO n is +selected. + +.br + +.br +A convenient way to set bit n is to or in (1<=0" 0 + +.br + +.br +The number of times a GPIO is swiched on and off per second. This +can be set per GPIO and may be as little as 5Hz or as much as +40KHz. The GPIO will be on for a proportion of the time as defined +by its dutycycle. + +.br + +.br + +.IP "\fBgpio\fP" 0 + +.br + +.br +A Broadcom numbered GPIO, in the range 0-53. + +.br + +.br +There are 54 General Purpose Input Outputs (GPIO) named GPIO0 through +GPIO53. + +.br + +.br +They are split into two banks. Bank 1 consists of GPIO0 through +GPIO31. Bank 2 consists of GPIO32 through GPIO53. + +.br + +.br +All the GPIO which are safe for the user to read and write are in +bank 1. Not all GPIO in bank 1 are safe though. Type 1 boards +have 17 safe GPIO. Type 2 boards have 21. Type 3 boards have 26. + +.br + +.br +See \fBgpioHardwareRevision\fP. + +.br + +.br +The user GPIO are marked with an X in the following table. + +.br + +.br + +.EX + 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 +.br +Type 1 X X - - X - - X X X X X - - X X +.br +Type 2 - - X X X - - X X X X X - - X X +.br +Type 3 X X X X X X X X X X X X X X +.br + +.br + 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 +.br +Type 1 - X X - - X X X X X - - - - - - +.br +Type 2 - X X - - - X X X X - X X X X X +.br +Type 3 X X X X X X X X X X X X - - - - +.br + +.EE + +.br + +.br + +.IP "\fBgpioAlertFunc_t\fP" 0 + +.EX +typedef void (*gpioAlertFunc_t) (int gpio, int level, uint32_t tick); +.br + +.EE + +.br + +.br + +.IP "\fBgpioAlertFuncEx_t\fP" 0 + +.EX +typedef void (*gpioAlertFuncEx_t) +.br + (int gpio, int level, uint32_t tick, void *userdata); +.br + +.EE + +.br + +.br + +.IP "\fBgpioCfg*\fP" 0 + +.br + +.br +These functions are only effective if called before \fBgpioInitialise\fP. + +.br + +.br +\fBgpioCfgBufferSize\fP +.br +\fBgpioCfgClock\fP +.br +\fBgpioCfgDMAchannel\fP +.br +\fBgpioCfgDMAchannels\fP +.br +\fBgpioCfgPermissions\fP +.br +\fBgpioCfgInterfaces\fP +.br +\fBgpioCfgSocketPort\fP +.br +\fBgpioCfgMemAlloc\fP + +.br + +.br + +.IP "\fBgpioGetSamplesFunc_t\fP" 0 + +.EX +typedef void (*gpioGetSamplesFunc_t) +.br + (const gpioSample_t *samples, int numSamples); +.br + +.EE + +.br + +.br + +.IP "\fBgpioGetSamplesFuncEx_t\fP" 0 + +.EX +typedef void (*gpioGetSamplesFuncEx_t) +.br + (const gpioSample_t *samples, int numSamples, void *userdata); +.br + +.EE + +.br + +.br + +.IP "\fBgpioISRFunc_t\fP" 0 + +.EX +typedef void (*gpioISRFunc_t) +.br + (int gpio, int level, uint32_t tick); +.br + +.EE + +.br + +.br + +.IP "\fBgpioISRFuncEx_t\fP" 0 + +.EX +typedef void (*gpioISRFuncEx_t) +.br + (int gpio, int level, uint32_t tick, void *userdata); +.br + +.EE + +.br + +.br + +.IP "\fBgpioPulse_t\fP" 0 + +.EX +typedef struct +.br +{ +.br + uint32_t gpioOn; +.br + uint32_t gpioOff; +.br + uint32_t usDelay; +.br +} gpioPulse_t; +.br + +.EE + +.br + +.br + +.IP "\fBgpioSample_t\fP" 0 + +.EX +typedef struct +.br +{ +.br + uint32_t tick; +.br + uint32_t level; +.br +} gpioSample_t; +.br + +.EE + +.br + +.br + +.IP "\fBgpioSignalFunc_t\fP" 0 + +.EX +typedef void (*gpioSignalFunc_t) (int signum); +.br + +.EE + +.br + +.br + +.IP "\fBgpioSignalFuncEx_t\fP" 0 + +.EX +typedef void (*gpioSignalFuncEx_t) (int signum, void *userdata); +.br + +.EE + +.br + +.br + +.IP "\fBgpioThreadFunc_t\fP" 0 + +.EX +typedef void *(gpioThreadFunc_t) (void *); +.br + +.EE + +.br + +.br + +.IP "\fBgpioTimerFunc_t\fP" 0 + +.EX +typedef void (*gpioTimerFunc_t) (void); +.br + +.EE + +.br + +.br + +.IP "\fBgpioTimerFuncEx_t\fP" 0 + +.EX +typedef void (*gpioTimerFuncEx_t) (void *userdata); +.br + +.EE + +.br + +.br + +.IP "\fBgpioWaveAdd*\fP" 0 + +.br + +.br +One of + +.br + +.br +\fBgpioWaveAddNew\fP +.br +\fBgpioWaveAddGeneric\fP +.br +\fBgpioWaveAddSerial\fP + +.br + +.br + +.IP "\fBhandle\fP: >=0" 0 + +.br + +.br +A number referencing an object opened by one of \fBfileOpen\fP, +\fBgpioNotifyOpen\fP, \fBi2cOpen\fP, \fBserOpen\fP, \fBspiOpen\fP. + +.br + +.br + +.IP "\fBi2cAddr\fP: 0-0x7F" 0 +The address of a device on the I2C bus. + +.br + +.br + +.IP "\fBi2cBus\fP: >=0" 0 + +.br + +.br +An I2C bus number. + +.br + +.br + +.IP "\fBi2cFlags\fP: 0" 0 + +.br + +.br +Flags which modify an I2C open command. None are currently defined. + +.br + +.br + +.IP "\fBi2cReg\fP: 0-255" 0 + +.br + +.br +A register of an I2C device. + +.br + +.br + +.IP "\fBifFlags\fP: 0-3" 0 + +.EX +PI_DISABLE_FIFO_IF 1 +.br +PI_DISABLE_SOCK_IF 2 +.br + +.EE + +.br + +.br + +.IP "\fB*inBuf\fP" 0 +A buffer used to pass data to a function. + +.br + +.br + +.IP "\fBinLen\fP" 0 +The number of bytes of data in a buffer. + +.br + +.br + +.IP "\fBint\fP" 0 +A whole number, negative or positive. + +.br + +.br + +.IP "\fBint32_t\fP" 0 +A 32-bit signed value. + +.br + +.br + +.IP "\fBinvert\fP" 0 +A flag used to set normal or inverted bit bang serial data level logic. + +.br + +.br + +.IP "\fBlevel\fP" 0 +The level of a GPIO. Low or High. + +.br + +.br + +.EX +PI_OFF 0 +.br +PI_ON 1 +.br + +.br +PI_CLEAR 0 +.br +PI_SET 1 +.br + +.br +PI_LOW 0 +.br +PI_HIGH 1 +.br + +.EE + +.br + +.br +There is one exception. If a watchdog expires on a GPIO the level will be +reported as PI_TIMEOUT. See \fBgpioSetWatchdog\fP. + +.br + +.br + +.EX +PI_TIMEOUT 2 +.br + +.EE + +.br + +.br + +.br + +.br + +.IP "\fBlVal\fP: 0-4294967295 (Hex 0x0-0xFFFFFFFF, Octal 0-37777777777)" 0 + +.br + +.br +A 32-bit word value. + +.br + +.br + +.IP "\fBmemAllocMode\fP: 0-2" 0 + +.br + +.br +The DMA memory allocation mode. + +.br + +.br + +.EX +PI_MEM_ALLOC_AUTO 0 +.br +PI_MEM_ALLOC_PAGEMAP 1 +.br +PI_MEM_ALLOC_MAILBOX 2 +.br + +.EE + +.br + +.br + +.IP "\fB*micros\fP" 0 + +.br + +.br +A value representing microseconds. + +.br + +.br + +.IP "\fBmicros\fP" 0 + +.br + +.br +A value representing microseconds. + +.br + +.br + +.IP "\fBmillis\fP" 0 + +.br + +.br +A value representing milliseconds. + +.br + +.br + +.IP "\fBMISO\fP" 0 +The GPIO used for the MISO signal when bit banging SPI. + +.br + +.br + +.IP "\fBmode\fP" 0 + +.br + +.br +1. The operational mode of a GPIO, normally INPUT or OUTPUT. + +.br + +.br + +.EX +PI_INPUT 0 +.br +PI_OUTPUT 1 +.br +PI_ALT0 4 +.br +PI_ALT1 5 +.br +PI_ALT2 6 +.br +PI_ALT3 7 +.br +PI_ALT4 3 +.br +PI_ALT5 2 +.br + +.EE + +.br + +.br +2. A file open mode. + +.br + +.br + +.EX +PI_FILE_READ 1 +.br +PI_FILE_WRITE 2 +.br +PI_FILE_RW 3 +.br + +.EE + +.br + +.br +The following values can be or'd into the mode. + +.br + +.br + +.EX +PI_FILE_APPEND 4 +.br +PI_FILE_CREATE 8 +.br +PI_FILE_TRUNC 16 +.br + +.EE + +.br + +.br + +.IP "\fBMOSI\fP" 0 +The GPIO used for the MOSI signal when bit banging SPI. + +.br + +.br + +.IP "\fBnumBits\fP" 0 + +.br + +.br +The number of bits stored in a buffer. + +.br + +.br + +.IP "\fBnumBytes\fP" 0 +The number of bytes used to store characters in a string. Depending +on the number of bits per character there may be 1, 2, or 4 bytes +per character. + +.br + +.br + +.IP "\fBnumPar\fP: 0-10" 0 +The number of parameters passed to a script. + +.br + +.br + +.IP "\fBnumPulses\fP" 0 +The number of pulses to be added to a waveform. + +.br + +.br + +.IP "\fBnumSegs\fP" 0 +The number of segments in a combined I2C transaction. + +.br + +.br + +.IP "\fBnumSockAddr\fP" 0 +The number of network addresses allowed to use the socket interface. + +.br + +.br +0 means all addresses allowed. + +.br + +.br + +.IP "\fBoffset\fP" 0 +The associated data starts this number of microseconds from the start of +the waveform. + +.br + +.br + +.IP "\fB*outBuf\fP" 0 +A buffer used to return data from a function. + +.br + +.br + +.IP "\fBoutLen\fP" 0 +The size in bytes of an output buffer. + +.br + +.br + +.IP "\fBpad\fP: 0-2" 0 +A set of GPIO which share common drivers. + +.br + +.br +Pad GPIO +.br +0 0-27 +.br +1 28-45 +.br +2 46-53 +.br + +.br + +.br + +.IP "\fBpadStrength\fP: 1-16" 0 +The mA which may be drawn from each GPIO whilst still guaranteeing the +high and low levels. + +.br + +.br + +.IP "\fB*param\fP" 0 +An array of script parameters. + +.br + +.br + +.IP "\fBpi_i2c_msg_t\fP" 0 + +.EX +typedef struct +.br +{ +.br + uint16_t addr; // slave address +.br + uint16_t flags; +.br + uint16_t len; // msg length +.br + uint8_t *buf; // pointer to msg data +.br +} pi_i2c_msg_t; +.br + +.EE + +.br + +.br + +.IP "\fBport\fP: 1024-32000" 0 +The port used to bind to the pigpio socket. Defaults to 8888. + +.br + +.br + +.IP "\fBpos\fP" 0 +The position of an item. + +.br + +.br + +.IP "\fBprimaryChannel\fP: 0-14" 0 +The DMA channel used to time the sampling of GPIO and to time servo and +PWM pulses. + +.br + +.br + +.IP "\fB*pth\fP" 0 + +.br + +.br +A thread identifier, returned by \fBgpioStartThread\fP. + +.br + +.br + +.IP "\fBpthread_t\fP" 0 + +.br + +.br +A thread identifier. + +.br + +.br + +.IP "\fBpud\fP: 0-2" 0 + +.br + +.br +The setting of the pull up/down resistor for a GPIO, which may be off, +pull-up, or pull-down. + +.EX +PI_PUD_OFF 0 +.br +PI_PUD_DOWN 1 +.br +PI_PUD_UP 2 +.br + +.EE + +.br + +.br + +.IP "\fBpulseLen\fP" 0 + +.br + +.br +1-100, the length of a trigger pulse in microseconds. + +.br + +.br + +.IP "\fB*pulses\fP" 0 + +.br + +.br +An array of pulses to be added to a waveform. + +.br + +.br + +.IP "\fBpulsewidth\fP: 0, 500-2500" 0 + +.EX +PI_SERVO_OFF 0 +.br +PI_MIN_SERVO_PULSEWIDTH 500 +.br +PI_MAX_SERVO_PULSEWIDTH 2500 +.br + +.EE + +.br + +.br + +.IP "\fBPWMduty\fP: 0-1000000 (1M)" 0 +The hardware PWM dutycycle. + +.br + +.br + +.EX +PI_HW_PWM_RANGE 1000000 +.br + +.EE + +.br + +.br + +.IP "\fBPWMfreq\fP: 5-250K" 0 +The hardware PWM frequency. + +.br + +.br + +.EX +PI_HW_PWM_MIN_FREQ 1 +.br +PI_HW_PWM_MAX_FREQ 125000000 +.br + +.EE + +.br + +.br + +.IP "\fBrange\fP: 25-40000" 0 + +.EX +PI_MIN_DUTYCYCLE_RANGE 25 +.br +PI_MAX_DUTYCYCLE_RANGE 40000 +.br + +.EE + +.br + +.br + +.IP "\fBrawCbs_t\fP" 0 + +.EX +typedef struct // linux/arch/arm/mach-bcm2708/include/mach/dma.h +.br +{ +.br + unsigned long info; +.br + unsigned long src; +.br + unsigned long dst; +.br + unsigned long length; +.br + unsigned long stride; +.br + unsigned long next; +.br + unsigned long pad[2]; +.br +} rawCbs_t; +.br + +.EE + +.br + +.br + +.IP "\fBrawSPI_t\fP" 0 + +.EX +typedef struct +.br +{ +.br + int clk; // GPIO for clock +.br + int mosi; // GPIO for MOSI +.br + int miso; // GPIO for MISO +.br + int ss_pol; // slave select off state +.br + int ss_us; // delay after slave select +.br + int clk_pol; // clock off state +.br + int clk_pha; // clock phase +.br + int clk_us; // clock micros +.br +} rawSPI_t; +.br + +.EE + +.br + +.br + +.IP "\fBrawWave_t\fP" 0 + +.EX +typedef struct +.br +{ +.br + uint32_t gpioOn; +.br + uint32_t gpioOff; +.br + uint32_t usDelay; +.br + uint32_t flags; +.br +} rawWave_t; +.br + +.EE + +.br + +.br + +.IP "\fBrawWaveInfo_t\fP" 0 + +.EX +typedef struct +.br +{ +.br + uint16_t botCB; // first CB used by wave +.br + uint16_t topCB; // last CB used by wave +.br + uint16_t botOOL; // last OOL used by wave +.br + uint16_t topOOL; // first OOL used by wave +.br + uint16_t deleted; +.br + uint16_t numCB; +.br + uint16_t numBOOL; +.br + uint16_t numTOOL; +.br +} rawWaveInfo_t; +.br + +.EE + +.br + +.br + +.IP "\fB*retBuf\fP" 0 + +.br + +.br +A buffer to hold a number of bytes returned to a used customised function, + +.br + +.br + +.IP "\fBretMax\fP" 0 + +.br + +.br +The maximum number of bytes a user customised function should return. + +.br + +.br + +.IP "\fB*rxBuf\fP" 0 + +.br + +.br +A pointer to a buffer to receive data. + +.br + +.br + +.IP "\fBSCL\fP" 0 +The user GPIO to use for the clock when bit banging I2C. + +.br + +.br + +.IP "\fBSCLK\fP" 0 +The GPIO used for the SCLK signal when bit banging SPI. + +.br + +.br + +.IP "\fB*script\fP" 0 +A pointer to the text of a script. + +.br + +.br + +.IP "\fBscript_id\fP" 0 +An id of a stored script as returned by \fBgpioStoreScript\fP. + +.br + +.br + +.IP "\fB*scriptName\fP" 0 +The name of a \fBshell\fP script to be executed. The script must be present in +/opt/pigpio/cgi and must have execute permission. + +.br + +.br + +.IP "\fB*scriptString\fP" 0 +The string to be passed to a \fBshell\fP script to be executed. + +.br + +.br + +.IP "\fBSDA\fP" 0 +The user GPIO to use for data when bit banging I2C. + +.br + +.br + +.IP "\fBsecondaryChannel\fP: 0-6" 0 + +.br + +.br +The DMA channel used to time output waveforms. + +.br + +.br + +.IP "\fB*seconds\fP" 0 + +.br + +.br +A pointer to a uint32_t to store the second component of +a returned time. + +.br + +.br + +.IP "\fBseconds\fP" 0 +The number of seconds. + +.br + +.br + +.IP "\fBseekFrom\fP" 0 + +.br + +.br + +.EX +PI_FROM_START 0 +.br +PI_FROM_CURRENT 1 +.br +PI_FROM_END 2 +.br + +.EE + +.br + +.br + +.IP "\fBseekOffset\fP" 0 +The number of bytes to move forward (positive) or backwards (negative) +from the seek position (start, current, or end of file). + +.br + +.br + +.IP "\fB*segs\fP" 0 +An array of segments which make up a combined I2C transaction. + +.br + +.br + +.IP "\fBserFlags\fP" 0 +Flags which modify a serial open command. None are currently defined. + +.br + +.br + +.IP "\fB*sertty\fP" 0 +The name of a serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0, /dev/tty1. + +.br + +.br + +.IP "\fBsetting\fP" 0 +A value used to set a flag, 0 for false, non-zero for true. + +.br + +.br + +.IP "\fBsignum\fP: 0-63" 0 + +.EX +PI_MIN_SIGNUM 0 +.br +PI_MAX_SIGNUM 63 +.br + +.EE + +.br + +.br + +.IP "\fBsize_t\fP" 0 + +.br + +.br +A standard type used to indicate the size of an object in bytes. + +.br + +.br + +.IP "\fB*sockAddr\fP" 0 +An array of network addresses allowed to use the socket interface encoded +as 32 bit numbers. + +.br + +.br +E.g. address 192.168.1.66 would be encoded as 0x4201a8c0. + +.br + +.br + +.IP "\fB*spi\fP" 0 +A pointer to a \fBrawSPI_t\fP structure. + +.br + +.br + +.IP "\fBspiBitFirst\fP" 0 +GPIO reads are made from spiBitFirst to spiBitLast. + +.br + +.br + +.IP "\fBspiBitLast\fP" 0 + +.br + +.br +GPIO reads are made from spiBitFirst to spiBitLast. + +.br + +.br + +.IP "\fBspiBits\fP" 0 +The number of bits to transfer in a raw SPI transaction. + +.br + +.br + +.IP "\fBspiChan\fP" 0 +A SPI channel, 0-2. + +.br + +.br + +.IP "\fBspiFlags\fP" 0 +See \fBspiOpen\fP and \fBbbSPIOpen\fP. + +.br + +.br + +.IP "\fBspiSS\fP" 0 +The SPI slave select GPIO in a raw SPI transaction. + +.br + +.br + +.IP "\fBspiTxBits\fP" 0 +The number of bits to transfer dring a raw SPI transaction + +.br + +.br + +.IP "\fBsteady\fP: 0-300000" 0 + +.br + +.br +The number of microseconds level changes must be stable for +before reporting the level changed (\fBgpioGlitchFilter\fP) or triggering +the active part of a noise filter (\fBgpioNoiseFilter\fP). + +.br + +.br + +.IP "\fBstop_bits\fP: 2-8" 0 +The number of (half) stop bits to be used when adding serial data +to a waveform. + +.br + +.br + +.EX +PI_MIN_WAVE_HALFSTOPBITS 2 +.br +PI_MAX_WAVE_HALFSTOPBITS 8 +.br + +.EE + +.br + +.br + +.IP "\fB*str\fP" 0 +An array of characters. + +.br + +.br + +.IP "\fBtimeout\fP" 0 +A GPIO level change timeout in milliseconds. + +.br + +.br +\fBgpioSetWatchdog\fP + +.EX +PI_MIN_WDOG_TIMEOUT 0 +.br +PI_MAX_WDOG_TIMEOUT 60000 +.br + +.EE + +.br + +.br +\fBgpioSetISRFunc\fP and \fBgpioSetISRFuncEx\fP + +.EX +<=0 cancel timeout +.br +>0 timeout after specified milliseconds +.br + +.EE + +.br + +.br + +.IP "\fBtimer\fP" 0 + +.EX +PI_MIN_TIMER 0 +.br +PI_MAX_TIMER 9 +.br + +.EE + +.br + +.br + +.IP "\fBtimetype\fP" 0 + +.EX +PI_TIME_RELATIVE 0 +.br +PI_TIME_ABSOLUTE 1 +.br + +.EE + +.br + +.br + +.IP "\fB*txBuf\fP" 0 + +.br + +.br +An array of bytes to transmit. + +.br + +.br + +.IP "\fBuint32_t\fP: 0-0-4,294,967,295 (Hex 0x0-0xFFFFFFFF)" 0 + +.br + +.br +A 32-bit unsigned value. + +.br + +.br + +.IP "\fBuint64_t\fP: 0-(2^64)-1" 0 + +.br + +.br +A 64-bit unsigned value. + +.br + +.br + +.IP "\fBunsigned\fP" 0 + +.br + +.br +A whole number >= 0. + +.br + +.br + +.IP "\fBupdateMask\fP" 0 + +.br + +.br +A 64 bit mask indicating which GPIO may be written to by the user. + +.br + +.br +If GPIO#n may be written then bit (1< 3 +.br +#define PI_BAD_CHANNEL -27 // DMA channel not 0-14 +.br +#define PI_BAD_PRIM_CHANNEL -27 // DMA primary channel not 0-14 +.br +#define PI_BAD_SOCKET_PORT -28 // socket port not 1024-32000 +.br +#define PI_BAD_FIFO_COMMAND -29 // unrecognized fifo command +.br +#define PI_BAD_SECO_CHANNEL -30 // DMA secondary channel not 0-6 +.br +#define PI_NOT_INITIALISED -31 // function called before gpioInitialise +.br +#define PI_INITIALISED -32 // function called after gpioInitialise +.br +#define PI_BAD_WAVE_MODE -33 // waveform mode not 0-3 +.br +#define PI_BAD_CFG_INTERNAL -34 // bad parameter in gpioCfgInternals call +.br +#define PI_BAD_WAVE_BAUD -35 // baud rate not 50-250K(RX)/50-1M(TX) +.br +#define PI_TOO_MANY_PULSES -36 // waveform has too many pulses +.br +#define PI_TOO_MANY_CHARS -37 // waveform has too many chars +.br +#define PI_NOT_SERIAL_GPIO -38 // no bit bang serial read on GPIO +.br +#define PI_BAD_SERIAL_STRUC -39 // bad (null) serial structure parameter +.br +#define PI_BAD_SERIAL_BUF -40 // bad (null) serial buf parameter +.br +#define PI_NOT_PERMITTED -41 // GPIO operation not permitted +.br +#define PI_SOME_PERMITTED -42 // one or more GPIO not permitted +.br +#define PI_BAD_WVSC_COMMND -43 // bad WVSC subcommand +.br +#define PI_BAD_WVSM_COMMND -44 // bad WVSM subcommand +.br +#define PI_BAD_WVSP_COMMND -45 // bad WVSP subcommand +.br +#define PI_BAD_PULSELEN -46 // trigger pulse length not 1-100 +.br +#define PI_BAD_SCRIPT -47 // invalid script +.br +#define PI_BAD_SCRIPT_ID -48 // unknown script id +.br +#define PI_BAD_SER_OFFSET -49 // add serial data offset > 30 minutes +.br +#define PI_GPIO_IN_USE -50 // GPIO already in use +.br +#define PI_BAD_SERIAL_COUNT -51 // must read at least a byte at a time +.br +#define PI_BAD_PARAM_NUM -52 // script parameter id not 0-9 +.br +#define PI_DUP_TAG -53 // script has duplicate tag +.br +#define PI_TOO_MANY_TAGS -54 // script has too many tags +.br +#define PI_BAD_SCRIPT_CMD -55 // illegal script command +.br +#define PI_BAD_VAR_NUM -56 // script variable id not 0-149 +.br +#define PI_NO_SCRIPT_ROOM -57 // no more room for scripts +.br +#define PI_NO_MEMORY -58 // can't allocate temporary memory +.br +#define PI_SOCK_READ_FAILED -59 // socket read failed +.br +#define PI_SOCK_WRIT_FAILED -60 // socket write failed +.br +#define PI_TOO_MANY_PARAM -61 // too many script parameters (> 10) +.br +#define PI_NOT_HALTED -62 // DEPRECATED +.br +#define PI_SCRIPT_NOT_READY -62 // script initialising +.br +#define PI_BAD_TAG -63 // script has unresolved tag +.br +#define PI_BAD_MICS_DELAY -64 // bad MICS delay (too large) +.br +#define PI_BAD_MILS_DELAY -65 // bad MILS delay (too large) +.br +#define PI_BAD_WAVE_ID -66 // non existent wave id +.br +#define PI_TOO_MANY_CBS -67 // No more CBs for waveform +.br +#define PI_TOO_MANY_OOL -68 // No more OOL for waveform +.br +#define PI_EMPTY_WAVEFORM -69 // attempt to create an empty waveform +.br +#define PI_NO_WAVEFORM_ID -70 // no more waveforms +.br +#define PI_I2C_OPEN_FAILED -71 // can't open I2C device +.br +#define PI_SER_OPEN_FAILED -72 // can't open serial device +.br +#define PI_SPI_OPEN_FAILED -73 // can't open SPI device +.br +#define PI_BAD_I2C_BUS -74 // bad I2C bus +.br +#define PI_BAD_I2C_ADDR -75 // bad I2C address +.br +#define PI_BAD_SPI_CHANNEL -76 // bad SPI channel +.br +#define PI_BAD_FLAGS -77 // bad i2c/spi/ser open flags +.br +#define PI_BAD_SPI_SPEED -78 // bad SPI speed +.br +#define PI_BAD_SER_DEVICE -79 // bad serial device name +.br +#define PI_BAD_SER_SPEED -80 // bad serial baud rate +.br +#define PI_BAD_PARAM -81 // bad i2c/spi/ser parameter +.br +#define PI_I2C_WRITE_FAILED -82 // i2c write failed +.br +#define PI_I2C_READ_FAILED -83 // i2c read failed +.br +#define PI_BAD_SPI_COUNT -84 // bad SPI count +.br +#define PI_SER_WRITE_FAILED -85 // ser write failed +.br +#define PI_SER_READ_FAILED -86 // ser read failed +.br +#define PI_SER_READ_NO_DATA -87 // ser read no data available +.br +#define PI_UNKNOWN_COMMAND -88 // unknown command +.br +#define PI_SPI_XFER_FAILED -89 // spi xfer/read/write failed +.br +#define PI_BAD_POINTER -90 // bad (NULL) pointer +.br +#define PI_NO_AUX_SPI -91 // no auxiliary SPI on Pi A or B +.br +#define PI_NOT_PWM_GPIO -92 // GPIO is not in use for PWM +.br +#define PI_NOT_SERVO_GPIO -93 // GPIO is not in use for servo pulses +.br +#define PI_NOT_HCLK_GPIO -94 // GPIO has no hardware clock +.br +#define PI_NOT_HPWM_GPIO -95 // GPIO has no hardware PWM +.br +#define PI_BAD_HPWM_FREQ -96 // hardware PWM frequency not 1-125M +.br +#define PI_BAD_HPWM_DUTY -97 // hardware PWM dutycycle not 0-1M +.br +#define PI_BAD_HCLK_FREQ -98 // hardware clock frequency not 4689-250M +.br +#define PI_BAD_HCLK_PASS -99 // need password to use hardware clock 1 +.br +#define PI_HPWM_ILLEGAL -100 // illegal, PWM in use for main clock +.br +#define PI_BAD_DATABITS -101 // serial data bits not 1-32 +.br +#define PI_BAD_STOPBITS -102 // serial (half) stop bits not 2-8 +.br +#define PI_MSG_TOOBIG -103 // socket/pipe message too big +.br +#define PI_BAD_MALLOC_MODE -104 // bad memory allocation mode +.br +#define PI_TOO_MANY_SEGS -105 // too many I2C transaction segments +.br +#define PI_BAD_I2C_SEG -106 // an I2C transaction segment failed +.br +#define PI_BAD_SMBUS_CMD -107 // SMBus command not supported by driver +.br +#define PI_NOT_I2C_GPIO -108 // no bit bang I2C in progress on GPIO +.br +#define PI_BAD_I2C_WLEN -109 // bad I2C write length +.br +#define PI_BAD_I2C_RLEN -110 // bad I2C read length +.br +#define PI_BAD_I2C_CMD -111 // bad I2C command +.br +#define PI_BAD_I2C_BAUD -112 // bad I2C baud rate, not 50-500k +.br +#define PI_CHAIN_LOOP_CNT -113 // bad chain loop count +.br +#define PI_BAD_CHAIN_LOOP -114 // empty chain loop +.br +#define PI_CHAIN_COUNTER -115 // too many chain counters +.br +#define PI_BAD_CHAIN_CMD -116 // bad chain command +.br +#define PI_BAD_CHAIN_DELAY -117 // bad chain delay micros +.br +#define PI_CHAIN_NESTING -118 // chain counters nested too deeply +.br +#define PI_CHAIN_TOO_BIG -119 // chain is too long +.br +#define PI_DEPRECATED -120 // deprecated function removed +.br +#define PI_BAD_SER_INVERT -121 // bit bang serial invert not 0 or 1 +.br +#define PI_BAD_EDGE -122 // bad ISR edge value, not 0-2 +.br +#define PI_BAD_ISR_INIT -123 // bad ISR initialisation +.br +#define PI_BAD_FOREVER -124 // loop forever must be last command +.br +#define PI_BAD_FILTER -125 // bad filter parameter +.br +#define PI_BAD_PAD -126 // bad pad number +.br +#define PI_BAD_STRENGTH -127 // bad pad drive strength +.br +#define PI_FIL_OPEN_FAILED -128 // file open failed +.br +#define PI_BAD_FILE_MODE -129 // bad file mode +.br +#define PI_BAD_FILE_FLAG -130 // bad file flag +.br +#define PI_BAD_FILE_READ -131 // bad file read +.br +#define PI_BAD_FILE_WRITE -132 // bad file write +.br +#define PI_FILE_NOT_ROPEN -133 // file not open for read +.br +#define PI_FILE_NOT_WOPEN -134 // file not open for write +.br +#define PI_BAD_FILE_SEEK -135 // bad file seek +.br +#define PI_NO_FILE_MATCH -136 // no files match pattern +.br +#define PI_NO_FILE_ACCESS -137 // no permission to access file +.br +#define PI_FILE_IS_A_DIR -138 // file is a directory +.br +#define PI_BAD_SHELL_STATUS -139 // bad shell return status +.br +#define PI_BAD_SCRIPT_NAME -140 // bad script name +.br +#define PI_BAD_SPI_BAUD -141 // bad SPI baud rate, not 50-500k +.br +#define PI_NOT_SPI_GPIO -142 // no bit bang SPI in progress on GPIO +.br + +.br +#define PI_PIGIF_ERR_0 -2000 +.br +#define PI_PIGIF_ERR_99 -2099 +.br + +.br +#define PI_CUSTOM_ERR_0 -3000 +.br +#define PI_CUSTOM_ERR_999 -3999 +.br + +.br + +.EE +.SH Defaults + +.EX + +.br +#define PI_DEFAULT_BUFFER_MILLIS 120 +.br +#define PI_DEFAULT_CLK_MICROS 5 +.br +#define PI_DEFAULT_CLK_PERIPHERAL PI_CLOCK_PCM +.br +#define PI_DEFAULT_IF_FLAGS 0 +.br +#define PI_DEFAULT_DMA_CHANNEL 14 +.br +#define PI_DEFAULT_DMA_PRIMARY_CHANNEL 14 +.br +#define PI_DEFAULT_DMA_SECONDARY_CHANNEL 6 +.br +#define PI_DEFAULT_SOCKET_PORT 8888 +.br +#define PI_DEFAULT_SOCKET_PORT_STR "8888" +.br +#define PI_DEFAULT_SOCKET_ADDR_STR "127.0.0.1" +.br +#define PI_DEFAULT_UPDATE_MASK_UNKNOWN 0xFFFFFFFF +.br +#define PI_DEFAULT_UPDATE_MASK_B1 0x03E7CF93 +.br +#define PI_DEFAULT_UPDATE_MASK_A_B2 0xFBC7CF9C +.br +#define PI_DEFAULT_UPDATE_MASK_APLUS_BPLUS 0x0080480FFFFFFCLL +.br +#define PI_DEFAULT_UPDATE_MASK_ZERO 0x0080000FFFFFFCLL +.br +#define PI_DEFAULT_UPDATE_MASK_PI2B 0x0080480FFFFFFCLL +.br +#define PI_DEFAULT_UPDATE_MASK_PI3B 0x0000000FFFFFFCLL +.br +#define PI_DEFAULT_UPDATE_MASK_COMPUTE 0x00FFFFFFFFFFFFLL +.br +#define PI_DEFAULT_MEM_ALLOC_MODE PI_MEM_ALLOC_AUTO +.br + +.br +#define PI_DEFAULT_CFG_INTERNALS 0 +.br + +.br + +.EE + +.SH SEE ALSO + +pigpiod(1), pig2vcd(1), pigs(1), pigpiod_if(3), pigpiod_if2(3) +.SH AUTHOR + +joan@abyz.co.uk diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpio.c b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpio.c new file mode 100644 index 0000000..4ad429b --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpio.c @@ -0,0 +1,12934 @@ +/* +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 +*/ + +/* pigpio version 56 */ + +/* include ------------------------------------------------------- */ + +#define _GNU_SOURCE + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pigpio.h" + +#include "command.h" + + +/* --------------------------------------------------------------- */ + +/* + 0 GPFSEL0 GPIO Function Select 0 + 1 GPFSEL1 GPIO Function Select 1 + 2 GPFSEL2 GPIO Function Select 2 + 3 GPFSEL3 GPIO Function Select 3 + 4 GPFSEL4 GPIO Function Select 4 + 5 GPFSEL5 GPIO Function Select 5 + 6 - Reserved + 7 GPSET0 GPIO Pin Output Set 0 + 8 GPSET1 GPIO Pin Output Set 1 + 9 - Reserved +10 GPCLR0 GPIO Pin Output Clear 0 +11 GPCLR1 GPIO Pin Output Clear 1 +12 - Reserved +13 GPLEV0 GPIO Pin Level 0 +14 GPLEV1 GPIO Pin Level 1 +15 - Reserved +16 GPEDS0 GPIO Pin Event Detect Status 0 +17 GPEDS1 GPIO Pin Event Detect Status 1 +18 - Reserved +19 GPREN0 GPIO Pin Rising Edge Detect Enable 0 +20 GPREN1 GPIO Pin Rising Edge Detect Enable 1 +21 - Reserved +22 GPFEN0 GPIO Pin Falling Edge Detect Enable 0 +23 GPFEN1 GPIO Pin Falling Edge Detect Enable 1 +24 - Reserved +25 GPHEN0 GPIO Pin High Detect Enable 0 +26 GPHEN1 GPIO Pin High Detect Enable 1 +27 - Reserved +28 GPLEN0 GPIO Pin Low Detect Enable 0 +29 GPLEN1 GPIO Pin Low Detect Enable 1 +30 - Reserved +31 GPAREN0 GPIO Pin Async. Rising Edge Detect 0 +32 GPAREN1 GPIO Pin Async. Rising Edge Detect 1 +33 - Reserved +34 GPAFEN0 GPIO Pin Async. Falling Edge Detect 0 +35 GPAFEN1 GPIO Pin Async. Falling Edge Detect 1 +36 - Reserved +37 GPPUD GPIO Pin Pull-up/down Enable +38 GPPUDCLK0 GPIO Pin Pull-up/down Enable Clock 0 +39 GPPUDCLK1 GPIO Pin Pull-up/down Enable Clock 1 +40 - Reserved +41 - Test +*/ + +/* +0 CS DMA Channel 0 Control and Status +1 CPI_ONBLK_AD DMA Channel 0 Control Block Address +2 TI DMA Channel 0 CB Word 0 (Transfer Information) +3 SOURCE_AD DMA Channel 0 CB Word 1 (Source Address) +4 DEST_AD DMA Channel 0 CB Word 2 (Destination Address) +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 +*/ + +/* +DEBUG register bits + +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 + a 1. + +bit 1 FIFO_ERROR + + Fifo Error RW 0x0 + + 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. +*/ + +/* +0 CTL PWM Control +1 STA PWM Status +2 DMAC PWM DMA Configuration +4 RNG1 PWM Channel 1 Range +5 DAT1 PWM Channel 1 Data +6 FIF1 PWM FIFO Input +8 RNG2 PWM Channel 2 Range +9 DAT2 PWM Channel 2 Data +*/ + +/* +0 PCM_CS PCM Control and Status +1 PCM_FIFO PCM FIFO Data +2 PCM_MODE PCM Mode +3 PCM_RXC PCM Receive Configuration +4 PCM_TXC PCM Transmit Configuration +5 PCM_DREQ PCM DMA Request Level +6 PCM_INTEN PCM Interrupt Enables +7 PCM_INTSTC PCM Interrupt Status & Clear +8 PCM_GRAY PCM Gray Mode Control +*/ + +/* +0 CS System Timer Control/Status +1 CLO System Timer Counter Lower 32 bits +2 CHI System Timer Counter Higher 32 bits +3 C0 System Timer Compare 0 +4 C1 System Timer Compare 1 +5 C2 System Timer Compare 2 +6 C3 System Timer Compare 3 +*/ + +/* define -------------------------------------------------------- */ + +#define THOUSAND 1000 +#define MILLION 1000000 +#define BILLION 1000000000 + +#define BANK (gpio>>5) + +#define BIT (1<<(gpio&0x1F)) + +#ifndef EMBEDDED_IN_VM +#define DBG(level, format, arg...) DO_DBG(level, format, ## arg) +#else +#define DBG(level, format, arg...) +#endif + +#define DO_DBG(level, format, arg...) \ + { \ + if (gpioCfg.dbgLevel >= level) \ + fprintf(stderr, "%s %s: " format "\n" , \ + myTimeStamp(), __FUNCTION__ , ## arg); \ + } + +#ifndef DISABLE_SER_CHECK_INITED +#define SER_CHECK_INITED CHECK_INITED +#else +#define SER_CHECK_INITED +#endif + +#define CHECK_INITED \ + do \ + { \ + if (!libInitialised) \ + { \ + DBG(DBG_ALWAYS, \ + "pigpio uninitialised, call gpioInitialise()"); \ + return PI_NOT_INITIALISED; \ + } \ + } \ + while (0) + +#define CHECK_INITED_RET_NULL_PTR \ + do \ + { \ + if (!libInitialised) \ + { \ + DBG(DBG_ALWAYS, \ + "pigpio uninitialised, call gpioInitialise()"); \ + return (NULL); \ + } \ + } \ + while (0) + +#define CHECK_INITED_RET_NIL \ + do \ + { \ + if (!libInitialised) \ + { \ + DBG(DBG_ALWAYS, \ + "pigpio uninitialised, call gpioInitialise()"); \ + } \ + } \ + while (0) + +#define CHECK_NOT_INITED \ + do \ + { \ + if (libInitialised) \ + { \ + DBG(DBG_ALWAYS, \ + "pigpio initialised, call gpioTerminate()"); \ + return PI_INITIALISED; \ + } \ + } \ + while (0) + +#define SOFT_ERROR(x, format, arg...) \ + do \ + { \ + 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; \ + if ((result)->tv_nsec >= BILLION) \ + { \ + ++(result)->tv_sec; \ + (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; \ + if ((result)->tv_nsec < 0) \ + { \ + --(result)->tv_sec; \ + (result)->tv_nsec += BILLION; \ + } \ + } \ + while (0) + +#define PI_PERI_BUS 0x7E000000 + +#define AUX_BASE (pi_peri_phys + 0x00215000) +#define CLK_BASE (pi_peri_phys + 0x00101000) +#define DMA_BASE (pi_peri_phys + 0x00007000) +#define DMA15_BASE (pi_peri_phys + 0x00E05000) +#define GPIO_BASE (pi_peri_phys + 0x00200000) +#define PADS_BASE (pi_peri_phys + 0x00100000) +#define PCM_BASE (pi_peri_phys + 0x00203000) +#define PWM_BASE (pi_peri_phys + 0x0020C000) +#define SPI_BASE (pi_peri_phys + 0x00204000) +#define SYST_BASE (pi_peri_phys + 0x00003000) + +#define AUX_LEN 0xD8 +#define CLK_LEN 0xA8 +#define DMA_LEN 0x1000 /* allow access to all channels */ +#define GPIO_LEN 0xB4 +#define PADS_LEN 0x38 +#define PCM_LEN 0x24 +#define PWM_LEN 0x28 +#define SPI_LEN 0x18 +#define SYST_LEN 0x1C + +#define DMA_ENABLE (0xFF0/4) + +#define GPFSEL0 0 + +#define GPSET0 7 +#define GPSET1 8 + +#define GPCLR0 10 +#define GPCLR1 11 + +#define GPLEV0 13 +#define GPLEV1 14 + +#define GPEDS0 16 +#define GPEDS1 17 + +#define GPREN0 19 +#define GPREN1 20 +#define GPFEN0 22 +#define GPFEN1 23 +#define GPHEN0 25 +#define GPHEN1 26 +#define GPLEN0 28 +#define GPLEN1 29 +#define GPAREN0 31 +#define GPAREN1 32 +#define GPAFEN0 34 +#define GPAFEN1 35 + +#define GPPUD 37 +#define GPPUDCLK0 38 +#define GPPUDCLK1 39 + +#define DMA_CS 0 +#define DMA_CONBLK_AD 1 +#define DMA_DEBUG 8 + +/* DMA CS Control and Status bits */ +#define DMA_CHANNEL_RESET (1<<31) +#define DMA_WAIT_ON_WRITES (1<<28) +#define DMA_PANIC_PRIORITY(x) ((x)<<20) +#define DMA_PRIORITY(x) ((x)<<16) +#define DMA_INTERRUPT_STATUS (1<< 2) +#define DMA_END_FLAG (1<< 1) +#define DMA_ACTIVATE (1<< 0) + +/* DMA control block "info" field bits */ +#define DMA_NO_WIDE_BURSTS (1<<26) +#define DMA_PERIPHERAL_MAPPING(x) ((x)<<16) +#define DMA_BURST_LENGTH(x) ((x)<<12) +#define DMA_SRC_IGNORE (1<<11) +#define DMA_SRC_DREQ (1<<10) +#define DMA_SRC_WIDTH (1<< 9) +#define DMA_SRC_INC (1<< 8) +#define DMA_DEST_IGNORE (1<< 7) +#define DMA_DEST_DREQ (1<< 6) +#define DMA_DEST_WIDTH (1<< 5) +#define DMA_DEST_INC (1<< 4) +#define DMA_WAIT_RESP (1<< 3) + +#define DMA_DEBUG_READ_ERR (1<<2) +#define DMA_DEBUG_FIFO_ERR (1<<1) +#define DMA_DEBUG_RD_LST_NOT_SET_ERR (1<<0) + +#define DMA_LITE_FIRST 7 +#define DMA_LITE_MAX 0xfffc + +#define PWM_CTL 0 +#define PWM_STA 1 +#define PWM_DMAC 2 +#define PWM_RNG1 4 +#define PWM_DAT1 5 +#define PWM_FIFO 6 +#define PWM_RNG2 8 +#define PWM_DAT2 9 + +#define PWM_CTL_MSEN2 (1<<15) +#define PWM_CTL_PWEN2 (1<<8) +#define PWM_CTL_MSEN1 (1<<7) +#define PWM_CTL_CLRF1 (1<<6) +#define PWM_CTL_USEF1 (1<<5) +#define PWM_CTL_MODE1 (1<<1) +#define PWM_CTL_PWEN1 (1<<0) + +#define PWM_DMAC_ENAB (1 <<31) +#define PWM_DMAC_PANIC(x) ((x)<< 8) +#define PWM_DMAC_DREQ(x) (x) + +#define PCM_CS 0 +#define PCM_FIFO 1 +#define PCM_MODE 2 +#define PCM_RXC 3 +#define PCM_TXC 4 +#define PCM_DREQ 5 +#define PCM_INTEN 6 +#define PCM_INTSTC 7 +#define PCM_GRAY 8 + +#define PCM_CS_STBY (1 <<25) +#define PCM_CS_SYNC (1 <<24) +#define PCM_CS_RXSEX (1 <<23) +#define PCM_CS_RXERR (1 <<16) +#define PCM_CS_TXERR (1 <<15) +#define PCM_CS_DMAEN (1 <<9) +#define PCM_CS_RXTHR(x) ((x)<<7) +#define PCM_CS_TXTHR(x) ((x)<<5) +#define PCM_CS_RXCLR (1 <<4) +#define PCM_CS_TXCLR (1 <<3) +#define PCM_CS_TXON (1 <<2) +#define PCM_CS_RXON (1 <<1) +#define PCM_CS_EN (1 <<0) + +#define PCM_MODE_CLK_DIS (1 <<28) +#define PCM_MODE_PDMN (1 <<27) +#define PCM_MODE_PDME (1 <<26) +#define PCM_MODE_FRXP (1 <<25) +#define PCM_MODE_FTXP (1 <<24) +#define PCM_MODE_CLKM (1 <<23) +#define PCM_MODE_CLKI (1 <<22) +#define PCM_MODE_FSM (1 <<21) +#define PCM_MODE_FSI (1 <<20) +#define PCM_MODE_FLEN(x) ((x)<<10) +#define PCM_MODE_FSLEN(x) ((x)<< 0) + +#define PCM_RXC_CH1WEX (1 <<31) +#define PCM_RXC_CH1EN (1 <<30) +#define PCM_RXC_CH1POS(x) ((x)<<20) +#define PCM_RXC_CH1WID(x) ((x)<<16) +#define PCM_RXC_CH2WEX (1 <<15) +#define PCM_RXC_CH2EN (1 <<14) +#define PCM_RXC_CH2POS(x) ((x)<< 4) +#define PCM_RXC_CH2WID(x) ((x)<< 0) + +#define PCM_TXC_CH1WEX (1 <<31) +#define PCM_TXC_CH1EN (1 <<30) +#define PCM_TXC_CH1POS(x) ((x)<<20) +#define PCM_TXC_CH1WID(x) ((x)<<16) +#define PCM_TXC_CH2WEX (1 <<15) +#define PCM_TXC_CH2EN (1 <<14) +#define PCM_TXC_CH2POS(x) ((x)<< 4) +#define PCM_TXC_CH2WID(x) ((x)<< 0) + +#define PCM_DREQ_TX_PANIC(x) ((x)<<24) +#define PCM_DREQ_RX_PANIC(x) ((x)<<16) +#define PCM_DREQ_TX_REQ_L(x) ((x)<< 8) +#define PCM_DREQ_RX_REQ_L(x) ((x)<< 0) + +#define PCM_INTEN_RXERR (1<<3) +#define PCM_INTEN_TXERR (1<<2) +#define PCM_INTEN_RXR (1<<1) +#define PCM_INTEN_TXW (1<<0) + +#define PCM_INTSTC_RXERR (1<<3) +#define PCM_INTSTC_TXERR (1<<2) +#define PCM_INTSTC_RXR (1<<1) +#define PCM_INTSTC_TXW (1<<0) + +#define PCM_GRAY_FLUSH (1<<2) +#define PCM_GRAY_CLR (1<<1) +#define PCM_GRAY_EN (1<<0) + +#define BCM_PASSWD (0x5A<<24) + +#define CLK_CTL_MASH(x)((x)<<9) +#define CLK_CTL_BUSY (1 <<7) +#define CLK_CTL_KILL (1 <<5) +#define CLK_CTL_ENAB (1 <<4) +#define CLK_CTL_SRC(x) ((x)<<0) + +#define CLK_SRCS 2 + +#define CLK_CTL_SRC_OSC 1 +#define CLK_CTL_SRC_PLLD 6 + +#define CLK_OSC_FREQ 19200000 +#define CLK_PLLD_FREQ 500000000 + +#define CLK_DIV_DIVI(x) ((x)<<12) +#define CLK_DIV_DIVF(x) ((x)<< 0) + +#define CLK_GP0_CTL 28 +#define CLK_GP0_DIV 29 +#define CLK_GP1_CTL 30 +#define CLK_GP1_DIV 31 +#define CLK_GP2_CTL 32 +#define CLK_GP2_DIV 33 + +#define CLK_PCMCTL 38 +#define CLK_PCMDIV 39 + +#define CLK_PWMCTL 40 +#define CLK_PWMDIV 41 + +#define SYST_CS 0 +#define SYST_CLO 1 +#define SYST_CHI 2 + +/* SPI */ + +#define SPI_CS 0 +#define SPI_FIFO 1 +#define SPI_CLK 2 +#define SPI_DLEN 3 +#define SPI_LTOH 4 +#define SPI_DC 5 + +#define SPI_CS_LEN_LONG (1<<25) +#define SPI_CS_DMA_LEN (1<<24) +#define SPI_CS_CSPOLS(x) ((x)<<21) +#define SPI_CS_RXF (1<<20) +#define SPI_CS_RXR (1<<19) +#define SPI_CS_TXD (1<<18) +#define SPI_CS_RXD (1<<17) +#define SPI_CS_DONE (1<<16) +#define SPI_CS_LEN (1<<13) +#define SPI_CS_REN (1<<12) +#define SPI_CS_ADCS (1<<11) +#define SPI_CS_INTR (1<<10) +#define SPI_CS_INTD (1<<9) +#define SPI_CS_DMAEN (1<<8) +#define SPI_CS_TA (1<<7) +#define SPI_CS_CSPOL(x) ((x)<<6) +#define SPI_CS_CLEAR(x) ((x)<<4) +#define SPI_CS_MODE(x) ((x)<<2) +#define SPI_CS_CS(x) ((x)<<0) + +#define SPI_DC_RPANIC(x) ((x)<<24) +#define SPI_DC_RDREQ(x) ((x)<<16) +#define SPI_DC_TPANIC(x) ((x)<<8) +#define SPI_DC_TDREQ(x) ((x)<<0) + +#define SPI_MODE0 0 +#define SPI_MODE1 1 +#define SPI_MODE2 2 +#define SPI_MODE3 3 + +#define SPI_CS0 0 +#define SPI_CS1 1 +#define SPI_CS2 2 + +/* standard SPI gpios (ALT0) */ + +#define PI_SPI_CE0 8 +#define PI_SPI_CE1 7 +#define PI_SPI_SCLK 11 +#define PI_SPI_MISO 9 +#define PI_SPI_MOSI 10 + +/* auxiliary SPI gpios (ALT4) */ + +#define PI_ASPI_CE0 18 +#define PI_ASPI_CE1 17 +#define PI_ASPI_CE2 16 +#define PI_ASPI_MISO 19 +#define PI_ASPI_MOSI 20 +#define PI_ASPI_SCLK 21 + +/* AUX */ + +#define AUX_IRQ 0 +#define AUX_ENABLES 1 + +#define AUX_MU_IO_REG 16 +#define AUX_MU_IER_REG 17 +#define AUX_MU_IIR_REG 18 +#define AUX_MU_LCR_REG 19 +#define AUX_MU_MCR_REG 20 +#define AUX_MU_LSR_REG 21 +#define AUX_MU_MSR_REG 22 +#define AUX_MU_SCRATCH 23 +#define AUX_MU_CNTL_REG 24 +#define AUX_MU_STAT_REG 25 +#define AUX_MU_BAUD_REG 26 + +#define AUX_SPI0_CNTL0_REG 32 +#define AUX_SPI0_CNTL1_REG 33 +#define AUX_SPI0_STAT_REG 34 +#define AUX_SPI0_PEEK_REG 35 + +#define AUX_SPI0_IO_REG 40 +#define AUX_SPI0_TX_HOLD 44 + +#define AUX_SPI1_CNTL0_REG 48 +#define AUX_SPI1_CNTL1_REG 49 +#define AUX_SPI1_STAT_REG 50 +#define AUX_SPI1_PEEK_REG 51 + +#define AUX_SPI1_IO_REG 56 +#define AUX_SPI1_TX_HOLD 60 + +#define AUXENB_SPI2 (1<<2) +#define AUXENB_SPI1 (1<<1) +#define AUXENB_UART (1<<0) + +#define AUXSPI_CNTL0_SPEED(x) ((x)<<20) +#define AUXSPI_CNTL0_CS(x) ((x)<<17) +#define AUXSPI_CNTL0_POSTINP (1<<16) +#define AUXSPI_CNTL0_VAR_CS (1<<15) +#define AUXSPI_CNTL0_VAR_WIDTH (1<<14) +#define AUXSPI_CNTL0_DOUT_HOLD(x) ((x)<<12) +#define AUXSPI_CNTL0_ENABLE (1<<11) +#define AUXSPI_CNTL0_IN_RISING(x) ((x)<<10) +#define AUXSPI_CNTL0_CLR_FIFOS (1<<9) +#define AUXSPI_CNTL0_OUT_RISING(x) ((x)<<8) +#define AUXSPI_CNTL0_INVERT_CLK(x) ((x)<<7) +#define AUXSPI_CNTL0_MSB_FIRST(x) ((x)<<6) +#define AUXSPI_CNTL0_SHIFT_LEN(x) ((x)<<0) + +#define AUXSPI_CNTL1_CS_HIGH(x) ((x)<<8) +#define AUXSPI_CNTL1_TX_IRQ (1<<7) +#define AUXSPI_CNTL1_DONE_IRQ (1<<6) +#define AUXSPI_CNTL1_MSB_FIRST(x)((x)<<1) +#define AUXSPI_CNTL1_KEEP_INPUT (1<<0) + +#define AUXSPI_STAT_TX_FIFO(x) ((x)<<28) +#define AUXSPI_STAT_RX_FIFO(x) ((x)<<20) +#define AUXSPI_STAT_TX_FULL (1<<10) +#define AUXSPI_STAT_TX_EMPTY (1<<9) +#define AUXSPI_STAT_RX_EMPTY (1<<7) +#define AUXSPI_STAT_BUSY (1<<6) +#define AUXSPI_STAT_BITS(x) ((x)<<0) + +/* --------------------------------------------------------------- */ + +#define NORMAL_DMA (DMA_NO_WIDE_BURSTS | DMA_WAIT_RESP) + +#define TIMED_DMA(x) (DMA_DEST_DREQ | DMA_PERIPHERAL_MAPPING(x)) + +#define PCM_TIMER (((PCM_BASE + PCM_FIFO*4) & 0x00ffffff) | PI_PERI_BUS) +#define PWM_TIMER (((PWM_BASE + PWM_FIFO*4) & 0x00ffffff) | PI_PERI_BUS) + +#define DBG_MIN_LEVEL 0 +#define DBG_ALWAYS 0 +#define DBG_STARTUP 1 +#define DBG_DMACBS 2 +#define DBG_SCRIPT 3 +#define DBG_USER 4 +#define DBG_INTERNAL 5 +#define DBG_SLOW_TICK 6 +#define DBG_FAST_TICK 7 +#define DBG_MAX_LEVEL 8 + +#define GPIO_UNDEFINED 0 +#define GPIO_WRITE 1 +#define GPIO_PWM 2 +#define GPIO_SERVO 3 +#define GPIO_HW_CLK 4 +#define GPIO_HW_PWM 5 +#define GPIO_SPI 6 +#define GPIO_I2C 7 + +#define STACK_SIZE (256*1024) + +#define PAGE_SIZE 4096 + +#define PWM_FREQS 18 + +#define CYCLES_PER_BLOCK 80 +#define PULSE_PER_CYCLE 25 + +#define PAGES_PER_BLOCK 53 + +#define CBS_PER_IPAGE 117 +#define LVS_PER_IPAGE 38 +#define OFF_PER_IPAGE 38 +#define TCK_PER_IPAGE 2 +#define ON_PER_IPAGE 2 +#define PAD_PER_IPAGE 7 + +#define CBS_PER_OPAGE 118 +#define OOL_PER_OPAGE 79 + +/* +Wave Count Block + +Assumes two counters per block. Each counter 4 * 16 (16^4=65536) + 0 CB [13] 13*8 104 CBs for counter 0 + 104 CB [13] 13*8 104 CBs for counter 1 + 208 CB [60] 60*8 480 CBs reserved to construct wave + 688 OOL [60] 60*1 60 OOL reserved to construct wave + 748 OOL[136] 136*1 136 OOL for counter 0 + 884 OOL[136] 136*1 136 OOL for counter 1 +1020 pad [4] 4*1 4 spare +*/ + +#define WCB_CNT_PER_PAGE 2 +#define WCB_COUNTERS (WCB_CNT_PER_PAGE * PI_WAVE_COUNT_PAGES) +#define WCB_CNT_CBS 13 +#define WCB_CNT_OOL 68 +#define WCB_COUNTER_OOL (WCB_CNT_PER_PAGE * WCB_CNT_OOL) +#define WCB_COUNTER_CBS (WCB_CNT_PER_PAGE * WCB_CNT_CBS) +#define WCB_CHAIN_CBS 60 +#define WCB_CHAIN_OOL 60 + +#define CBS_PER_CYCLE ((PULSE_PER_CYCLE*3)+2) + +#define NUM_CBS (CBS_PER_CYCLE * bufferCycles) + +#define SUPERCYCLE 800 +#define SUPERLEVEL 20000 + +#define BLOCK_SIZE (PAGES_PER_BLOCK*PAGE_SIZE) + +#define DMAI_PAGES (PAGES_PER_BLOCK * bufferBlocks) + +#define DMAO_PAGES (PAGES_PER_BLOCK * PI_WAVE_BLOCKS) + +#define NUM_WAVE_OOL (DMAO_PAGES * OOL_PER_OPAGE) +#define NUM_WAVE_CBS (DMAO_PAGES * CBS_PER_OPAGE) + +#define TICKSLOTS 50 + +#define PI_I2C_CLOSED 0 +#define PI_I2C_OPENED 1 + +#define PI_SPI_CLOSED 0 +#define PI_SPI_OPENED 1 + +#define PI_SER_CLOSED 0 +#define PI_SER_OPENED 1 + +#define PI_FILE_CLOSED 0 +#define PI_FILE_OPENED 1 + +#define PI_NOTIFY_CLOSED 0 +#define PI_NOTIFY_CLOSING 1 +#define PI_NOTIFY_OPENED 2 +#define PI_NOTIFY_RUNNING 3 +#define PI_NOTIFY_PAUSED 4 + +#define PI_WFRX_NONE 0 +#define PI_WFRX_SERIAL 1 +#define PI_WFRX_I2C_SDA 2 +#define PI_WFRX_I2C_SCL 3 +#define PI_WFRX_SPI_SCLK 4 +#define PI_WFRX_SPI_MISO 5 +#define PI_WFRX_SPI_MOSI 6 +#define PI_WFRX_SPI_CS 7 + +#define PI_WF_MICROS 1 + +#define BPD 4 + +#define MAX_REPORT 120 +#define MAX_SAMPLE 4000 + +#define DEFAULT_PWM_IDX 5 + +#define MAX_EMITS (PIPE_BUF / sizeof(gpioReport_t)) + +#define SRX_BUF_SIZE 8192 + +#define PI_I2C_RETRIES 0x0701 +#define PI_I2C_TIMEOUT 0x0702 +#define PI_I2C_SLAVE 0x0703 +#define PI_I2C_FUNCS 0x0705 +#define PI_I2C_RDWR 0x0707 +#define PI_I2C_SMBUS 0x0720 + +#define PI_I2C_SMBUS_READ 1 +#define PI_I2C_SMBUS_WRITE 0 + +#define PI_I2C_SMBUS_QUICK 0 +#define PI_I2C_SMBUS_BYTE 1 +#define PI_I2C_SMBUS_BYTE_DATA 2 +#define PI_I2C_SMBUS_WORD_DATA 3 +#define PI_I2C_SMBUS_PROC_CALL 4 +#define PI_I2C_SMBUS_BLOCK_DATA 5 +#define PI_I2C_SMBUS_I2C_BLOCK_BROKEN 6 +#define PI_I2C_SMBUS_BLOCK_PROC_CALL 7 +#define PI_I2C_SMBUS_I2C_BLOCK_DATA 8 + +#define PI_I2C_SMBUS_BLOCK_MAX 32 +#define PI_I2C_SMBUS_I2C_BLOCK_MAX 32 + +#define PI_I2C_FUNC_SMBUS_QUICK 0x00010000 +#define PI_I2C_FUNC_SMBUS_READ_BYTE 0x00020000 +#define PI_I2C_FUNC_SMBUS_WRITE_BYTE 0x00040000 +#define PI_I2C_FUNC_SMBUS_READ_BYTE_DATA 0x00080000 +#define PI_I2C_FUNC_SMBUS_WRITE_BYTE_DATA 0x00100000 +#define PI_I2C_FUNC_SMBUS_READ_WORD_DATA 0x00200000 +#define PI_I2C_FUNC_SMBUS_WRITE_WORD_DATA 0x00400000 +#define PI_I2C_FUNC_SMBUS_PROC_CALL 0x00800000 +#define PI_I2C_FUNC_SMBUS_READ_BLOCK_DATA 0x01000000 +#define PI_I2C_FUNC_SMBUS_WRITE_BLOCK_DATA 0x02000000 +#define PI_I2C_FUNC_SMBUS_READ_I2C_BLOCK 0x04000000 +#define PI_I2C_FUNC_SMBUS_WRITE_I2C_BLOCK 0x08000000 + +#define PI_MASH_MAX_FREQ 23800000 + +#define FLUSH_PAGES 1024 + +#define MB_DEV_MAJOR 100 + +#define MB_IOCTL _IOWR(MB_DEV_MAJOR, 0, char *) + +#define MB_DEV1 "/dev/vcio" +#define MB_DEV2 "/dev/pigpio-mb" + +#define BUS_TO_PHYS(x) ((x)&~0xC0000000) + +#define MB_END_TAG 0 +#define MB_PROCESS_REQUEST 0 + +#define MB_ALLOCATE_MEMORY_TAG 0x3000C +#define MB_LOCK_MEMORY_TAG 0x3000D +#define MB_UNLOCK_MEMORY_TAG 0x3000E +#define MB_RELEASE_MEMORY_TAG 0x3000F + +#define PI_SCRIPT_FREE 0 +#define PI_SCRIPT_RESERVED 1 +#define PI_SCRIPT_IN_USE 2 +#define PI_SCRIPT_DYING 3 + +#define PI_SCRIPT_HALT 0 +#define PI_SCRIPT_RUN 1 +#define PI_SCRIPT_DELETE 2 + +#define PI_SCRIPT_STACK_SIZE 256 + +#define PI_SPI_FLAGS_CHANNEL(x) ((x&7)<<29) + +#define PI_SPI_FLAGS_GET_CHANNEL(x) (((x)>>29)&7) +#define PI_SPI_FLAGS_GET_BITLEN(x) (((x)>>16)&63) +#define PI_SPI_FLAGS_GET_RX_LSB(x) (((x)>>15)&1) +#define PI_SPI_FLAGS_GET_TX_LSB(x) (((x)>>14)&1) +#define PI_SPI_FLAGS_GET_3WREN(x) (((x)>>10)&15) +#define PI_SPI_FLAGS_GET_3WIRE(x) (((x)>>9)&1) +#define PI_SPI_FLAGS_GET_AUX_SPI(x) (((x)>>8)&1) +#define PI_SPI_FLAGS_GET_RESVD(x) (((x)>>5)&7) +#define PI_SPI_FLAGS_GET_CSPOLS(x) (((x)>>2)&7) +#define PI_SPI_FLAGS_GET_MODE(x) ((x)&3) + +#define PI_SPI_FLAGS_GET_CPHA(x) ((x)&1) +#define PI_SPI_FLAGS_GET_CPOL(x) ((x)&2) +#define PI_SPI_FLAGS_GET_CSPOL(x) ((x)&4) + +#define PI_STARTING 0 +#define PI_RUNNING 1 +#define PI_ENDING 2 + +#define PI_MAX_PATH 512 + +/* typedef ------------------------------------------------------- */ + +typedef void (*callbk_t) (); + +typedef struct +{ + rawCbs_t cb [128]; +} dmaPage_t; + +typedef struct +{ + rawCbs_t cb [CBS_PER_IPAGE]; + uint32_t level [LVS_PER_IPAGE]; + uint32_t gpioOff [OFF_PER_IPAGE]; + uint32_t tick [TCK_PER_IPAGE]; + uint32_t gpioOn [ON_PER_IPAGE]; + uint32_t periphData; + uint32_t pad [PAD_PER_IPAGE]; +} dmaIPage_t; + +typedef struct +{ + rawCbs_t cb [CBS_PER_OPAGE]; + uint32_t OOL [OOL_PER_OPAGE]; + uint32_t periphData; +} dmaOPage_t; + +typedef struct +{ + uint8_t is; + uint8_t pad; + uint16_t width; + uint16_t range; /* dutycycles specified by 0 .. range */ + uint16_t freqIdx; +} gpioInfo_t; + +typedef struct +{ + callbk_t func; + unsigned ex; + void *userdata; + + int wdSteadyUs; + uint32_t wdTick; + uint32_t wdLBitV; + + int nfSteadyUs; + int nfActiveUs; + int nfActive; + uint32_t nfTick1; + uint32_t nfTick2; + uint32_t nfLBitV; + uint32_t nfRBitV; + + uint32_t gfSteadyUs; + uint32_t gfTick; + uint32_t gfLBitV; + uint32_t gfRBitV; + +} gpioAlert_t; + +typedef struct +{ + unsigned gpio; + pthread_t *pth; + callbk_t func; + unsigned edge; + int timeout; + unsigned ex; + void *userdata; + int inited; +} gpioISR_t; + +typedef struct +{ + callbk_t func; + unsigned ex; + void *userdata; +} gpioSignal_t; + +typedef struct +{ + callbk_t func; + unsigned ex; + void *userdata; + uint32_t bits; +} gpioGetSamples_t; + +typedef struct +{ + callbk_t func; + unsigned ex; + void *userdata; + unsigned id; + unsigned running; + unsigned millis; + struct timespec nextTick; + pthread_t pthId; +} gpioTimer_t; + +typedef struct +{ + unsigned id; + unsigned state; + unsigned request; + unsigned run_state; + uint32_t waitBits; + uint32_t changedBits; + pthread_t *pthIdp; + pthread_mutex_t pthMutex; + pthread_cond_t pthCond; + cmdScript_t script; +} gpioScript_t; + + +typedef struct +{ + uint16_t valid; + uint16_t servoIdx; +} clkCfg_t; + +typedef struct +{ + uint16_t seqno; + uint16_t state; + uint32_t bits; + uint32_t lastReportTick; + int fd; + int pipe; + int max_emits; +} gpioNotify_t; + +typedef struct +{ + uint16_t state; + int16_t fd; + uint32_t mode; +} fileInfo_t; + +typedef struct +{ + uint16_t state; + int16_t fd; + uint32_t addr; + uint32_t flags; + uint32_t funcs; +} i2cInfo_t; + +typedef struct +{ + uint16_t state; + int16_t fd; + uint32_t flags; +} serInfo_t; + +typedef struct +{ + uint16_t state; + unsigned speed; + uint32_t flags; +} spiInfo_t; + +typedef struct +{ + uint32_t alertTicks; + uint32_t lateTicks; + uint32_t moreToDo; + uint32_t diffTick[TICKSLOTS]; + uint32_t cbTicks; + uint32_t cbCalls; + uint32_t maxEmit; + uint32_t emitFrags; + uint32_t maxSamples; + uint32_t numSamples; + uint32_t DMARestarts; + uint32_t dmaInitCbsCount; + uint32_t goodPipeWrite; + uint32_t shortPipeWrite; + uint32_t wouldBlockPipeWrite; +} gpioStats_t; + +typedef struct +{ + unsigned bufferMilliseconds; + unsigned clockMicros; + unsigned clockPeriph; + unsigned DMAprimaryChannel; + unsigned DMAsecondaryChannel; + unsigned socketPort; + unsigned ifFlags; + unsigned memAllocMode; + unsigned dbgLevel; + unsigned alertFreq; + uint32_t internals; + /* + 0-3: dbgLevel + 4-7: alertFreq + */ +} gpioCfg_t; + +typedef struct +{ + uint32_t micros; + uint32_t highMicros; + uint32_t maxMicros; + uint32_t pulses; + uint32_t highPulses; + uint32_t maxPulses; + uint32_t cbs; + uint32_t highCbs; + uint32_t maxCbs; +} wfStats_t; + +typedef struct +{ + char *buf; + uint32_t bufSize; + int readPos; + int writePos; + uint32_t fullBit; /* nanoseconds */ + uint32_t halfBit; /* nanoseconds */ + int timeout; /* millisconds */ + uint32_t startBitTick; /* microseconds */ + uint32_t nextBitDiff; /* nanoseconds */ + int bit; + uint32_t data; + int bytes; /* 1, 2, 4 */ + int level; + int dataBits; /* 1-32 */ + int invert; /* 0, 1 */ +} wfRxSerial_t; + +typedef struct +{ + int SDA; + int SCL; + int delay; + int SDAMode; + int SCLMode; + int started; +} wfRxI2C_t; + +typedef struct +{ + int CS; + int MISO; + int MOSI; + int SCLK; + int usage; + int delay; + int spiFlags; + int MISOMode; + int MOSIMode; + int CSMode; + int SCLKMode; +} wfRxSPI_t; + +typedef struct +{ + int mode; + int gpio; + uint32_t baud; + pthread_mutex_t mutex; + union + { + wfRxSerial_t s; + wfRxI2C_t I; + wfRxSPI_t S; + }; +} wfRx_t; + +union my_smbus_data +{ + uint8_t byte; + uint16_t word; + uint8_t block[PI_I2C_SMBUS_BLOCK_MAX + 2]; +}; + +struct my_smbus_ioctl_data +{ + uint8_t read_write; + uint8_t command; + uint32_t size; + union my_smbus_data *data; +}; + +typedef struct +{ + pi_i2c_msg_t *msgs; /* pointers to pi_i2c_msgs */ + uint32_t nmsgs; /* number of pi_i2c_msgs */ +} my_i2c_rdwr_ioctl_data_t; + +typedef struct +{ + unsigned div; + unsigned frac; + unsigned clock; +} clkInf_t; + +typedef struct +{ + unsigned handle; /* mbAllocateMemory() */ + uintptr_t bus_addr; /* mbLockMemory() */ + uintptr_t *virtual_addr; /* mbMapMem() */ + unsigned size; /* in bytes */ +} DMAMem_t; + +/* global -------------------------------------------------------- */ + +/* initialise once then preserve */ + +static volatile uint32_t piCores = 0; +static volatile uint32_t pi_peri_phys = 0x20000000; +static volatile uint32_t pi_dram_bus = 0x40000000; +static volatile uint32_t pi_mem_flag = 0x0C; + +static int libInitialised = 0; + +/* initialise every gpioInitialise */ + +static struct timespec libStarted; + +static uint32_t sockNetAddr[MAX_CONNECT_ADDRESSES]; + +static int numSockNetAddr = 0; + +static uint32_t reportedLevel = 0; + +static int waveClockInited = 0; +static int PWMClockInited = 0; + +static volatile gpioStats_t gpioStats; + +static int gpioMaskSet = 0; + +/* initialise if not libInitialised */ + +static uint64_t gpioMask; + +static rawWave_t wf[3][PI_WAVE_MAX_PULSES]; + +static int wfc[3]={0, 0, 0}; + +static int wfcur=0; + +static wfStats_t wfStats= +{ + 0, 0, PI_WAVE_MAX_MICROS, + 0, 0, PI_WAVE_MAX_PULSES, + 0, 0, (DMAO_PAGES * CBS_PER_OPAGE) +}; + +static rawWaveInfo_t waveInfo[PI_MAX_WAVES]; + +static wfRx_t wfRx[PI_MAX_USER_GPIO+1]; + +static int waveOutBotCB = PI_WAVE_COUNT_PAGES*CBS_PER_OPAGE; +static int waveOutBotOOL = PI_WAVE_COUNT_PAGES*OOL_PER_OPAGE; +static int waveOutTopOOL = NUM_WAVE_OOL; +static int waveOutCount = 0; + +static uint32_t *waveEndPtr = NULL; + +static volatile uint32_t alertBits = 0; +static volatile uint32_t monitorBits = 0; +static volatile uint32_t notifyBits = 0; +static volatile uint32_t scriptBits = 0; +static volatile uint32_t gFilterBits = 0; +static volatile uint32_t nFilterBits = 0; +static volatile uint32_t wdogBits = 0; + +static volatile int runState = PI_STARTING; + +static int pthAlertRunning = 0; +static int pthFifoRunning = 0; +static int pthSocketRunning = 0; + +static gpioAlert_t gpioAlert [PI_MAX_USER_GPIO+1]; + +static gpioISR_t gpioISR [PI_MAX_USER_GPIO+1]; + +static gpioGetSamples_t gpioGetSamples; + +static gpioInfo_t gpioInfo [PI_MAX_GPIO+1]; + +static gpioNotify_t gpioNotify [PI_NOTIFY_SLOTS]; + +static fileInfo_t fileInfo [PI_FILE_SLOTS]; +static i2cInfo_t i2cInfo [PI_I2C_SLOTS]; +static serInfo_t serInfo [PI_SER_SLOTS]; +static spiInfo_t spiInfo [PI_SPI_SLOTS]; + +static gpioScript_t gpioScript [PI_MAX_SCRIPTS]; + +static gpioSignal_t gpioSignal [PI_MAX_SIGNUM+1]; + +static gpioTimer_t gpioTimer [PI_MAX_TIMER+1]; + +static int pwmFreq[PWM_FREQS]; + +static pthread_mutex_t spi_main_mutex = PTHREAD_MUTEX_INITIALIZER; +static pthread_mutex_t spi_aux_mutex = PTHREAD_MUTEX_INITIALIZER; + +/* reset after gpioTerminated */ + +/* resources which must be released on gpioTerminate */ + +static FILE * inpFifo = NULL; +static FILE * outFifo = NULL; + +static int fdLock = -1; +static int fdMem = -1; +static int fdSock = -1; +static int fdPmap = -1; +static int fdMbox = -1; + +static DMAMem_t *dmaMboxBlk = MAP_FAILED; +static uintptr_t * * dmaPMapBlk = MAP_FAILED; +static dmaPage_t * * dmaVirt = MAP_FAILED; +static dmaPage_t * * dmaBus = MAP_FAILED; + +static dmaIPage_t * * dmaIVirt = MAP_FAILED; +static dmaIPage_t * * dmaIBus = MAP_FAILED; + +static dmaOPage_t * * dmaOVirt = MAP_FAILED; +static dmaOPage_t * * dmaOBus = MAP_FAILED; + +static volatile uint32_t * auxReg = MAP_FAILED; +static volatile uint32_t * clkReg = MAP_FAILED; +static volatile uint32_t * dmaReg = MAP_FAILED; +static volatile uint32_t * gpioReg = MAP_FAILED; +static volatile uint32_t * padsReg = MAP_FAILED; +static volatile uint32_t * pcmReg = MAP_FAILED; +static volatile uint32_t * pwmReg = MAP_FAILED; +static volatile uint32_t * spiReg = MAP_FAILED; +static volatile uint32_t * systReg = MAP_FAILED; + +static volatile uint32_t * dmaIn = MAP_FAILED; +static volatile uint32_t * dmaOut = MAP_FAILED; + +static uint32_t hw_clk_freq[3]; +static uint32_t hw_pwm_freq[2]; +static uint32_t hw_pwm_duty[2]; +static uint32_t hw_pwm_real_range[2]; + +static volatile gpioCfg_t gpioCfg = +{ + PI_DEFAULT_BUFFER_MILLIS, + PI_DEFAULT_CLK_MICROS, + PI_DEFAULT_CLK_PERIPHERAL, + PI_DEFAULT_DMA_PRIMARY_CHANNEL, + PI_DEFAULT_DMA_SECONDARY_CHANNEL, + PI_DEFAULT_SOCKET_PORT, + PI_DEFAULT_IF_FLAGS, + PI_DEFAULT_MEM_ALLOC_MODE, + 0, /* dbgLevel */ + 0, /* alertFreq */ + 0, /* internals */ +}; + +/* no initialisation required */ + +static unsigned bufferBlocks; /* number of blocks in buffer */ +static unsigned bufferCycles; /* number of cycles */ + +static pthread_t pthAlert; +static pthread_t pthFifo; +static pthread_t pthSocket; + +static uint32_t spi_dummy; + +static unsigned old_mode_ce0; +static unsigned old_mode_ce1; +static unsigned old_mode_sclk; +static unsigned old_mode_miso; +static unsigned old_mode_mosi; + +static uint32_t old_spi_cs; +static uint32_t old_spi_clk; + +static unsigned old_mode_ace0; +static unsigned old_mode_ace1; +static unsigned old_mode_ace2; +static unsigned old_mode_asclk; +static unsigned old_mode_amiso; +static unsigned old_mode_amosi; + +static uint32_t old_spi_cntl0; +static uint32_t old_spi_cntl1; + +/* const --------------------------------------------------------- */ + +static const uint8_t clkDef[PI_MAX_GPIO + 1] = +{ + /* 0 1 2 3 4 5 6 7 8 9 */ + /* 0 */ 0x00, 0x00, 0x00, 0x00, 0x84, 0x94, 0xA4, 0x00, 0x00, 0x00, + /* 1 */ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* 2 */ 0x82, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* 3 */ 0x00, 0x00, 0x84, 0x00, 0x84, 0x00, 0x00, 0x00, 0x00, 0x00, + /* 4 */ 0x00, 0x00, 0x94, 0xA4, 0x94, 0x00, 0x00, 0x00, 0x00, 0x00, + /* 5 */ 0x00, 0x00, 0x00, 0x00, +}; + +/* + 7 6 5 4 3 2 1 0 + V . C C . M M M + + V: 0 no clock, 1 has a clock +CC: 00 CLK0, 01 CLK1, 10 CLK2 + M: 100 ALT0, 010 ALT5 + + gpio4 GPCLK0 ALT0 + gpio5 GPCLK1 ALT0 B+ and compute module only (reserved for system use) + gpio6 GPCLK2 ALT0 B+ and compute module only + gpio20 GPCLK0 ALT5 B+ and compute module only + gpio21 GPCLK1 ALT5 Not available on Rev.2 B (reserved for system use) + + gpio32 GPCLK0 ALT0 Compute module only + gpio34 GPCLK0 ALT0 Compute module only + gpio42 GPCLK1 ALT0 Compute module only (reserved for system use) + gpio43 GPCLK2 ALT0 Compute module only + gpio44 GPCLK1 ALT0 Compute module only (reserved for system use) +*/ + +static const uint8_t PWMDef[PI_MAX_GPIO + 1] = +{ + /* 0 1 2 3 4 5 6 7 8 9 */ + /* 0 */ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* 1 */ 0x00, 0x00, 0x84, 0x94, 0x00, 0x00, 0x00, 0x00, 0x82, 0x92, + /* 2 */ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* 3 */ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* 4 */ 0x84, 0x94, 0x00, 0x00, 0x00, 0x94, 0x00, 0x00, 0x00, 0x00, + /* 5 */ 0x00, 0x00, 0x85, 0x95, +}; + +/* + 7 6 5 4 3 2 1 0 + V . . P . M M M + + V: 0 no PWM, 1 has a PWM + P: 0 PWM0, 1 PWM1 + M: 010 ALT5, 100 ALT0, 101 ALT1 + + gpio12 pwm0 ALT0 + gpio13 pwm1 ALT0 + gpio18 pwm0 ALT5 + gpio19 pwm1 ALT5 + gpio40 pwm0 ALT0 + gpio41 pwm1 ALT0 + gpio45 pwm1 ALT0 + gpio52 pwm0 ALT1 + gpio53 pwm1 ALT1 +*/ + +static const clkCfg_t clkCfg[]= +{ + /* valid servo */ + { 0, 0}, /* 0 */ + { 1, 17}, /* 1 */ + { 1, 16}, /* 2 */ + { 0, 0}, /* 3 */ + { 1, 15}, /* 4 */ + { 1, 14}, /* 5 */ + { 0, 0}, /* 6 */ + { 0, 0}, /* 7 */ + { 1, 13}, /* 8 */ + { 0, 0}, /* 9 */ + { 1, 12}, /* 10 */ +}; + +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); + +static void intScriptBits(void); + +static int gpioNotifyOpenInBand(int fd); + +static void initHWClk + (int clkCtl, int clkDiv, int clkSrc, int divI, int divF, int MASH); + +static void initDMAgo(volatile uint32_t *dmaAddr, uint32_t cbAddr); + +int gpioWaveTxStart(unsigned wave_mode); /* deprecated */ + +static void closeOrphanedNotifications(int slot, int fd); + + +/* ======================================================================= */ + +int myScriptNameValid(char *name) +{ + int i, c, len, valid; + + len = strlen(name); + + valid = 1; + + for (i=0; i 40) c = 40; else c = count; + + for (i=0; ibyte+1, (char*)data)); + + args.read_write = rw; + args.command = cmd; + args.size = size; + args.data = data; + + return ioctl(fd, PI_I2C_SMBUS, &args); +} + +/* ----------------------------------------------------------------------- */ + +static void myGpioSetMode(unsigned gpio, unsigned mode) +{ + int reg, shift; + + reg = gpio/10; + shift = (gpio%10) * 3; + + gpioReg[reg] = (gpioReg[reg] & ~(7<level[slot]; + + return level; +} + +/* ----------------------------------------------------------------------- */ + +static int myI2CGetPar(char *inBuf, int *inPos, int inLen, int *esc) +{ + int bytes; + + if (*esc) bytes = 2; else bytes = 1; + + *esc = 0; + + if (*inPos <= (inLen - bytes)) + { + if (bytes == 1) + { + return inBuf[(*inPos)++]; + } + else + { + (*inPos) += 2; + return inBuf[*inPos-2] + (inBuf[*inPos-1]<<8); + } + } + return -1; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t myGetTick(int pos) +{ + uint32_t tick; + int page, slot; + + myTckPageSlot(pos, &page, &slot); + + tick = dmaIVirt[page]->tick[slot]; + + return tick; +} + +static int myPermit(unsigned gpio) +{ + if (gpio <= PI_MAX_GPIO) + { + if (gpioMask & ((uint64_t)(1)<>32; + + res = gpioWrite_Bits_32_53_Clear(p[1]&mask); + + if ((mask | p[1]) != mask) + { + DBG(DBG_USER, + "gpioWrite_Bits_32_53_Clear: bad bits %08X (permissions %08X)", + p[1], mask); + res = PI_SOME_PERMITTED; + } + break; + + case PI_CMD_BI2CC: + res = bbI2CClose(p[1]); + break; + + case PI_CMD_BI2CO: + memcpy(&p[4], buf, 4); + res = bbI2COpen(p[1], p[2], p[4]); + break; + + case PI_CMD_BI2CZ: + /* use half buffer for write, half buffer for read */ + if (p[3] > (bufSize/2)) p[3] = bufSize/2; + res = bbI2CZip(p[1], buf, p[3], buf+(bufSize/2), bufSize/2); + if (res > 0) + { + memcpy(buf, buf+(bufSize/2), res); + } + break; + + case PI_CMD_BSPIO: + + memcpy(&tmp1, buf+ 0, 4); // MISO + memcpy(&tmp2, buf+ 4, 4); // MOSI + memcpy(&tmp3, buf+ 8, 4); // SCLK + memcpy(&tmp4, buf+12, 4); // baud + memcpy(&tmp5, buf+16, 4); // flags + + if (!myPermit(p[1])) + { + DBG(DBG_USER, + "bbSPIOpen: gpio %d, no permission to update CS", p[1]); + res = PI_NOT_PERMITTED; + } + + if (!myPermit(tmp1)) + { + DBG(DBG_USER, + "bbSPIOpen: gpio %d, no permission to update MISO", tmp1); + res = PI_NOT_PERMITTED; + } + + if (!myPermit(tmp2)) + { + DBG(DBG_USER, + "bbSPIOpen: gpio %d, no permission to update MOSI", tmp2); + res = PI_NOT_PERMITTED; + } + + if (!myPermit(tmp3)) + { + DBG(DBG_USER, + "bbSPIOpen: gpio %d, no permission to update SCLK", tmp3); + res = PI_NOT_PERMITTED; + } + + if (!res) res = bbSPIOpen(p[1], tmp1, tmp2, tmp3, tmp4, tmp5); + break; + + case PI_CMD_BSPIC: + res = bbSPIClose(p[1]); + break; + + case PI_CMD_BSPIX: + if (p[3] > bufSize) p[3] = bufSize; + res = bbSPIXfer(p[1], buf, buf, p[3]); + break; + + case PI_CMD_BR1: res = gpioRead_Bits_0_31(); break; + + case PI_CMD_BR2: res = gpioRead_Bits_32_53(); break; + + case PI_CMD_BS1: + mask = gpioMask; + + res = gpioWrite_Bits_0_31_Set(p[1]&mask); + + if ((mask | p[1]) != mask) + { + DBG(DBG_USER, + "gpioWrite_Bits_0_31_Set: bad bits %08X (permissions %08X)", + p[1], mask); + res = PI_SOME_PERMITTED; + } + break; + + case PI_CMD_BS2: + mask = gpioMask>>32; + + res = gpioWrite_Bits_32_53_Set(p[1]&mask); + + if ((mask | p[1]) != mask) + { + DBG(DBG_USER, + "gpioWrite_Bits_32_53_Set: bad bits %08X (permissions %08X)", + p[1], mask); + res = PI_SOME_PERMITTED; + } + break; + + case PI_CMD_CF1: + res = gpioCustom1(p[1], p[2], buf, p[3]); + break; + + case PI_CMD_CF2: + /* a couple of extra precautions for untrusted code */ + if (p[2] > bufSize) p[2] = bufSize; + res = gpioCustom2(p[1], buf, p[3], buf, p[2]); + if (res > p[2]) res = p[2]; + break; + + case PI_CMD_CGI: res = gpioCfgGetInternals(); break; + + case PI_CMD_CSI: res = gpioCfgSetInternals(p[1]); break; + + case PI_CMD_FC: res = fileClose(p[1]); break; + + case PI_CMD_FG: + res = gpioGlitchFilter(p[1], p[2]); + break; + + case PI_CMD_FL: + if (p[1] > bufSize) p[1] = bufSize; + res = fileList(buf, buf, p[1]); + break; + + case PI_CMD_FN: + memcpy(&p[4], buf, 4); + res = gpioNoiseFilter(p[1], p[2], p[4]); + break; + + case PI_CMD_FO: res = fileOpen(buf, p[1]); break; + + case PI_CMD_FR: + if (p[2] > bufSize) p[2] = bufSize; + res = fileRead(p[1], buf, p[2]); + break; + + case PI_CMD_FS: + memcpy(&p[4], buf, 4); + res = fileSeek(p[1], p[2], p[4]); + break; + + case PI_CMD_FW: res = fileWrite(p[1], buf, p[3]); break; + + case PI_CMD_GDC: res = gpioGetPWMdutycycle(p[1]); break; + + case PI_CMD_GPW: res = gpioGetServoPulsewidth(p[1]); break; + + case PI_CMD_HC: + /* special case to allow password in upper byte */ + if (myPermit(p[1]&0xFFFFFF)) res = gpioHardwareClock(p[1], p[2]); + else + { + DBG(DBG_USER, + "gpioHardwareClock: gpio %d, no permission to update", + p[1] & 0xFFFFFF); + res = PI_NOT_PERMITTED; + } + break; + + case PI_CMD_HELP: break; + + case PI_CMD_HP: + if (myPermit(p[1])) + { + memcpy(&p[4], buf, 4); + res = gpioHardwarePWM(p[1], p[2], p[4]); + } + else + { + DBG(DBG_USER, + "gpioHardwarePWM: gpio %d, no permission to update", p[1]); + res = PI_NOT_PERMITTED; + } + break; + + case PI_CMD_HWVER: res = gpioHardwareRevision(); break; + + + + case PI_CMD_I2CC: res = i2cClose(p[1]); break; + + case PI_CMD_I2CO: + memcpy(&p[4], buf, 4); + res = i2cOpen(p[1], p[2], p[4]); + break; + + case PI_CMD_I2CPC: + memcpy(&p[4], buf, 4); + res = i2cProcessCall(p[1], p[2], p[4]); + break; + + case PI_CMD_I2CPK: + res = i2cBlockProcessCall(p[1], p[2], buf, p[3]); + break; + + case PI_CMD_I2CRB: res = i2cReadByteData(p[1], p[2]); break; + + case PI_CMD_I2CRD: + if (p[2] > bufSize) p[2] = bufSize; + res = i2cReadDevice(p[1], buf, p[2]); + break; + + case PI_CMD_I2CRI: + memcpy(&p[4], buf, 4); + res = i2cReadI2CBlockData(p[1], p[2], buf, p[4]); + break; + + case PI_CMD_I2CRK: + res = i2cReadBlockData(p[1], p[2], buf); + break; + + case PI_CMD_I2CRS: res = i2cReadByte(p[1]); break; + + case PI_CMD_I2CRW: res = i2cReadWordData(p[1], p[2]); break; + + case PI_CMD_I2CWB: + memcpy(&p[4], buf, 4); + res = i2cWriteByteData(p[1], p[2], p[4]); + break; + + case PI_CMD_I2CWD: + res = i2cWriteDevice(p[1], buf, p[3]); + break; + + case PI_CMD_I2CWI: + res = i2cWriteI2CBlockData(p[1], p[2], buf, p[3]); + break; + + case PI_CMD_I2CWK: + res = i2cWriteBlockData(p[1], p[2], buf, p[3]); + break; + + case PI_CMD_I2CWQ: res = i2cWriteQuick(p[1], p[2]); break; + + case PI_CMD_I2CWS: res = i2cWriteByte(p[1], p[2]); break; + + case PI_CMD_I2CWW: + memcpy(&p[4], buf, 4); + res = i2cWriteWordData(p[1], p[2], p[4]); + break; + + case PI_CMD_I2CZ: + /* use half buffer for write, half buffer for read */ + if (p[3] > (bufSize/2)) p[3] = bufSize/2; + res = i2cZip(p[1], buf, p[3], buf+(bufSize/2), bufSize/2); + if (res > 0) + { + memcpy(buf, buf+(bufSize/2), res); + } + break; + + case PI_CMD_MICS: + if (p[1] <= PI_MAX_MICS_DELAY) myGpioDelay(p[1]); + else res = PI_BAD_MICS_DELAY; + break; + + case PI_CMD_MILS: + if (p[1] <= PI_MAX_MILS_DELAY) myGpioDelay(p[1] * 1000); + else res = PI_BAD_MILS_DELAY; + break; + + case PI_CMD_MODEG: res = gpioGetMode(p[1]); break; + + case PI_CMD_MODES: + if (myPermit(p[1])) res = gpioSetMode(p[1], p[2]); + else + { + DBG(DBG_USER, + "gpioSetMode: gpio %d, no permission to update", p[1]); + res = PI_NOT_PERMITTED; + } + break; + + case PI_CMD_NB: res = gpioNotifyBegin(p[1], p[2]); break; + + case PI_CMD_NC: res = gpioNotifyClose(p[1]); break; + + case PI_CMD_NO: res = gpioNotifyOpen(); break; + + case PI_CMD_NP: res = gpioNotifyPause(p[1]); break; + + case PI_CMD_PADG: res = gpioGetPad(p[1]); break; + + case PI_CMD_PADS: res = gpioSetPad(p[1], p[2]); break; + + case PI_CMD_PFG: res = gpioGetPWMfrequency(p[1]); break; + + case PI_CMD_PFS: + if (myPermit(p[1])) res = gpioSetPWMfrequency(p[1], p[2]); + else + { + DBG(DBG_USER, + "gpioSetPWMfrequency: gpio %d, no permission to update", p[1]); + res = PI_NOT_PERMITTED; + } + break; + + case PI_CMD_PIGPV: res = gpioVersion(); break; + + case PI_CMD_PRG: res = gpioGetPWMrange(p[1]); break; + + case PI_CMD_PROC: + res = gpioStoreScript(buf); + break; + + case PI_CMD_PROCD: res = gpioDeleteScript(p[1]); break; + + case PI_CMD_PROCP: + res = gpioScriptStatus(p[1], (uint32_t *)buf); + break; + + case PI_CMD_PROCR: + res = gpioRunScript(p[1], p[3]/4, (uint32_t *)buf); + break; + + case PI_CMD_PROCS: res = gpioStopScript(p[1]); break; + + case PI_CMD_PRRG: res = gpioGetPWMrealRange(p[1]); break; + + case PI_CMD_PRS: + if (myPermit(p[1])) res = gpioSetPWMrange(p[1], p[2]); + else + { + DBG(DBG_USER, + "gpioSetPWMrange: gpio %d, no permission to update", p[1]); + res = PI_NOT_PERMITTED; + } + break; + + case PI_CMD_PUD: + if (myPermit(p[1])) res = gpioSetPullUpDown(p[1], p[2]); + else + { + DBG(DBG_USER, + "gpioSetPullUpDown: gpio %d, no permission to update", p[1]); + res = PI_NOT_PERMITTED; + } + break; + + case PI_CMD_PWM: + if (myPermit(p[1])) res = gpioPWM(p[1], p[2]); + else + { + DBG(DBG_USER, "gpioPWM: gpio %d, no permission to update", p[1]); + res = PI_NOT_PERMITTED; + } + break; + + case PI_CMD_READ: res = gpioRead(p[1]); break; + + case PI_CMD_SERVO: + if (myPermit(p[1])) res = gpioServo(p[1], p[2]); + else + { + DBG(DBG_USER, + "gpioServo: gpio %d, no permission to update", p[1]); + res = PI_NOT_PERMITTED; + } + break; + + + + case PI_CMD_SERRB: res = serReadByte(p[1]); break; + + case PI_CMD_SERWB: res = serWriteByte(p[1], p[2]); break; + + case PI_CMD_SERC: res = serClose(p[1]); break; + + case PI_CMD_SERDA: res = serDataAvailable(p[1]); break; + + case PI_CMD_SERO: res = serOpen(buf, p[1], p[2]); break; + + case PI_CMD_SERR: + if (p[2] > bufSize) p[2] = bufSize; + res = serRead(p[1], buf, p[2]); + break; + + case PI_CMD_SERW: res = serWrite(p[1], buf, p[3]); break; + + + case PI_CMD_SHELL: + res = shell(buf, buf+p[1]+1); + break; + + + case PI_CMD_SLR: + if (p[2] > bufSize) p[2] = bufSize; + res = gpioSerialRead(p[1], buf, p[2]); + break; + + case PI_CMD_SLRC: res = gpioSerialReadClose(p[1]); break; + + case PI_CMD_SLRO: + memcpy(&p[4], buf, 4); + res = gpioSerialReadOpen(p[1], p[2], p[4]); break; + + case PI_CMD_SLRI: res = gpioSerialReadInvert(p[1], p[2]); break; + + case PI_CMD_SPIC: + res = spiClose(p[1]); + break; + + case PI_CMD_SPIO: + memcpy(&p[4], buf, 4); + res = spiOpen(p[1], p[2], p[4]); + break; + + case PI_CMD_SPIR: + if (p[2] > bufSize) p[2] = bufSize; + res = spiRead(p[1], buf, p[2]); + break; + + case PI_CMD_SPIW: + if (p[3] > bufSize) p[3] = bufSize; + res = spiWrite(p[1], buf, p[3]); + break; + + case PI_CMD_SPIX: + if (p[3] > bufSize) p[3] = bufSize; + res = spiXfer(p[1], buf, buf, p[3]); + break; + + case PI_CMD_TICK: res = gpioTick(); break; + + case PI_CMD_TRIG: + if (myPermit(p[1])) + { + memcpy(&p[4], buf, 4); + res = gpioTrigger(p[1], p[2], p[4]); + } + else + { + DBG(DBG_USER, + "gpioTrigger: gpio %d, no permission to update", p[1]); + res = PI_NOT_PERMITTED; + } + break; + + case PI_CMD_WDOG: res = gpioSetWatchdog(p[1], p[2]); break; + + case PI_CMD_WRITE: + if (myPermit(p[1])) res = gpioWrite(p[1], p[2]); + else + { + DBG(DBG_USER, "gpioWrite: gpio %d, no permission to update", p[1]); + res = PI_NOT_PERMITTED; + } + break; + + + + case PI_CMD_WVAG: + + /* need to mask off any non permitted gpios */ + + mask = gpioMask; + pulse = (gpioPulse_t *)buf; + j = p[3]/sizeof(gpioPulse_t); + masked = 0; + + for (i=0; i= 0)) res = PI_SOME_PERMITTED; + + break; + + case PI_CMD_WVAS: + if (myPermit(p[1])) + { + memcpy(&tmp1, buf, 4); /* databits */ + memcpy(&tmp2, buf+4, 4); /* stophalfbits */ + memcpy(&tmp3, buf+8, 4); /* offset */ + res = gpioWaveAddSerial + (p[1], p[2], tmp1, tmp2, tmp3, p[3]-12, buf+12); + } + else + { + DBG( + DBG_USER, + "gpioWaveAddSerial: gpio %d, no permission to update", p[1]); + res = PI_NOT_PERMITTED; + } + break; + + case PI_CMD_WVBSY: res = gpioWaveTxBusy(); break; + + case PI_CMD_WVCHA: + if (p[3] > bufSize) p[3] = bufSize; + res = gpioWaveChain(buf, p[3]); + break; + + + case PI_CMD_WVCLR: res = gpioWaveClear(); break; + + case PI_CMD_WVCRE: res = gpioWaveCreate(); break; + + case PI_CMD_WVDEL: res = gpioWaveDelete(p[1]); break; + + case PI_CMD_WVGO: res = gpioWaveTxStart(PI_WAVE_MODE_ONE_SHOT); break; + + case PI_CMD_WVGOR: res = gpioWaveTxStart(PI_WAVE_MODE_REPEAT); break; + + case PI_CMD_WVHLT: res = gpioWaveTxStop(); break; + + case PI_CMD_WVNEW: res = gpioWaveAddNew(); break; + + case PI_CMD_WVSC: + switch(p[1]) + { + case 0: res = gpioWaveGetCbs(); break; + case 1: res = gpioWaveGetHighCbs(); break; + case 2: res = gpioWaveGetMaxCbs(); break; + default: res = PI_BAD_WVSC_COMMND; + } + break; + + case PI_CMD_WVSM: + switch(p[1]) + { + case 0: res = gpioWaveGetMicros(); break; + case 1: res = gpioWaveGetHighMicros(); break; + case 2: res = gpioWaveGetMaxMicros(); break; + default: res = PI_BAD_WVSM_COMMND; + } + break; + + case PI_CMD_WVSP: + switch(p[1]) + { + case 0: res = gpioWaveGetPulses(); break; + case 1: res = gpioWaveGetHighPulses(); break; + case 2: res = gpioWaveGetMaxPulses(); break; + default: res = PI_BAD_WVSP_COMMND; + } + break; + + case PI_CMD_WVTAT: res = gpioWaveTxAt(); break; + + case PI_CMD_WVTX: + res = gpioWaveTxSend(p[1], PI_WAVE_MODE_ONE_SHOT); break; + + case PI_CMD_WVTXM: + res = gpioWaveTxSend(p[1], p[2]); break; + + case PI_CMD_WVTXR: + res = gpioWaveTxSend(p[1], PI_WAVE_MODE_REPEAT); break; + + default: + res = PI_UNKNOWN_COMMAND; + break; + } + + return res; +} + +/* ----------------------------------------------------------------------- */ + +static void mySetGpioOff(unsigned gpio, int pos) +{ + int page, slot; + + myOffPageSlot(pos, &page, &slot); + + dmaIVirt[page]->gpioOff[slot] |= (1<gpioOff[slot] &= ~(1<gpioOn[slot] |= (1<gpioOn[slot] &= ~(1<handle) + { + mbUnmapMem(DMAMemP->virtual_addr, DMAMemP->size); + mbUnlockMemory(fdMbox, DMAMemP->handle); + mbReleaseMemory(fdMbox, DMAMemP->handle); + DMAMemP->handle = 0; + } +} + +static int mbDMAAlloc(DMAMem_t *DMAMemP, unsigned size, uint32_t pi_mem_flag) +{ + DMAMemP->size = size; + + DMAMemP->handle = + mbAllocateMemory(fdMbox, size, PAGE_SIZE, pi_mem_flag); + + if (DMAMemP->handle) + { + DMAMemP->bus_addr = mbLockMemory(fdMbox, DMAMemP->handle); + + DMAMemP->virtual_addr = + mbMapMem(BUS_TO_PHYS(DMAMemP->bus_addr), size); + + return 1; + } + return 0; +} + + +/* ======================================================================= */ + +rawCbs_t * rawWaveCBAdr(int cbNum) +{ + int page, slot; + + page = cbNum/CBS_PER_OPAGE; + slot = cbNum%CBS_PER_OPAGE; + + return &dmaOVirt[page]->cb[slot]; +} + + +/* ----------------------------------------------------------------------- */ + +static uint32_t waveCbPOadr(int pos) +{ + int page, slot; + + page = pos/CBS_PER_OPAGE; + slot = pos%CBS_PER_OPAGE; + + return (uint32_t) &dmaOBus[page]->cb[slot]; +} + +/* ----------------------------------------------------------------------- */ + +static void waveOOLPageSlot(int pos, int *page, int *slot) +{ + *page = pos/OOL_PER_OPAGE; + *slot = pos%OOL_PER_OPAGE; +} + + +/* ----------------------------------------------------------------------- */ + +static void waveSetOOL(int pos, uint32_t OOL) +{ + int page, slot; + + waveOOLPageSlot(pos, &page, &slot); + + dmaOVirt[page]->OOL[slot] = OOL; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t waveOOLPOadr(int pos) +{ + int page, slot; + + waveOOLPageSlot(pos, &page, &slot); + + return (uint32_t) &dmaOBus[page]->OOL[slot]; +} + + +/* ----------------------------------------------------------------------- */ + +static void waveBitDelay + (unsigned baud, unsigned bits, unsigned stops, unsigned *bitDelay) +{ + unsigned fullBit, last, diff, t, i; + + /* scaled 1000X */ + + fullBit = 1000000000 / baud; + last = 0; + + for (i=0; i<=bits; i++) + { + t = (((i+1)*fullBit)+500)/1000; + diff = t - last; + last = t; + bitDelay[i] = diff; + } + + t = (((bits+1)*fullBit) + ((stops*fullBit)/2) + 500)/1000; + diff = t - last; + bitDelay[i] = diff; +} + +static int waveDelayCBs(uint32_t delay) +{ + uint32_t cbs; + + if (!delay) return 0; + if (gpioCfg.DMAsecondaryChannel < DMA_LITE_FIRST) return 1; + cbs = BPD * delay / DMA_LITE_MAX; + if ((BPD * delay) % DMA_LITE_MAX) cbs++; + return cbs; +} + +/* ----------------------------------------------------------------------- */ + +static void waveCBsOOLs(int *numCBs, int *numBOOLs, int *numTOOLs) +{ + int numCB=0, numBOOL=0, numTOOL=0; + + unsigned i; + + unsigned numWaves; + + rawWave_t *waves; + + numWaves = wfc[wfcur]; + waves = wf [wfcur]; + + /* delay cb at start of DMA */ + + numCB++; + + for (i=0; iinfo = NORMAL_DMA | TIMED_DMA(2); + p->dst = PCM_TIMER; + } + else + { + p->info = NORMAL_DMA | TIMED_DMA(5); + p->dst = PWM_TIMER; + } + + p->src = (uint32_t) (&dmaOBus[0]->periphData); + p->length = BPD * 20 / PI_WF_MICROS; /* 20 micros delay */ + p->next = waveCbPOadr(botCB); + + repeatCB = botCB; + + for (i=0; iinfo = NORMAL_DMA; + p->src = waveOOLPOadr(botOOL++); + p->dst = ((GPIO_BASE + (GPSET0*4)) & 0x00ffffff) | PI_PERI_BUS; + p->length = 4; + p->next = waveCbPOadr(botCB); + } + + if (waves[i].gpioOff) + { + waveSetOOL(botOOL, waves[i].gpioOff); + + p = rawWaveCBAdr(botCB++); + + p->info = NORMAL_DMA; + p->src = waveOOLPOadr(botOOL++); + p->dst = ((GPIO_BASE + (GPCLR0*4)) & 0x00ffffff) | PI_PERI_BUS; + p->length = 4; + p->next = waveCbPOadr(botCB); + } + + if (waves[i].flags & WAVE_FLAG_READ) + { + p = rawWaveCBAdr(botCB++); + + p->info = NORMAL_DMA; + p->src = ((GPIO_BASE + (GPLEV0*4)) & 0x00ffffff) | PI_PERI_BUS; + p->dst = waveOOLPOadr(--topOOL); + p->length = 4; + p->next = waveCbPOadr(botCB); + } + + if (waves[i].flags & WAVE_FLAG_TICK) + { + p = rawWaveCBAdr(botCB++); + + p->info = NORMAL_DMA; + p->src = ((SYST_BASE + (SYST_CLO*4)) & 0x00ffffff) | PI_PERI_BUS; + p->dst = waveOOLPOadr(--topOOL); + p->length = 4; + p->next = waveCbPOadr(botCB); + } + + if (waves[i].usDelay) + { + delayLeft = waves[i].usDelay; + + delayCBs = waveDelayCBs(delayLeft); + + for (dcb=0; dcbinfo = NORMAL_DMA | TIMED_DMA(2); + p->dst = PCM_TIMER; + } + else + { + p->info = NORMAL_DMA | TIMED_DMA(5); + p->dst = PWM_TIMER; + } + + p->src = (uint32_t) (&dmaOBus[0]->periphData); + + p->length = BPD * delayLeft / PI_WF_MICROS; + + if ((gpioCfg.DMAsecondaryChannel >= DMA_LITE_FIRST) && + (p->length > DMA_LITE_MAX)) + { + p->length = DMA_LITE_MAX; + } + + delayLeft -= (p->length / BPD); + + p->next = waveCbPOadr(botCB); + } + } + } + + if (p != NULL) + { + if (wave_mode == PI_WAVE_MODE_ONE_SHOT) + p->next = 0; + else p->next = waveCbPOadr(repeatCB); + } + + status = botCB - *CB; + + *CB = botCB; + *BOOL = botOOL; + *TOOL = topOOL; + + return status; +} + +/* ----------------------------------------------------------------------- */ + +static void waveRxSerial(wfRx_t *w, int level, uint32_t tick) +{ + int diffTicks, lastLevel; + int newWritePos; + + level = level ^ w->s.invert; + + if (w->s.bit >= 0) + { + diffTicks = tick - w->s.startBitTick; + + if (level != PI_TIMEOUT) + { + w->s.level = level; + lastLevel = !level; + } + else lastLevel = w->s.level; + + while ((w->s.bit <= w->s.dataBits) && + (diffTicks > (w->s.nextBitDiff/1000))) + { + if (w->s.bit) + { + if (lastLevel) w->s.data |= (1<<(w->s.bit-1)); + } + else w->s.data = 0; + + ++(w->s.bit); + + w->s.nextBitDiff += w->s.fullBit; + } + + if (w->s.bit > w->s.dataBits) + { + memcpy(w->s.buf + w->s.writePos, &w->s.data, w->s.bytes); + + /* don't let writePos catch readPos */ + + newWritePos = (w->s.writePos + w->s.bytes) % (w->s.bufSize); + + if (newWritePos != w->s.readPos) w->s.writePos = newWritePos; + + if (level == 0) + { + gpioSetWatchdog(w->gpio, w->s.timeout); + w->s.bit = 0; + w->s.startBitTick = tick; + w->s.nextBitDiff = w->s.halfBit; + } + else + { + w->s.bit = -1; + gpioSetWatchdog(w->gpio, 0); + } + } + } + else + { + /* start bit if high->low */ + + if (level == 0) + { + gpioSetWatchdog(w->gpio, w->s.timeout); + w->s.level = 0; + w->s.bit = 0; + w->s.startBitTick = tick; + w->s.nextBitDiff = w->s.halfBit; + } + } +} + + +/* ----------------------------------------------------------------------- */ + +static void waveRxBit(int gpio, int level, uint32_t tick) +{ + switch (wfRx[gpio].mode) + { + case PI_WFRX_SERIAL: + waveRxSerial(&wfRx[gpio], level, tick); + } +} + + +/* ----------------------------------------------------------------------- */ + +int rawWaveAddGeneric(unsigned numIn1, rawWave_t *in1) +{ + unsigned inPos1=0, inPos2=0, outPos=0, level = NUM_WAVE_OOL; + + unsigned cbs=0; + + unsigned numIn2, numOut; + + uint32_t tNow, tNext1, tNext2, tDelay; + + rawWave_t *in2, *out; + + numIn2 = wfc[wfcur]; + in2 = wf[wfcur]; + + numOut = PI_WAVE_MAX_PULSES; + out = wf[1-wfcur]; + + tNow = 0; + + if (!numIn1) tNext1 = -1; else tNext1 = 0; + if (!numIn2) tNext2 = -1; else tNext2 = 0; + + while (((inPos1= numIn1) tNext1 = -1; + if (inPos2 >= numIn2) tNext2 = -1; + + } + + if ((outPos < numOut) && (outPos < level)) + { + wfStats.micros = tNow; + + if (tNow > wfStats.highMicros) wfStats.highMicros = tNow; + + wfStats.pulses = outPos; + + if (outPos > wfStats.highPulses) wfStats.highPulses = outPos; + + wfStats.cbs = cbs; + + if (cbs > wfStats.highCbs) wfStats.highCbs = cbs; + + wfc[1-wfcur] = outPos; + wfcur = 1 - wfcur; + + return outPos; + } + else return PI_TOO_MANY_PULSES; +} + +/* ======================================================================= */ + +int i2cWriteQuick(unsigned handle, unsigned bit) +{ + int status; + + DBG(DBG_USER, "handle=%d bit=%d", handle, bit); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((i2cInfo[handle].funcs & PI_I2C_FUNC_SMBUS_QUICK) == 0) + SOFT_ERROR(PI_BAD_SMBUS_CMD, "SMBUS command not supported by driver"); + + if (bit > 1) + SOFT_ERROR(PI_BAD_PARAM, "bad bit (%d)", bit); + + status = my_smbus_access( + i2cInfo[handle].fd, bit, 0, PI_I2C_SMBUS_QUICK, NULL); + + if (status < 0) + { + DBG(DBG_USER, "error=%d (%m)", status); + return PI_I2C_WRITE_FAILED; + } + + return status; +} + +int i2cReadByte(unsigned handle) +{ + union my_smbus_data data; + int status; + + DBG(DBG_USER, "handle=%d", handle); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((i2cInfo[handle].funcs & PI_I2C_FUNC_SMBUS_READ_BYTE) == 0) + SOFT_ERROR(PI_BAD_SMBUS_CMD, "SMBUS command not supported by driver"); + + status = my_smbus_access( + i2cInfo[handle].fd, PI_I2C_SMBUS_READ, 0, PI_I2C_SMBUS_BYTE, &data); + + if (status < 0) + { + DBG(DBG_USER, "error=%d (%m)", status); + return PI_I2C_READ_FAILED; + } + + return 0xFF & data.byte; +} + + +int i2cWriteByte(unsigned handle, unsigned bVal) +{ + int status; + + DBG(DBG_USER, "handle=%d bVal=%d", handle, bVal); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((i2cInfo[handle].funcs & PI_I2C_FUNC_SMBUS_WRITE_BYTE) == 0) + SOFT_ERROR(PI_BAD_SMBUS_CMD, "SMBUS command not supported by driver"); + + if (bVal > 0xFF) + SOFT_ERROR(PI_BAD_PARAM, "bad bVal (%d)", bVal); + + status = my_smbus_access( + i2cInfo[handle].fd, + PI_I2C_SMBUS_WRITE, + bVal, + PI_I2C_SMBUS_BYTE, + NULL); + + if (status < 0) + { + DBG(DBG_USER, "error=%d (%m)", status); + return PI_I2C_WRITE_FAILED; + } + + return status; +} + + +int i2cReadByteData(unsigned handle, unsigned reg) +{ + union my_smbus_data data; + int status; + + DBG(DBG_USER, "handle=%d reg=%d", handle, reg); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((i2cInfo[handle].funcs & PI_I2C_FUNC_SMBUS_READ_BYTE_DATA) == 0) + SOFT_ERROR(PI_BAD_SMBUS_CMD, "SMBUS command not supported by driver"); + + if (reg > 0xFF) + SOFT_ERROR(PI_BAD_PARAM, "bad reg (%d)", reg); + + status = my_smbus_access(i2cInfo[handle].fd, + PI_I2C_SMBUS_READ, reg, PI_I2C_SMBUS_BYTE_DATA, &data); + + if (status < 0) + { + DBG(DBG_USER, "error=%d (%m)", status); + return PI_I2C_READ_FAILED; + } + + return 0xFF & data.byte; +} + + +int i2cWriteByteData(unsigned handle, unsigned reg, unsigned bVal) +{ + union my_smbus_data data; + + int status; + + DBG(DBG_USER, "handle=%d reg=%d bVal=%d", handle, reg, bVal); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((i2cInfo[handle].funcs & PI_I2C_FUNC_SMBUS_WRITE_BYTE_DATA) == 0) + SOFT_ERROR(PI_BAD_SMBUS_CMD, "SMBUS command not supported by driver"); + + if (reg > 0xFF) + SOFT_ERROR(PI_BAD_PARAM, "bad reg (%d)", reg); + + if (bVal > 0xFF) + SOFT_ERROR(PI_BAD_PARAM, "bad bVal (%d)", bVal); + + data.byte = bVal; + + status = my_smbus_access( + i2cInfo[handle].fd, + PI_I2C_SMBUS_WRITE, + reg, + PI_I2C_SMBUS_BYTE_DATA, + &data); + + if (status < 0) + { + DBG(DBG_USER, "error=%d (%m)", status); + return PI_I2C_WRITE_FAILED; + } + + return status; +} + + +int i2cReadWordData(unsigned handle, unsigned reg) +{ + union my_smbus_data data; + int status; + + DBG(DBG_USER, "handle=%d reg=%d", handle, reg); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((i2cInfo[handle].funcs & PI_I2C_FUNC_SMBUS_READ_WORD_DATA) == 0) + SOFT_ERROR(PI_BAD_SMBUS_CMD, "SMBUS command not supported by driver"); + + if (reg > 0xFF) + SOFT_ERROR(PI_BAD_PARAM, "bad reg (%d)", reg); + + status = (my_smbus_access( + i2cInfo[handle].fd, + PI_I2C_SMBUS_READ, + reg, + PI_I2C_SMBUS_WORD_DATA, + &data)); + + if (status < 0) + { + DBG(DBG_USER, "error=%d (%m)", status); + return PI_I2C_READ_FAILED; + } + + return 0xFFFF & data.word; +} + + +int i2cWriteWordData(unsigned handle, unsigned reg, unsigned wVal) +{ + union my_smbus_data data; + + int status; + + DBG(DBG_USER, "handle=%d reg=%d wVal=%d", handle, reg, wVal); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((i2cInfo[handle].funcs & PI_I2C_FUNC_SMBUS_WRITE_WORD_DATA) == 0) + SOFT_ERROR(PI_BAD_SMBUS_CMD, "SMBUS command not supported by driver"); + + if (reg > 0xFF) + SOFT_ERROR(PI_BAD_PARAM, "bad reg (%d)", reg); + + if (wVal > 0xFFFF) + SOFT_ERROR(PI_BAD_PARAM, "bad wVal (%d)", wVal); + + data.word = wVal; + + status = my_smbus_access( + i2cInfo[handle].fd, + PI_I2C_SMBUS_WRITE, + reg, + PI_I2C_SMBUS_WORD_DATA, + &data); + + if (status < 0) + { + DBG(DBG_USER, "error=%d (%m)", status); + return PI_I2C_WRITE_FAILED; + } + + return status; +} + + +int i2cProcessCall(unsigned handle, unsigned reg, unsigned wVal) +{ + union my_smbus_data data; + int status; + + DBG(DBG_USER, "handle=%d reg=%d wVal=%d", handle, reg, wVal); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((i2cInfo[handle].funcs & PI_I2C_FUNC_SMBUS_PROC_CALL) == 0) + SOFT_ERROR(PI_BAD_SMBUS_CMD, "SMBUS command not supported by driver"); + + if (reg > 0xFF) + SOFT_ERROR(PI_BAD_PARAM, "bad reg (%d)", reg); + + if (wVal > 0xFFFF) + SOFT_ERROR(PI_BAD_PARAM, "bad wVal (%d)", wVal); + + data.word = wVal; + + status = (my_smbus_access( + i2cInfo[handle].fd, + PI_I2C_SMBUS_WRITE, + reg, PI_I2C_SMBUS_PROC_CALL, + &data)); + + if (status < 0) + { + DBG(DBG_USER, "error=%d (%m)", status); + return PI_I2C_READ_FAILED; + } + + return 0xFFFF & data.word; +} + + +int i2cReadBlockData(unsigned handle, unsigned reg, char *buf) +{ + union my_smbus_data data; + + int i, status; + + DBG(DBG_USER, "handle=%d reg=%d buf=%08X", handle, reg, (unsigned)buf); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((i2cInfo[handle].funcs & PI_I2C_FUNC_SMBUS_READ_BLOCK_DATA) == 0) + SOFT_ERROR(PI_BAD_SMBUS_CMD, "SMBUS command not supported by driver"); + + if (reg > 0xFF) + SOFT_ERROR(PI_BAD_PARAM, "bad reg (%d)", reg); + + status = (my_smbus_access( + i2cInfo[handle].fd, + PI_I2C_SMBUS_READ, + reg, + PI_I2C_SMBUS_BLOCK_DATA, + &data)); + + if (status < 0) + { + DBG(DBG_USER, "error=%d (%m)", status); + return PI_I2C_READ_FAILED; + } + else + { + if (data.block[0] <= PI_I2C_SMBUS_BLOCK_MAX) + { + for (i=0; i= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((i2cInfo[handle].funcs & PI_I2C_FUNC_SMBUS_WRITE_BLOCK_DATA) == 0) + SOFT_ERROR(PI_BAD_SMBUS_CMD, "SMBUS command not supported by driver"); + + if (reg > 0xFF) + SOFT_ERROR(PI_BAD_PARAM, "bad reg (%d)", reg); + + if ((count < 1) || (count > 32)) + SOFT_ERROR(PI_BAD_PARAM, "bad count (%d)", count); + + for (i=1; i<=count; i++) data.block[i] = buf[i-1]; + data.block[0] = count; + + status = my_smbus_access( + i2cInfo[handle].fd, + PI_I2C_SMBUS_WRITE, + reg, + PI_I2C_SMBUS_BLOCK_DATA, + &data); + + if (status < 0) + { + DBG(DBG_USER, "error=%d (%m)", status); + return PI_I2C_WRITE_FAILED; + } + + return status; +} + + +int i2cBlockProcessCall( + unsigned handle, unsigned reg, char *buf, unsigned count) +{ + union my_smbus_data data; + + int i, status; + + DBG(DBG_USER, "handle=%d reg=%d count=%d [%s]", + handle, reg, count, myBuf2Str(count, buf)); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((i2cInfo[handle].funcs & PI_I2C_FUNC_SMBUS_PROC_CALL) == 0) + SOFT_ERROR(PI_BAD_SMBUS_CMD, "SMBUS command not supported by driver"); + + if (reg > 0xFF) + SOFT_ERROR(PI_BAD_PARAM, "bad reg (%d)", reg); + + if ((count < 1) || (count > 32)) + SOFT_ERROR(PI_BAD_PARAM, "bad count (%d)", count); + + for (i=1; i<=count; i++) data.block[i] = buf[i-1]; + data.block[0] = count; + + status = (my_smbus_access( + i2cInfo[handle].fd, PI_I2C_SMBUS_WRITE, reg, + PI_I2C_SMBUS_BLOCK_PROC_CALL, &data)); + + if (status < 0) + { + DBG(DBG_USER, "error=%d (%m)", status); + return PI_I2C_READ_FAILED; + } + else + { + if (data.block[0] <= PI_I2C_SMBUS_BLOCK_MAX) + { + for (i=0; i= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((i2cInfo[handle].funcs & PI_I2C_FUNC_SMBUS_READ_I2C_BLOCK) == 0) + SOFT_ERROR(PI_BAD_SMBUS_CMD, "SMBUS command not supported by driver"); + + if (reg > 0xFF) + SOFT_ERROR(PI_BAD_PARAM, "bad reg (%d)", reg); + + if ((count < 1) || (count > 32)) + SOFT_ERROR(PI_BAD_PARAM, "bad count (%d)", count); + + if (count == 32) + size = PI_I2C_SMBUS_I2C_BLOCK_BROKEN; + else + size = PI_I2C_SMBUS_I2C_BLOCK_DATA; + + data.block[0] = count; + + status = (my_smbus_access( + i2cInfo[handle].fd, PI_I2C_SMBUS_READ, reg, size, &data)); + + if (status < 0) + { + DBG(DBG_USER, "error=%d (%m)", status); + return PI_I2C_READ_FAILED; + } + else + { + if (data.block[0] <= PI_I2C_SMBUS_I2C_BLOCK_MAX) + { + for (i=0; i= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((i2cInfo[handle].funcs & PI_I2C_FUNC_SMBUS_WRITE_I2C_BLOCK) == 0) + SOFT_ERROR(PI_BAD_SMBUS_CMD, "SMBUS command not supported by driver"); + + if (reg > 0xFF) + SOFT_ERROR(PI_BAD_PARAM, "bad reg (%d)", reg); + + if ((count < 1) || (count > 32)) + SOFT_ERROR(PI_BAD_PARAM, "bad count (%d)", count); + + for (i=1; i<=count; i++) data.block[i] = buf[i-1]; + + data.block[0] = count; + + status = my_smbus_access( + i2cInfo[handle].fd, + PI_I2C_SMBUS_WRITE, + reg, + PI_I2C_SMBUS_I2C_BLOCK_BROKEN, + &data); + + if (status < 0) + { + DBG(DBG_USER, "error=%d (%m)", status); + return PI_I2C_WRITE_FAILED; + } + + return status; +} + +int i2cWriteDevice(unsigned handle, char *buf, unsigned count) +{ + int bytes; + + DBG(DBG_USER, "handle=%d count=%d [%s]", + handle, count, myBuf2Str(count, buf)); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((count < 1) || (count > PI_MAX_I2C_DEVICE_COUNT)) + SOFT_ERROR(PI_BAD_PARAM, "bad count (%d)", count); + + bytes = write(i2cInfo[handle].fd, buf, count); + + if (bytes != count) + { + DBG(DBG_USER, "error=%d (%m)", bytes); + return PI_I2C_WRITE_FAILED; + } + + return 0; +} + +int i2cReadDevice(unsigned handle, char *buf, unsigned count) +{ + int bytes; + + DBG(DBG_USER, "handle=%d count=%d buf=%08X", + handle, count, (unsigned)buf); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state == PI_I2C_CLOSED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if ((count < 1) || (count > PI_MAX_I2C_DEVICE_COUNT)) + SOFT_ERROR(PI_BAD_PARAM, "bad count (%d)", count); + + bytes = read(i2cInfo[handle].fd, buf, count); + + if (bytes != count) + { + DBG(DBG_USER, "error=%d (%m)", bytes); + return PI_I2C_READ_FAILED; + } + + return bytes; +} + +int i2cOpen(unsigned i2cBus, unsigned i2cAddr, unsigned i2cFlags) +{ + char dev[32]; + int i, slot, fd; + uint32_t funcs; + + DBG(DBG_USER, "i2cBus=%d i2cAddr=%d flags=0x%X", + i2cBus, i2cAddr, i2cFlags); + + CHECK_INITED; + + if (i2cAddr > PI_MAX_I2C_ADDR) + SOFT_ERROR(PI_BAD_I2C_ADDR, "bad I2C address (%d)", i2cAddr); + + if (i2cFlags) + SOFT_ERROR(PI_BAD_FLAGS, "bad flags (0x%X)", i2cFlags); + + slot = -1; + + for (i=0; i= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state != PI_I2C_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].fd >= 0) close(i2cInfo[handle].fd); + + i2cInfo[handle].fd = -1; + i2cInfo[handle].state = PI_I2C_CLOSED; + + return 0; +} + +void i2cSwitchCombined(int setting) +{ + int fd; + + DBG(DBG_USER, "setting=%d", setting); + + fd = open(PI_I2C_COMBINED, O_WRONLY); + + if (fd >= 0) + { + if (setting) write(fd, "1\n", 2); else write(fd, "0\n", 2); + + close(fd); + } +} + +int i2cSegments(unsigned handle, pi_i2c_msg_t *segs, unsigned numSegs) +{ + int retval; + my_i2c_rdwr_ioctl_data_t rdwr; + + DBG(DBG_USER, "handle=%d", handle); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state != PI_I2C_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (segs == NULL) + SOFT_ERROR(PI_BAD_POINTER, "null segments"); + + if (numSegs > PI_I2C_RDRW_IOCTL_MAX_MSGS) + SOFT_ERROR(PI_TOO_MANY_SEGS, "too many segments (%d)", numSegs); + + rdwr.msgs = segs; + rdwr.nmsgs = numSegs; + + retval = ioctl(i2cInfo[handle].fd, PI_I2C_RDWR, &rdwr); + + if (retval >= 0) return retval; + else return PI_BAD_I2C_SEG; +} + +int i2cZip( + unsigned handle, + char *inBuf, unsigned inLen, char *outBuf, unsigned outLen) +{ + int numSegs, inPos, outPos, status, bytes, flags, addr; + int esc, setesc; + pi_i2c_msg_t segs[PI_I2C_RDRW_IOCTL_MAX_MSGS]; + + DBG(DBG_USER, "handle=%d inBuf=%s outBuf=%08X len=%d", + handle, myBuf2Str(inLen, (char *)inBuf), (int)outBuf, outLen); + + CHECK_INITED; + + if (handle >= PI_I2C_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (i2cInfo[handle].state != PI_I2C_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (!inBuf || !inLen) + SOFT_ERROR(PI_BAD_POINTER, "input buffer can't be NULL"); + + if (!outBuf && outLen) + SOFT_ERROR(PI_BAD_POINTER, "output buffer can't be NULL"); + + numSegs = 0; + + inPos = 0; + outPos = 0; + status = 0; + + addr = i2cInfo[handle].addr; + flags = 0; + esc = 0; + setesc = 0; + + while (!status && (inPos < inLen)) + { + DBG(DBG_INTERNAL, "status=%d inpos=%d inlen=%d cmd=%d addr=%d flags=%x", + status, inPos, inLen, inBuf[inPos], addr, flags); + + switch (inBuf[inPos++]) + { + case PI_I2C_END: + status = 1; + break; + + case PI_I2C_COMBINED_ON: + /* Run prior transactions before setting combined flag */ + if (numSegs) + { + status = i2cSegments(handle, segs, numSegs); + if (status >= 0) status = 0; /* continue */ + numSegs = 0; + } + i2cSwitchCombined(1); + break; + + case PI_I2C_COMBINED_OFF: + /* Run prior transactions before clearing combined flag */ + if (numSegs) + { + status = i2cSegments(handle, segs, numSegs); + if (status >= 0) status = 0; /* continue */ + numSegs = 0; + } + i2cSwitchCombined(0); + break; + + case PI_I2C_ADDR: + addr = myI2CGetPar(inBuf, &inPos, inLen, &esc); + if (addr < 0) status = PI_BAD_I2C_CMD; + break; + + case PI_I2C_FLAGS: + /* cheat to force two byte flags */ + esc = 1; + flags = myI2CGetPar(inBuf, &inPos, inLen, &esc); + if (flags < 0) status = PI_BAD_I2C_CMD; + break; + + case PI_I2C_ESC: + setesc = 1; + break; + + case PI_I2C_READ: + + bytes = myI2CGetPar(inBuf, &inPos, inLen, &esc); + + if (bytes >= 0) + { + if ((bytes + outPos) < outLen) + { + segs[numSegs].addr = addr; + segs[numSegs].flags = (flags|1); + segs[numSegs].len = bytes; + segs[numSegs].buf = (uint8_t *)(outBuf + outPos); + outPos += bytes; + numSegs++; + if (numSegs >= PI_I2C_RDRW_IOCTL_MAX_MSGS) + { + status = i2cSegments(handle, segs, numSegs); + if (status >= 0) status = 0; /* continue */ + numSegs = 0; + } + } + else status = PI_BAD_I2C_RLEN; + } + else status = PI_BAD_I2C_RLEN; + break; + + case PI_I2C_WRITE: + + bytes = myI2CGetPar(inBuf, &inPos, inLen, &esc); + + if (bytes >= 0) + { + if ((bytes + inPos) < inLen) + { + segs[numSegs].addr = addr; + segs[numSegs].flags = (flags&0xfffe); + segs[numSegs].len = bytes; + segs[numSegs].buf = (uint8_t *)(inBuf + inPos); + inPos += bytes; + numSegs++; + if (numSegs >= PI_I2C_RDRW_IOCTL_MAX_MSGS) + { + status = i2cSegments(handle, segs, numSegs); + if (status >= 0) status = 0; /* continue */ + numSegs = 0; + } + } + else status = PI_BAD_I2C_WLEN; + } + else status = PI_BAD_I2C_WLEN; + break; + + default: + status = PI_BAD_I2C_CMD; + } + + if (setesc) esc = 1; else esc = 0; + + setesc = 0; + } + + if (status >= 0) + { + if (numSegs) status = i2cSegments(handle, segs, numSegs); + } + + if (status >= 0) status = outPos; + + return status; +} + +/* ======================================================================= */ + +/*SPI */ + +static uint32_t _spiTXBits(char *buf, int pos, int bitlen, int msbf) +{ + uint32_t bits=0; + + if (buf) + { + if (bitlen <= 8) bits = *((( uint8_t*)buf)+pos); + else if (bitlen <= 16) bits = *(((uint16_t*)buf)+pos); + else bits = *(((uint32_t*)buf)+pos); + + if (msbf) bits <<= (32-bitlen); + } + + return bits; +} + +static void _spiRXBits( + char *buf, int pos, int bitlen, int msbf, uint32_t bits) +{ + if (buf) + { + if (!msbf) bits >>= (32-bitlen); + + if (bitlen <= 8) *((( uint8_t*)buf)+pos) = bits; + else if (bitlen <= 16) *(((uint16_t*)buf)+pos) = bits; + else *(((uint32_t*)buf)+pos) = bits; + } +} + +static void spiACS(int channel, int on) +{ + int gpio; + + switch (channel) + { + case 0: gpio = PI_ASPI_CE0; break; + case 1: gpio = PI_ASPI_CE1; break; + default: gpio = PI_ASPI_CE2; break; + } + myGpioWrite(gpio, on); +} + +static void spiGoA( + unsigned speed, /* bits per second */ + uint32_t flags, /* flags */ + char *txBuf, /* tx buffer */ + char *rxBuf, /* rx buffer */ + unsigned count) /* number of bytes */ +{ + int cs; + char bit_ir[4] = {1, 0, 0, 1}; /* read on rising edge */ + char bit_or[4] = {0, 1, 1, 0}; /* write on rising edge */ + char bit_ic[4] = {0, 0, 1, 1}; /* invert clock */ + + int mode, bitlen, txmsbf, rxmsbf, channel; + unsigned txCnt=0; + unsigned rxCnt=0; + uint32_t spiDefaults; + uint32_t statusReg; + int txFull, rxEmpty; + + channel = PI_SPI_FLAGS_GET_CHANNEL(flags); + mode = PI_SPI_FLAGS_GET_MODE (flags); + + bitlen = PI_SPI_FLAGS_GET_BITLEN (flags); + + if (!bitlen) bitlen = 8; + + /* correct count for word size */ + + if (bitlen > 8) count /= 2; + if (bitlen > 16) count /= 2; + + txmsbf = !PI_SPI_FLAGS_GET_TX_LSB (flags); + rxmsbf = !PI_SPI_FLAGS_GET_RX_LSB (flags); + + cs = PI_SPI_FLAGS_GET_CSPOLS(flags) & (1<>28)&15) > 2); + + if (rxCnt < count) + { + if (!rxEmpty) + { + _spiRXBits( + rxBuf, rxCnt++, bitlen, rxmsbf, auxReg[AUX_SPI0_IO_REG]); + } + } + + if (txCnt < count) + { + if (!txFull) + { + if (txCnt != (count-1)) + { + auxReg[AUX_SPI0_TX_HOLD] = + _spiTXBits(txBuf, txCnt++, bitlen, txmsbf); + } + else + { + auxReg[AUX_SPI0_IO_REG] = + _spiTXBits(txBuf, txCnt++, bitlen, txmsbf); + } + } + } + } + + while ((auxReg[AUX_SPI0_STAT_REG] & AUXSPI_STAT_BUSY)) ; + + spiACS(channel, !cs); +} + +static void spiGoS( + unsigned speed, + uint32_t flags, + char *txBuf, + char *rxBuf, + unsigned count) +{ + unsigned txCnt=0; + unsigned rxCnt=0; + unsigned cnt, cnt4w, cnt3w; + uint32_t spiDefaults; + unsigned mode, channel, cspol, cspols, flag3w, ren3w; + + channel = PI_SPI_FLAGS_GET_CHANNEL(flags); + mode = PI_SPI_FLAGS_GET_MODE (flags); + cspols = PI_SPI_FLAGS_GET_CSPOLS(flags); + cspol = (cspols>>channel) & 1; + flag3w = PI_SPI_FLAGS_GET_3WIRE(flags); + ren3w = PI_SPI_FLAGS_GET_3WREN(flags); + + spiDefaults = SPI_CS_MODE(mode) | + SPI_CS_CSPOLS(cspols) | + SPI_CS_CS(channel) | + SPI_CS_CSPOL(cspol) | + SPI_CS_CLEAR(3); + + spiReg[SPI_CS] = spiDefaults; /* stop */ + + if (!count) return; + + if (flag3w) + { + if (ren3w < count) + { + cnt4w = ren3w; + cnt3w = count - ren3w; + } + else + { + cnt4w = count; + cnt3w = 0; + } + } + else + { + cnt4w = count; + cnt3w = 0; + } + + spiReg[SPI_CLK] = 250000000/speed; + + spiReg[SPI_CS] = spiDefaults | SPI_CS_TA; /* start */ + + cnt = cnt4w; + + while((txCnt < cnt) || (rxCnt < cnt)) + { + while((rxCnt < cnt) && ((spiReg[SPI_CS] & SPI_CS_RXD))) + { + if (rxBuf) rxBuf[rxCnt] = spiReg[SPI_FIFO]; + else spi_dummy = spiReg[SPI_FIFO]; + rxCnt++; + } + + while((txCnt < cnt) && ((spiReg[SPI_CS] & SPI_CS_TXD))) + { + if (txBuf) spiReg[SPI_FIFO] = txBuf[txCnt]; + else spiReg[SPI_FIFO] = 0; + txCnt++; + } + } + + while (!(spiReg[SPI_CS] & SPI_CS_DONE)) ; + + /* now switch to 3-wire bus */ + + cnt += cnt3w; + + spiReg[SPI_CS] |= SPI_CS_REN; + + while((txCnt < cnt) || (rxCnt < cnt)) + { + while((rxCnt < cnt) && ((spiReg[SPI_CS] & SPI_CS_RXD))) + { + if (rxBuf) rxBuf[rxCnt] = spiReg[SPI_FIFO]; + else spi_dummy = spiReg[SPI_FIFO]; + rxCnt++; + } + + while((txCnt < cnt) && ((spiReg[SPI_CS] & SPI_CS_TXD))) + { + if (txBuf) spiReg[SPI_FIFO] = txBuf[txCnt]; + else spiReg[SPI_FIFO] = 0; + txCnt++; + } + } + + while (!(spiReg[SPI_CS] & SPI_CS_DONE)) ; + + spiReg[SPI_CS] = spiDefaults; /* stop */ +} + +static void spiGo( + unsigned speed, + uint32_t flags, + char *txBuf, + char *rxBuf, + unsigned count) +{ + if (PI_SPI_FLAGS_GET_AUX_SPI(flags)) + { + pthread_mutex_lock(&spi_aux_mutex); + spiGoA(speed, flags, txBuf, rxBuf, count); + pthread_mutex_unlock(&spi_aux_mutex); + } + else + { + pthread_mutex_lock(&spi_main_mutex); + spiGoS(speed, flags, txBuf, rxBuf, count); + pthread_mutex_unlock(&spi_main_mutex); + } +} + +static int spiAnyOpen(uint32_t flags) +{ + int i, aux; + + aux = PI_SPI_FLAGS_GET_AUX_SPI(flags); + + for (i=0; i= i) + SOFT_ERROR(PI_BAD_SPI_CHANNEL, "bad spiChan (%d)", spiChan); + + if ((baud < PI_SPI_MIN_BAUD) || (baud > PI_SPI_MAX_BAUD)) + SOFT_ERROR(PI_BAD_SPI_SPEED, "bad baud (%d)", baud); + + if (spiFlags > (1<<22)) + SOFT_ERROR(PI_BAD_FLAGS, "bad spiFlags (0x%X)", spiFlags); + + if (!spiAnyOpen(spiFlags)) /* initialise on first open */ + { + spiInit(spiFlags); + spiGo(baud, spiFlags, NULL, NULL, 0); + } + + slot = -1; + + for (i=0; i= PI_SPI_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (spiInfo[handle].state != PI_SPI_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + spiInfo[handle].state = PI_I2C_CLOSED; + + if (!spiAnyOpen(spiInfo[handle].flags)) + spiTerm(spiInfo[handle].flags); /* terminate on last close */ + + return 0; +} + +int spiRead(unsigned handle, char *buf, unsigned count) +{ + DBG(DBG_USER, "handle=%d count=%d [%s]", + handle, count, myBuf2Str(count, buf)); + + CHECK_INITED; + + if (handle >= PI_SPI_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (spiInfo[handle].state != PI_SPI_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (count > PI_MAX_SPI_DEVICE_COUNT) + SOFT_ERROR(PI_BAD_SPI_COUNT, "bad count (%d)", count); + + spiGo(spiInfo[handle].speed, spiInfo[handle].flags, NULL, buf, count); + + return count; +} + +int spiWrite(unsigned handle, char *buf, unsigned count) +{ + DBG(DBG_USER, "handle=%d count=%d [%s]", + handle, count, myBuf2Str(count, buf)); + + CHECK_INITED; + + if (handle >= PI_SPI_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (spiInfo[handle].state != PI_SPI_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (count > PI_MAX_SPI_DEVICE_COUNT) + SOFT_ERROR(PI_BAD_SPI_COUNT, "bad count (%d)", count); + + spiGo(spiInfo[handle].speed, spiInfo[handle].flags, buf, NULL, count); + + return count; +} + +int spiXfer(unsigned handle, char *txBuf, char *rxBuf, unsigned count) +{ + DBG(DBG_USER, "handle=%d count=%d [%s]", + handle, count, myBuf2Str(count, txBuf)); + + CHECK_INITED; + + if (handle >= PI_SPI_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (spiInfo[handle].state != PI_SPI_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (count > PI_MAX_SPI_DEVICE_COUNT) + SOFT_ERROR(PI_BAD_SPI_COUNT, "bad count (%d)", count); + + spiGo(spiInfo[handle].speed, spiInfo[handle].flags, txBuf, rxBuf, count); + + return count; +} + +/* ======================================================================= */ + + +int serOpen(char *tty, unsigned serBaud, unsigned serFlags) +{ + struct termios new; + int speed; + int fd; + int i, slot; + + DBG(DBG_USER, "tty=%s serBaud=%d serFlags=0x%X", tty, serBaud, serFlags); + + SER_CHECK_INITED; + + if (strncmp("/dev/tty", tty, 8) && strncmp("/dev/serial", tty, 11)) + SOFT_ERROR(PI_BAD_SER_DEVICE, "bad device (%s)", tty); + + switch (serBaud) + { + case 50: speed = B50; break; + case 75: speed = B75; break; + case 110: speed = B110; break; + case 134: speed = B134; break; + case 150: speed = B150; break; + case 200: speed = B200; break; + case 300: speed = B300; break; + case 600: speed = B600; break; + case 1200: speed = B1200; break; + case 1800: speed = B1800; break; + case 2400: speed = B2400; break; + case 4800: speed = B4800; break; + case 9600: speed = B9600; break; + case 19200: speed = B19200; break; + case 38400: speed = B38400; break; + case 57600: speed = B57600; break; + case 115200: speed = B115200; break; + case 230400: speed = B230400; break; + + default: + SOFT_ERROR(PI_BAD_SER_SPEED, "bad speed (%d)", serBaud); + } + + if (serFlags) + SOFT_ERROR(PI_BAD_FLAGS, "bad flags (0x%X)", serFlags); + + slot = -1; + + for (i=0; i= PI_SER_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (serInfo[handle].state != PI_SER_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (serInfo[handle].fd >= 0) close(serInfo[handle].fd); + + serInfo[handle].fd = -1; + serInfo[handle].state = PI_SER_CLOSED; + + return 0; +} + +int serWriteByte(unsigned handle, unsigned bVal) +{ + char c; + + DBG(DBG_USER, "handle=%d bVal=%d", handle, bVal); + + SER_CHECK_INITED; + + if (handle >= PI_SER_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (serInfo[handle].state != PI_SER_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (bVal > 0xFF) + SOFT_ERROR(PI_BAD_PARAM, "bad parameter (%d)", bVal); + + c = bVal; + + if (write(serInfo[handle].fd, &c, 1) != 1) + return PI_SER_WRITE_FAILED; + else + return 0; +} + +int serReadByte(unsigned handle) +{ + char x; + + DBG(DBG_USER, "handle=%d", handle); + + SER_CHECK_INITED; + + if (handle >= PI_SER_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (serInfo[handle].state != PI_SER_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (read(serInfo[handle].fd, &x, 1) != 1) + { + if (errno == EAGAIN) + return PI_SER_READ_NO_DATA; + else + return PI_SER_READ_FAILED; + } + + return ((int)x) & 0xFF; +} + +int serWrite(unsigned handle, char *buf, unsigned count) +{ + DBG(DBG_USER, "handle=%d count=%d [%s]", + handle, count, myBuf2Str(count, buf)); + + SER_CHECK_INITED; + + if (handle >= PI_SER_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (serInfo[handle].state != PI_SER_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (!count) + SOFT_ERROR(PI_BAD_PARAM, "bad count (%d)", count); + + if (write(serInfo[handle].fd, buf, count) != count) + return PI_SER_WRITE_FAILED; + else + return 0; +} + +int serRead(unsigned handle, char *buf, unsigned count) +{ + int r; + + DBG(DBG_USER, "handle=%d count=%d buf=0x%X", handle, count, (unsigned)buf); + + SER_CHECK_INITED; + + if (handle >= PI_SER_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (serInfo[handle].state != PI_SER_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (!count) + SOFT_ERROR(PI_BAD_PARAM, "bad count (%d)", count); + + r = read(serInfo[handle].fd, buf, count); + + if (r == -1) + { + if (errno == EAGAIN) + return PI_SER_READ_NO_DATA; + else + return PI_SER_READ_FAILED; + } + else + { + buf[r] = 0; + return r; + } +} + +int serDataAvailable(unsigned handle) +{ + int result; + + DBG(DBG_USER, "handle=%d", handle); + + SER_CHECK_INITED; + + if (handle >= PI_SER_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (serInfo[handle].state != PI_SER_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (ioctl(serInfo[handle].fd, FIONREAD, &result) == -1) return 0; + + return result; +} + +/* ======================================================================= */ + +static int chooseBestClock + (clkInf_t *clkInf, unsigned f, unsigned numc, unsigned *cf) +{ + int c, valid, offby, offby2, best_offby; + uint32_t div; + uint64_t frac; + + valid = 0; + best_offby = 0; + + for (c=0; c 1) && (div < 4096)) + { + if (f < PI_MASH_MAX_FREQ) + { + frac = cf[c] - (div * f); + frac = (frac * 4096) / f; + offby = cf[c] - (div * f) - ((frac * f) / 4096); + if (frac < 4095) + { + offby2 = cf[c] - (div * f) - (((frac+1) * f) / 4096); + if (offby2 < 0) offby2 = -offby2; + if (offby2 < offby) + { + offby = offby2; + frac++; + } + } + } + else + { + frac = 0; + offby = cf[c] - (div * f); + if (div < 4095) + { + offby2 = cf[c] - ((div+1) * f); + if (offby2 < 0) offby2 = -offby2; + if (offby2 < offby) + { + offby = offby2; + div++; + } + } + } + + if ((!valid) || (offby <= best_offby)) + { + valid = 1; + clkInf->div = div; + clkInf->frac = frac; + clkInf->clock = c; + best_offby = offby; + } + } + } + return valid; +} + +/* ======================================================================= */ + +static rawCbs_t * dmaCB2adr(int pos) +{ + int page, slot; + + page = pos/CBS_PER_IPAGE; + slot = pos%CBS_PER_IPAGE; + + return &dmaIVirt[page]->cb[slot]; +} + +/* ----------------------------------------------------------------------- */ + +static void dmaCbPrint(int pos) +{ + rawCbs_t * p; + + p = dmaCB2adr(pos); + + fprintf(stderr, "i=%x s=%x d=%x len=%x s=%x nxt=%x\n", + p->info, p->src, p->dst, p->length, p->stride, p->next); +} + +/* ----------------------------------------------------------------------- */ + +static unsigned dmaNowAtICB(void) +{ + unsigned cb; + static unsigned lastPage=0; + unsigned page; + uint32_t cbAddr; + uint32_t startTick, endTick; + + startTick = systReg[SYST_CLO]; + + cbAddr = dmaIn[DMA_CONBLK_AD]; + + page = lastPage; + + /* which page are we dma'ing? */ + + while (1) + { + cb = (cbAddr - ((int)dmaIBus[page])) / 32; + + if (cb < CBS_PER_IPAGE) + { + endTick = systReg[SYST_CLO]; + + if (endTick != startTick) + gpioStats.cbTicks += (endTick - startTick); + + gpioStats.cbCalls++; + + lastPage = page; + + return (page*CBS_PER_IPAGE) + cb; + } + + if (page++ >= DMAI_PAGES) page=0; + + if (page == lastPage) break; + } + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +static int dmaNowAtOCB(void) +{ + unsigned cb; + unsigned page; + uint32_t cbAddr; + + cbAddr = dmaOut[DMA_CONBLK_AD]; + + if (!cbAddr) return -PI_NO_TX_WAVE; + + page = 0; + + /* which page are we dma'ing? */ + + while (1) + { + cb = (cbAddr - ((int)dmaOBus[page])) / 32; + + if (cb < CBS_PER_OPAGE) return (page*CBS_PER_OPAGE) + cb; + + if (page++ >= DMAO_PAGES) break; + } + + /* Try twice */ + + cbAddr = dmaOut[DMA_CONBLK_AD]; + + if (!cbAddr) return -PI_NO_TX_WAVE; + + page = 0; + + /* which page are we dma'ing? */ + + while (1) + { + cb = (cbAddr - ((int)dmaOBus[page])) / 32; + + if (cb < CBS_PER_OPAGE) return (page*CBS_PER_OPAGE) + cb; + + if (page++ >= DMAO_PAGES) break; + } + + return -PI_WAVE_NOT_FOUND; +} + +/* ----------------------------------------------------------------------- */ + +unsigned rawWaveCB(void) +{ + unsigned cb; + static unsigned lastPage=0; + unsigned page; + uint32_t cbAddr; + + cbAddr = dmaOut[DMA_CONBLK_AD]; + + if (!cbAddr) return -1; + + page = lastPage; + + /* which page are we dma'ing? */ + + while (1) + { + cb = (cbAddr - ((int)dmaOBus[page])) / 32; + + if (cb < CBS_PER_OPAGE) + { + lastPage = page; + + return (page*CBS_PER_OPAGE) + cb; + } + + if (page++ >= DMAO_PAGES) page=0; + + if (page == lastPage) break; + } + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +static unsigned dmaCurrentSlot(unsigned pos) +{ + unsigned cycle=0, slot=0, tmp; + + cycle = (pos/CBS_PER_CYCLE); + tmp = (pos%CBS_PER_CYCLE); + + if (tmp > 2) slot = ((tmp-2)/3); + + return (cycle*PULSE_PER_CYCLE)+slot; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t dmaPwmDataAdr(int pos) +{ + return (uint32_t) &dmaIBus[pos]->periphData; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t dmaGpioOnAdr(int pos) +{ + int page, slot; + + page = pos/ON_PER_IPAGE; + slot = pos%ON_PER_IPAGE; + + return (uint32_t) &dmaIBus[page]->gpioOn[slot]; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t dmaGpioOffAdr(int pos) +{ + int page, slot; + + myOffPageSlot(pos, &page, &slot); + + return (uint32_t) &dmaIBus[page]->gpioOff[slot]; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t dmaTickAdr(int pos) +{ + int page, slot; + + myTckPageSlot(pos, &page, &slot); + + return (uint32_t) &dmaIBus[page]->tick[slot]; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t dmaReadLevelsAdr(int pos) +{ + int page, slot; + + myLvsPageSlot(pos, &page, &slot); + + return (uint32_t) &dmaIBus[page]->level[slot]; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t dmaCbAdr(int pos) +{ + int page, slot; + + page = (pos/CBS_PER_IPAGE); + slot = (pos%CBS_PER_IPAGE); + + return (uint32_t) &dmaIBus[page]->cb[slot]; +} + +/* ----------------------------------------------------------------------- */ + +static void dmaGpioOnCb(int b, int pos) +{ + rawCbs_t * p; + + p = dmaCB2adr(b); + + p->info = NORMAL_DMA; + p->src = dmaGpioOnAdr(pos); + p->dst = ((GPIO_BASE + (GPSET0*4)) & 0x00ffffff) | PI_PERI_BUS; + p->length = 4; + p->next = dmaCbAdr(b+1); +} + +/* ----------------------------------------------------------------------- */ + +static void dmaTickCb(int b, int pos) +{ + rawCbs_t * p; + + p = dmaCB2adr(b); + + p->info = NORMAL_DMA; + p->src = ((SYST_BASE + (SYST_CLO*4)) & 0x00ffffff) | PI_PERI_BUS; + p->dst = dmaTickAdr(pos); + p->length = 4; + p->next = dmaCbAdr(b+1); +} + +/* ----------------------------------------------------------------------- */ + +static void dmaGpioOffCb(int b, int pos) +{ + rawCbs_t * p; + + p = dmaCB2adr(b); + + p->info = NORMAL_DMA; + p->src = dmaGpioOffAdr(pos); + p->dst = ((GPIO_BASE + (GPCLR0*4)) & 0x00ffffff) | PI_PERI_BUS; + p->length = 4; + p->next = dmaCbAdr(b+1); +} + +/* ----------------------------------------------------------------------- */ + +static void dmaReadLevelsCb(int b, int pos) +{ + rawCbs_t * p; + + p = dmaCB2adr(b); + + p->info = NORMAL_DMA; + p->src = ((GPIO_BASE + (GPLEV0*4)) & 0x00ffffff) | PI_PERI_BUS; + p->dst = dmaReadLevelsAdr(pos); + p->length = 4; + p->next = dmaCbAdr(b+1); +} + +/* ----------------------------------------------------------------------- */ + +static void dmaDelayCb(int b) +{ + rawCbs_t * p; + + p = dmaCB2adr(b); + + if (gpioCfg.clockPeriph == PI_CLOCK_PCM) + { + p->info = NORMAL_DMA | TIMED_DMA(2); + p->dst = PCM_TIMER; + } + else + { + p->info = NORMAL_DMA | TIMED_DMA(5); + p->dst = PWM_TIMER; + } + + p->src = dmaPwmDataAdr(b%DMAI_PAGES); + p->length = 4; + p->next = dmaCbAdr(b+1); +} + +/* ----------------------------------------------------------------------- */ + +static void dmaInitCbs(void) +{ + int b, pulse, level, cycle; + + rawCbs_t * p; + + /* set up the DMA control blocks */ + + DBG(DBG_STARTUP, ""); + + gpioStats.dmaInitCbsCount++; + + b = -1; + level = 0; + + for (cycle=0; cyclenext = dmaCbAdr(0); + + DBG(DBG_STARTUP, "DMA page type count = %d", sizeof(dmaIPage_t)); + + DBG(DBG_STARTUP, "%d control blocks (exp=%d)", b+1, NUM_CBS); +} + +/* ======================================================================= */ + + +static void sigHandler(int signum) +{ + if ((signum >= PI_MIN_SIGNUM) && (signum <= PI_MAX_SIGNUM)) + { + if (gpioSignal[signum].func) + { + if (gpioSignal[signum].ex) + { + (gpioSignal[signum].func)(signum, gpioSignal[signum].userdata); + } + else + { + (gpioSignal[signum].func)(signum); + } + } + else + { + switch(signum) + { + case SIGUSR1: + + if (gpioCfg.dbgLevel > DBG_MIN_LEVEL) --gpioCfg.dbgLevel; + else gpioCfg.dbgLevel = DBG_MIN_LEVEL; + DBG(DBG_USER, "Debug level %d\n", gpioCfg.dbgLevel); + break; + + case SIGUSR2: + if (gpioCfg.dbgLevel < DBG_MAX_LEVEL) ++gpioCfg.dbgLevel; + else gpioCfg.dbgLevel = DBG_MAX_LEVEL; + DBG(DBG_USER, "Debug level %d\n", gpioCfg.dbgLevel); + break; + + case SIGPIPE: + case SIGWINCH: + DBG(DBG_USER, "signal %d ignored", signum); + break; + + case SIGCHLD: + /* Used to notify threads of events */ + break; + + default: + DBG(DBG_ALWAYS, "Unhandled signal %d, terminating\n", signum); + gpioTerminate(); + exit(-1); + } + } + } + else + { + /* exit */ + + DBG(DBG_ALWAYS, "Unhandled signal %d, terminating\n", signum); + gpioTerminate(); + exit(-1); + } +} + +/* ----------------------------------------------------------------------- */ + +static void sigSetHandler(void) +{ + int i; + struct sigaction new; + + for (i=PI_MIN_SIGNUM; i<=PI_MAX_SIGNUM; i++) + { + + memset(&new, 0, sizeof(new)); + new.sa_handler = sigHandler; + + sigaction(i, &new, NULL); + } +} + +/* + freq mics net + 0 1000 1000 900 + 1 4000 250 225 + 2 3750 266 240 + 3 3500 285 257 + 4 3250 307 276 + 5 3000 333 300 + 6 2750 363 327 + 7 2500 400 360 + 8 2250 444 400 + 9 2000 500 450 +10 1750 571 514 +11 1500 666 600 +12 1250 800 720 +13 1000 1000 900 +14 750 1333 1200 +15 500 2000 1800 +*/ + +unsigned alert_delays[]= +{ + 900000, 225000, 240000, 257142, 276923, 300000, 327272, 360000, + 400000, 450000, 514285, 600000, 720000, 900000, 1200000, 1800000 +}; + +/* ======================================================================= */ + +static void alertGlitchFilter(gpioSample_t *sample, int numSamples) +{ + int i, j, diff; + uint32_t steadyUs, changedTick, RBitV, LBitV; + uint32_t bit, bitV; + + for (i=0; i<=PI_MAX_USER_GPIO; i++) + { + bit = (1<= steadyUs) + { + /* Level stable for steady period. */ + RBitV = bitV; + } + else + { + /* Keep reporting old level. */ + + sample[j].level ^= bit; + } + } + + } + + gpioAlert[i].gfRBitV = RBitV; + gpioAlert[i].gfLBitV = LBitV; + gpioAlert[i].gfTick = changedTick; + } + } +} + +static void alertNoiseFilter(gpioSample_t *sample, int numSamples) +{ + int i, j, diff; + uint32_t LBitV; + uint32_t bit, bitV; + uint32_t nowTick; + + for (i=0; i<=PI_MAX_USER_GPIO; i++) + { + bit = (1<= 0) + { + /* Stop reporting gpio changes */ + + gpioAlert[i].nfActive = 0; + gpioAlert[i].nfTick1 = nowTick; + } + } + else /* waiting for steady us */ + { + if (bitV != LBitV) + { + diff = nowTick - gpioAlert[i].nfTick1; + gpioAlert[i].nfTick1 = nowTick; + + if (diff >= gpioAlert[i].nfSteadyUs) + { + /* Start reporting gpio changes */ + + gpioAlert[i].nfRBitV = LBitV; + gpioAlert[i].nfActive = 1; + gpioAlert[i].nfTick2 = + nowTick + gpioAlert[i].nfActiveUs; + } + } + } + + if (!gpioAlert[i].nfActive) + { + if (bitV != gpioAlert[i].nfRBitV) + sample[j].level ^= bit; + } + + LBitV = bitV; + } + + gpioAlert[i].nfLBitV = LBitV; + + } + } +} + +static void alertEmit( + gpioSample_t *sample, int numSamples, uint32_t changedBits, uint32_t eTick) +{ + uint32_t oldLevel, newLevel; + int32_t diff; + int emit, seqno, emitted; + uint32_t changes, bits, timeoutBits; + int d; + int b, n, v; + int err; + int max_emits; + char fifo[32]; + gpioReport_t report[MAX_REPORT]; + + if (changedBits) + { + if (gpioGetSamples.func) + { + if (gpioGetSamples.ex) + { + (gpioGetSamples.func) + (sample, numSamples, gpioGetSamples.userdata); + } + else + { + (gpioGetSamples.func)(sample, numSamples); + } + } + } + + /* call alert callbacks for each bit transition */ + + if (changedBits & alertBits) + { + oldLevel = (reportedLevel & alertBits); + + for (d=0; d= gpioAlert[b].wdSteadyUs) + { + timeoutBits |= (1< 60000000) + { + if (numSamples) + newLevel = sample[numSamples-1].level; + else + newLevel = reportedLevel; + + report[emit].seqno = seqno; + report[emit].flags = PI_NTFY_FLAGS_ALIVE; + report[emit].tick = eTick; + report[emit].level = newLevel; + + emit++; + seqno++; + } + } + + if (emit) + { + DBG(DBG_FAST_TICK, "notification %d (%d reports, %x-%x)", + n, emit, report[0].seqno, report[emit-1].seqno); + gpioNotify[n].lastReportTick = eTick; + max_emits = gpioNotify[n].max_emits; + + if (emit > gpioStats.maxEmit) gpioStats.maxEmit = emit; + + emitted = 0; + + while (emit > 0) + { + if (emit > max_emits) + { + gpioStats.emitFrags++; + + err = write(gpioNotify[n].fd, + report+emitted, + max_emits*sizeof(gpioReport_t)); + + if (err != (max_emits*sizeof(gpioReport_t))) + { + if (err < 0) + { + if ((errno != EAGAIN) && (errno != EWOULDBLOCK)) + { + /* serious error, no point continuing */ + + DBG(DBG_ALWAYS, "fd=%d err=%d errno=%d", + gpioNotify[n].fd, err, errno); + + DBG(DBG_ALWAYS, "%s", strerror(errno)); + + gpioNotify[n].bits = 0; + gpioNotify[n].state = PI_NOTIFY_CLOSING; + intNotifyBits(); + break; + } + else gpioStats.wouldBlockPipeWrite++; + } + else + { + gpioStats.shortPipeWrite++; + DBG(DBG_ALWAYS, "emitted %d, asked for %d", + err/sizeof(gpioReport_t), max_emits); + } + } + else + { + gpioStats.goodPipeWrite++; + } + + emitted += max_emits; + emit -= max_emits; + } + else + { + err = write(gpioNotify[n].fd, + report+emitted, + emit*sizeof(gpioReport_t)); + + if (err != (emit*sizeof(gpioReport_t))) + { + if (err < 0) + { + if ((errno != EAGAIN) && (errno != EWOULDBLOCK)) + { + DBG(DBG_ALWAYS, "fd=%d err=%d errno=%d", + gpioNotify[n].fd, err, errno); + + DBG(DBG_ALWAYS, "%s", strerror(errno)); + + /* serious error, no point continuing */ + gpioNotify[n].bits = 0; + gpioNotify[n].state = PI_NOTIFY_CLOSING; + intNotifyBits(); + break; + } + else gpioStats.wouldBlockPipeWrite++; + } + else + { + gpioStats.shortPipeWrite++; + DBG(DBG_ALWAYS, "emitted %d, asked for %d", + err/sizeof(gpioReport_t), emit); + } + } + else + { + gpioStats.goodPipeWrite++; + } + + emitted += emit; + emit = 0; + } + } + + gpioNotify[n].seqno = seqno; + } + } + } + + if (changedBits & scriptBits) + { + for (n=0; n= PULSE_PER_CYCLE) + { + pulse = 0; + + if (++cycle >= bufferCycles) + { + cycle = 0; + oldSlot = 0; + } + + expected = sTick; + + sTick = myGetTick(cycle); + + if (stickInited) + { + diff = sTick - expected; + + if (abs(diff) > minDiff) + { + ft = sample[numSamples-PULSE_PER_CYCLE].tick; + + ticks = sTick - ft; + + for (i=1; i= TICKSLOTS) + { + gpioStats.diffTick[TICKSLOTS-1]++; + } + + else gpioStats.diffTick[diff]++; + } + else + { + stickInited = 1; + numSamples = 0; + } + } + } + + if (oldSlot == newSlot) moreToDo = 0; else moreToDo = 1; + + /* Apply glitch filter */ + + if (numSamples && gFilterBits) alertGlitchFilter(sample, numSamples); + + /* Apply noise filter */ + + if (numSamples && nFilterBits) alertNoiseFilter(sample, numSamples); + + /* Compact samples */ + + changedBits = 0; + oldLevel &= monitorBits; + reports = 0; + totalSamples = 0; + + for (rp=0; rp= MAX_REPORT) + { + totalSamples += reports; + + /* Rebase watchdog timeouts */ + if (wdogBits) alertWdogCheck(sample, reports); + + gpioStats.numSamples += reports; + + alertEmit(sample, reports, changedBits, sample[rp].tick); + + changedBits = 0; + reports = 0; + } + } + } + + if (reports) + { + totalSamples += reports; + + /* Rebase watchdog timeouts */ + if (wdogBits) alertWdogCheck(sample, reports); + + gpioStats.numSamples += reports; + } + + alertEmit(sample, reports, changedBits, sTick); + + if (totalSamples > gpioStats.maxSamples) + gpioStats.maxSamples = numSamples; + + req.tv_sec = 0; + req.tv_nsec = alert_delays[(gpioCfg.internals>>PI_CFG_ALERT_FREQ)&15]; + + if (moreToDo) + { + gpioStats.moreToDo++; + } + else + { + gpioStats.alertTicks++; + + while (nanosleep(&req, &rem)) + { + req.tv_sec = rem.tv_sec; + req.tv_nsec = rem.tv_nsec; + } + } + } + + return 0; +} + +/* ======================================================================= */ + +static int scrPop(gpioScript_t *s, int *SP, int *S) +{ + if ((*SP) > 0) + { + return S[--(*SP)]; + } + else + { + s->run_state = PI_SCRIPT_FAILED; + DBG(DBG_ALWAYS, "script %d too many pops", s->id); + return 0; + } +} + +/* ----------------------------------------------------------------------- */ + +static void scrPush(gpioScript_t *s, int *SP, int *S, int val) +{ + if ((*SP) < PI_SCRIPT_STACK_SIZE) + { + S[(*SP)++] = val; + } + else + { + s->run_state = PI_SCRIPT_FAILED; + DBG(DBG_ALWAYS, "script %d too many pushes", s->id); + } +} + +/* ----------------------------------------------------------------------- */ + +static void scrSwap(int *v1, int *v2) +{ + int t; + + t=*v1; *v1=*v2; *v2= t; +} + +/* ----------------------------------------------------------------------- */ + +static int scrWait(gpioScript_t *s, uint32_t bits) +{ + pthread_mutex_lock(&s->pthMutex); + + if (s->request == PI_SCRIPT_RUN) + { + s->run_state = PI_SCRIPT_WAITING; + s->waitBits = bits; + intScriptBits(); + + pthread_cond_wait(&s->pthCond, &s->pthMutex); + + s->waitBits = 0; + intScriptBits(); + s->run_state = PI_SCRIPT_RUNNING; + } + + pthread_mutex_unlock(&s->pthMutex); + + return s->changedBits; +} + +/* ----------------------------------------------------------------------- */ + +static int scrSys(char *cmd, uint32_t p1, uint32_t p2) +{ + char buf[1024]; + int status; + + if (!myScriptNameValid(cmd)) + SOFT_ERROR(PI_BAD_SCRIPT_NAME, "bad script name (%s)", cmd); + + snprintf(buf, sizeof(buf), "/opt/pigpio/cgi/%s %u %u", cmd, p1, p2); + + DBG(DBG_USER, "%s", buf); + + status = system(buf); + + if (status < 0) status = PI_BAD_SHELL_STATUS; + + return status; +} + +/* ----------------------------------------------------------------------- */ + +static void *pthScript(void *x) +{ + gpioScript_t *s; + cmdInstr_t instr; + int p1, p2, p1o, p2o, *t1, *t2; + int PC, A, F, SP; + int S[PI_SCRIPT_STACK_SIZE]; + char buf[CMD_MAX_EXTENSION]; + + + S[0] = 0; /* to prevent compiler warning */ + + s = x; + + while ((volatile int)s->request != PI_SCRIPT_DELETE) + { + pthread_mutex_lock(&s->pthMutex); + s->run_state = PI_SCRIPT_HALTED; + pthread_cond_wait(&s->pthCond, &s->pthMutex); + pthread_mutex_unlock(&s->pthMutex); + + s->run_state = PI_SCRIPT_RUNNING; + + A = 0; + F = 0; + PC = 0; + SP = 0; + + while (((volatile int)s->request == PI_SCRIPT_RUN ) && + (s->run_state == PI_SCRIPT_RUNNING)) + { + instr = s->script.instr[PC]; + + p1o = instr.p[1]; + p2o = instr.p[2]; + + if (instr.opt[1] == CMD_VAR) instr.p[1] = s->script.var[p1o]; + else if (instr.opt[1] == CMD_PAR) instr.p[1] = s->script.par[p1o]; + + if (instr.opt[2] == CMD_VAR) instr.p[2] = s->script.var[p2o]; + else if (instr.opt[2] == CMD_PAR) instr.p[2] = s->script.par[p2o]; +/* + fprintf(stderr, "PC=%d cmd=%d p1o=%d p1=%d p2o=%d p2=%d\n", + PC, instr.p[0], p1o, instr.p[1], p2o, instr.p[2]); + fflush(stderr); +*/ + if (instr.p[0] < 100) + { + if (instr.p[3]) + { + memcpy(buf, (char *)instr.p[4], instr.p[3]); + } + + A = myDoCommand(instr.p, sizeof(buf)-1, buf); + + F = A; + + PC++; + } + else + { + p1 = instr.p[1]; + p2 = instr.p[2]; + + switch (instr.p[0]) + { + case PI_CMD_ADD: A+=p1; F=A; PC++; break; + + case PI_CMD_AND: A&=p1; F=A; PC++; break; + + case PI_CMD_CALL: scrPush(s, &SP, S, PC+1); PC = p1; break; + + case PI_CMD_CMP: F=A-p1; PC++; break; + + case PI_CMD_DCR: + if (instr.opt[1] == CMD_PAR) + {--s->script.par[p1o]; F=s->script.par[p1o];} + else + {--s->script.var[p1o]; F=s->script.var[p1o];} + PC++; + break; + + case PI_CMD_DCRA: --A; F=A; PC++; break; + + case PI_CMD_DIV: A/=p1; F=A; PC++; break; + + case PI_CMD_HALT: s->run_state = PI_SCRIPT_HALTED; break; + + case PI_CMD_INR: + if (instr.opt[1] == CMD_PAR) + {++s->script.par[p1o]; F=s->script.par[p1o];} + else + {++s->script.var[p1o]; F=s->script.var[p1o];} + PC++; + break; + + case PI_CMD_INRA: ++A; F=A; PC++; break; + + case PI_CMD_JM: if (F<0) PC=p1; else PC++; break; + + case PI_CMD_JMP: PC=p1; break; + + case PI_CMD_JNZ: if (F) PC=p1; else PC++; break; + + case PI_CMD_JP: if (F>=0) PC=p1; else PC++; break; + + case PI_CMD_JZ: if (!F) PC=p1; else PC++; break; + + case PI_CMD_LD: + if (instr.opt[1] == CMD_PAR) s->script.par[p1o]=p2; + else s->script.var[p1o]=p2; + PC++; + break; + + case PI_CMD_LDA: A=p1; PC++; break; + + case PI_CMD_LDAB: + if ((p1 >= 0) && (p1 < sizeof(buf))) A = buf[p1]; + PC++; + break; + + case PI_CMD_MLT: A*=p1; F=A; PC++; break; + + case PI_CMD_MOD: A%=p1; F=A; PC++; break; + + case PI_CMD_OR: A|=p1; F=A; PC++; break; + + case PI_CMD_POP: + if (instr.opt[1] == CMD_PAR) + s->script.par[p1o]=scrPop(s, &SP, S); + else + s->script.var[p1o]=scrPop(s, &SP, S); + PC++; + break; + + case PI_CMD_POPA: A=scrPop(s, &SP, S); PC++; break; + + case PI_CMD_PUSH: + if (instr.opt[1] == CMD_PAR) + scrPush(s, &SP, S, s->script.par[p1o]); + else + scrPush(s, &SP, S, s->script.var[p1o]); + PC++; + break; + + case PI_CMD_PUSHA: scrPush(s, &SP, S, A); PC++; break; + + case PI_CMD_RET: PC=scrPop(s, &SP, S); break; + + case PI_CMD_RL: + if (instr.opt[1] == CMD_PAR) + {s->script.par[p1o]<<=p2; F=s->script.par[p1o];} + else + {s->script.var[p1o]<<=p2; F=s->script.var[p1o];} + PC++; + break; + + case PI_CMD_RLA: A<<=p1; F=A; PC++; break; + + case PI_CMD_RR: + if (instr.opt[1] == CMD_PAR) + {s->script.par[p1o]>>=p2; F=s->script.par[p1o];} + else + {s->script.var[p1o]>>=p2; F=s->script.var[p1o];} + PC++; + break; + + case PI_CMD_RRA: A>>=p1; F=A; PC++; break; + + case PI_CMD_STA: + if (instr.opt[1] == CMD_PAR) s->script.par[p1o]=A; + else s->script.var[p1o]=A; + PC++; + break; + + case PI_CMD_STAB: + if ((p1 >= 0) && (p1 < sizeof(buf))) buf[p1] = A; + PC++; + break; + + case PI_CMD_SUB: A-=p1; F=A; PC++; break; + + case PI_CMD_SYS: + A=scrSys((char*)instr.p[4], A, *(gpioReg + GPLEV0)); + F=A; + PC++; + break; + + case PI_CMD_WAIT: A=scrWait(s, p1); F=A; PC++; break; + + case PI_CMD_X: + if (instr.opt[1] == CMD_PAR) t1 = &s->script.par[p1o]; + else t1 = &s->script.var[p1o]; + + if (instr.opt[2] == CMD_PAR) t2 = &s->script.par[p2o]; + else t2 = &s->script.var[p2o]; + + scrSwap(t1, t2); + PC++; + break; + + case PI_CMD_XA: + if (instr.opt[1] == CMD_PAR) + scrSwap(&s->script.par[p1o], &A); + else + scrSwap(&s->script.var[p1o], &A); + PC++; + break; + + case PI_CMD_XOR: A^=p1; F=A; PC++; break; + + } + } + + if (PC >= s->script.instrs) s->run_state = PI_SCRIPT_HALTED; + + } + + if ((volatile int)s->request == PI_SCRIPT_HALT) + s->run_state = PI_SCRIPT_HALTED; + + } + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +static void * pthTimerTick(void *x) +{ + gpioTimer_t * tp; + struct timespec req, rem, period; + char buf[256]; + + tp = x; + + clock_gettime(CLOCK_REALTIME, &tp->nextTick); + + while (1) + { + clock_gettime(CLOCK_REALTIME, &rem); + + period.tv_sec = tp->millis / THOUSAND; + period.tv_nsec = (tp->millis % THOUSAND) * THOUSAND * THOUSAND; + + do + { + TIMER_ADD(&tp->nextTick, &period, &tp->nextTick); + + TIMER_SUB(&tp->nextTick, &rem, &req); + } + while (req.tv_sec < 0); + + while (nanosleep(&req, &rem)) + { + req.tv_sec = rem.tv_sec; + req.tv_nsec = rem.tv_nsec; + } + + if (gpioCfg.dbgLevel >= DBG_SLOW_TICK) + { + if ((tp->millis > 50) || (gpioCfg.dbgLevel >= DBG_FAST_TICK)) + { + sprintf(buf, "pigpio: TIMER=%d @ %u %u\n", + tp->id, + (unsigned)tp->nextTick.tv_sec, + (unsigned)tp->nextTick.tv_nsec); + fprintf(stderr, buf); + } + } + + if (tp->ex) (tp->func)(tp->userdata); + else (tp->func)(); + } + + return 0; +} + +/* ----------------------------------------------------------------------- */ + + +static void * pthFifoThread(void *x) +{ + char buf[CMD_MAX_EXTENSION]; + int idx, flags, len, res, i; + uint32_t p[CMD_P_ARR]; + cmdCtlParse_t ctl; + uint32_t *param; + char v[CMD_MAX_EXTENSION]; + + myCreatePipe(PI_INPFIFO, 0662); + + if ((inpFifo = fopen(PI_INPFIFO, "r+")) == NULL) + SOFT_ERROR((void*)PI_INIT_FAILED, "fopen %s failed(%m)", PI_INPFIFO); + + myCreatePipe(PI_OUTFIFO, 0664); + + if ((outFifo = fopen(PI_OUTFIFO, "w+")) == NULL) + SOFT_ERROR((void*)PI_INIT_FAILED, "fopen %s failed (%m)", PI_OUTFIFO); + + /* set outFifo non-blocking */ + + flags = fcntl(fileno(outFifo), F_GETFL, 0); + fcntl(fileno(outFifo), F_SETFL, flags | O_NONBLOCK); + + /* don't start until DMA started */ + + spinWhileStarting(); + + while (1) + { + if (fgets(buf, sizeof(buf), inpFifo) == NULL) + SOFT_ERROR((void*)PI_INIT_FAILED, "fifo fgets failed (%m)"); + + len = strlen(buf); + + if (len) + { + --len; + buf[len] = 0; /* replace terminating */ + } + + ctl.eaten = 0; + idx = 0; + + while (((ctl.eaten)= 0)) + { + if ((idx=cmdParse(buf, p, CMD_MAX_EXTENSION, v, &ctl)) >= 0) + { + /* make sure extensions are null terminated */ + + v[p[3]] = 0; + + res = myDoCommand(p, sizeof(v)-1, v); + + switch (cmdInfo[idx].rv) + { + case 0: + fprintf(outFifo, "%d\n", res); + break; + + case 1: + fprintf(outFifo, "%d\n", res); + break; + + case 2: + fprintf(outFifo, "%d\n", res); + break; + + case 3: + fprintf(outFifo, "%08X\n", res); + break; + + case 4: + fprintf(outFifo, "%u\n", res); + break; + + case 5: + fprintf(outFifo, cmdUsage); + break; + + case 6: + fprintf(outFifo, "%d", res); + if (res > 0) + { + for (i=0; i= 0) + { + memcpy(buf, &p[3], 4); + p[3] = 4 + (4*PI_MAX_SCRIPT_PARAMS); + } + break; + + default: + p[3] = myDoCommand(p, sizeof(buf)-1, buf); + } + + write(sock, p, 16); + + switch (p[0]) + { + /* extensions */ + + case PI_CMD_BI2CZ: + case PI_CMD_CF2: + case PI_CMD_FL: + case PI_CMD_FR: + case PI_CMD_I2CPK: + case PI_CMD_I2CRD: + case PI_CMD_I2CRI: + case PI_CMD_I2CRK: + case PI_CMD_I2CZ: + case PI_CMD_PROCP: + case PI_CMD_SERR: + case PI_CMD_SLR: + case PI_CMD_SPIX: + case PI_CMD_SPIR: + case PI_CMD_BSPIX: + + if (((int)p[3]) > 0) + { + write(sock, buf, p[3]); + } + break; + + default: + break; + } + } + + closeOrphanedNotifications(-1, sock); + + close(sock); + + return 0; +} + +static int addrAllowed(uint32_t addr) +{ + int i; + + if (!numSockNetAddr) return 1; + + for (i=0; i= 0) + { + pthread_t thr; + + fdC = accept(fdSock, (struct sockaddr *)&client, (socklen_t*)&c); + + closeOrphanedNotifications(-1, fdC); + + if (addrAllowed(client.sin_addr.s_addr)) + { + 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)"); + } + else + { + close(fdC); + } + } + + if (fdC < 0) + SOFT_ERROR((void*)PI_INIT_FAILED, "accept failed (%m)"); + + return 0; +} + +/* ======================================================================= */ + +static void initCheckLockFile(void) +{ + int fd; + int count; + int pid; + int err; + int delete; + char str[20]; + + fd = open(PI_LOCKFILE, O_RDONLY); + + if (fd != -1) + { + DBG(DBG_STARTUP, "lock file exists"); + delete = 1; + + count = read(fd, str, sizeof(str)-1); + + if (count) + { + pid = atoi(str); + err = kill(pid, 0); + if (!err) delete = 0; /* process still exists */ + DBG(DBG_STARTUP, "lock file pid=%d err=%d", pid, err); + } + + close(fd); + DBG(DBG_STARTUP, "lock file delete=%d", delete); + + if (delete) unlink(PI_LOCKFILE); + } +} + +static int initGrabLockFile(void) +{ + int fd; + int lockResult; + char pidStr[20]; + + initCheckLockFile(); + + /* 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 + { + close(fd); + return -1; + } + } + + return fd; +} + +/* ----------------------------------------------------------------------- */ + +static uint32_t * initMapMem(int fd, uint32_t addr, uint32_t len) +{ + return (uint32_t *) mmap(0, len, + PROT_READ|PROT_WRITE|PROT_EXEC, + MAP_SHARED|MAP_LOCKED, + fd, addr); +} + +/* ----------------------------------------------------------------------- */ + +static int initCheckPermitted(void) +{ + DBG(DBG_STARTUP, ""); + + if ((fdMem = open("/dev/mem", O_RDWR | O_SYNC) ) < 0) + { + DBG(DBG_ALWAYS, + "\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"); + return -1; + } + return 0; +} + +/* ----------------------------------------------------------------------- */ + +static int initPeripherals(void) +{ + uint32_t dmaBase; + + DBG(DBG_STARTUP, ""); + + gpioReg = initMapMem(fdMem, GPIO_BASE, GPIO_LEN); + + if (gpioReg == MAP_FAILED) + SOFT_ERROR(PI_INIT_FAILED, "mmap gpio failed (%m)"); + + /* dma channels 0-14 share one page, 15 has another */ + + if (gpioCfg.DMAprimaryChannel < 15) + { + dmaBase = DMA_BASE; + } + else dmaBase = DMA15_BASE; + + dmaReg = initMapMem(fdMem, dmaBase, DMA_LEN); + + if (dmaReg == MAP_FAILED) + SOFT_ERROR(PI_INIT_FAILED, "mmap dma failed (%m)"); + + if (gpioCfg.DMAprimaryChannel < 15) + { + dmaIn = dmaReg + (gpioCfg.DMAprimaryChannel * 0x40); + dmaOut = dmaReg + (gpioCfg.DMAsecondaryChannel * 0x40); + } + + DBG(DBG_STARTUP, "DMA #%d @ %08X @ %08X", + gpioCfg.DMAprimaryChannel, dmaBase, (uint32_t)dmaIn); + + DBG(DBG_STARTUP, "debug reg is %08X", dmaIn[DMA_DEBUG]); + + clkReg = initMapMem(fdMem, CLK_BASE, CLK_LEN); + + if (clkReg == MAP_FAILED) + SOFT_ERROR(PI_INIT_FAILED, "mmap clk failed (%m)"); + + systReg = initMapMem(fdMem, SYST_BASE, SYST_LEN); + + if (systReg == MAP_FAILED) + SOFT_ERROR(PI_INIT_FAILED, "mmap syst failed (%m)"); + + spiReg = initMapMem(fdMem, SPI_BASE, SPI_LEN); + + if (spiReg == MAP_FAILED) + SOFT_ERROR(PI_INIT_FAILED, "mmap spi failed (%m)"); + + pwmReg = initMapMem(fdMem, PWM_BASE, PWM_LEN); + + if (pwmReg == MAP_FAILED) + SOFT_ERROR(PI_INIT_FAILED, "mmap pwm failed (%m)"); + + pcmReg = initMapMem(fdMem, PCM_BASE, PCM_LEN); + + if (pcmReg == MAP_FAILED) + SOFT_ERROR(PI_INIT_FAILED, "mmap pcm failed (%m)"); + + auxReg = initMapMem(fdMem, AUX_BASE, AUX_LEN); + + if (auxReg == MAP_FAILED) + SOFT_ERROR(PI_INIT_FAILED, "mmap aux failed (%m)"); + + padsReg = initMapMem(fdMem, PADS_BASE, PADS_LEN); + + if (padsReg == MAP_FAILED) + SOFT_ERROR(PI_INIT_FAILED, "mmap pads failed (%m)"); + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +static int initZaps + (int pmapFd, void *virtualBase, int basePage, int pages) +{ + int n; + long index; + off_t offset; + ssize_t t; + uint32_t physical; + int status; + uint32_t pageAdr; + unsigned long long pa; + + DBG(DBG_STARTUP, ""); + + status = 0; + + pageAdr = (uint32_t) dmaVirt[basePage]; + + index = ((uint32_t)virtualBase / PAGE_SIZE) * 8; + + offset = lseek(pmapFd, index, SEEK_SET); + + if (offset != index) + SOFT_ERROR(PI_INIT_FAILED, "lseek pagemap failed (%m)"); + + for (n=0; n PI_DEFAULT_BUFFER_MILLIS))) + { + /* pagemap allocation of DMA memory */ + + dmaPMapBlk = mmap( + 0, (bufferBlocks+PI_WAVE_BLOCKS)*sizeof(dmaPage_t *), + PROT_READ|PROT_WRITE, + MAP_PRIVATE|MAP_ANONYMOUS|MAP_LOCKED, + -1, 0); + + if (dmaPMapBlk == MAP_FAILED) + SOFT_ERROR(PI_INIT_FAILED, "pagemap mmap block failed (%m)"); + + fdPmap = open("/proc/self/pagemap", O_RDONLY); + + if (fdPmap < 0) + SOFT_ERROR(PI_INIT_FAILED, "pagemap open failed(%m)"); + + for (i=0; i<(bufferBlocks+PI_WAVE_BLOCKS); i++) + { + status = initPagemapBlock(i); + if (status < 0) + { + close(fdPmap); + return status; + } + } + + close(fdPmap); + + DBG(DBG_STARTUP, "dmaPMapBlk=%08X dmaIn=%08X", + (uint32_t)dmaPMapBlk, (uint32_t)dmaIn); + } + else + { + /* mailbox allocation of DMA memory */ + + dmaMboxBlk = mmap( + 0, (bufferBlocks+PI_WAVE_BLOCKS)*sizeof(DMAMem_t), + PROT_READ|PROT_WRITE, + MAP_PRIVATE|MAP_ANONYMOUS|MAP_LOCKED, + -1, 0); + + if (dmaMboxBlk == MAP_FAILED) + SOFT_ERROR(PI_INIT_FAILED, "mmap mbox block failed (%m)"); + + fdMbox = mbOpen(); + + if (fdMbox < 0) + SOFT_ERROR(PI_INIT_FAILED, "mbox open failed(%m)"); + + for (i=0; i<(bufferBlocks+PI_WAVE_BLOCKS); i++) + { + status = initMboxBlock(i); + if (status < 0) + { + mbClose(fdMbox); + return status; + } + } + + mbClose(fdMbox); + + DBG(DBG_STARTUP, "dmaMboxBlk=%08X dmaIn=%08X", + (uint32_t)dmaMboxBlk, (uint32_t)dmaIn); + } + + 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); + + for (i=0; i= DBG_DMACBS) + { + fprintf(stderr, "*** INPUT DMA CONTROL BLOCKS ***\n"); + for (i=0; iperiphData = 1; + + /* enable PWM DMA, raise panic and dreq thresholds to 15 */ + + pwmReg[PWM_DMAC] = PWM_DMAC_ENAB | + PWM_DMAC_PANIC(15) | + PWM_DMAC_DREQ(15); + + myGpioDelay(10); + + /* clear PWM fifo */ + + pwmReg[PWM_CTL] = PWM_CTL_CLRF1; + + myGpioDelay(10); + + /* enable PWM channel 1 and use fifo */ + + pwmReg[PWM_CTL] = PWM_CTL_USEF1 | PWM_CTL_MODE1 | PWM_CTL_PWEN1; +} + +/* ----------------------------------------------------------------------- */ + +static void initPCM(unsigned bits) +{ + DBG(DBG_STARTUP, "bits=%d", bits); + + /* disable PCM so we can modify the regs */ + + pcmReg[PCM_CS] = 0; + + myGpioDelay(1000); + + pcmReg[PCM_FIFO] = 0; + pcmReg[PCM_MODE] = 0; + pcmReg[PCM_RXC] = 0; + pcmReg[PCM_TXC] = 0; + pcmReg[PCM_DREQ] = 0; + pcmReg[PCM_INTEN] = 0; + pcmReg[PCM_INTSTC] = 0; + pcmReg[PCM_GRAY] = 0; + + myGpioDelay(1000); + + pcmReg[PCM_MODE] = PCM_MODE_FLEN(bits-1); /* # bits in frame */ + + /* enable channel 1 with # bits width */ + + pcmReg[PCM_TXC] = PCM_TXC_CH1EN | PCM_TXC_CH1WID(bits-8); + + pcmReg[PCM_CS] |= PCM_CS_STBY; /* clear standby */ + + myGpioDelay(1000); + + pcmReg[PCM_CS] |= PCM_CS_TXCLR; /* clear TX FIFO */ + + pcmReg[PCM_CS] |= PCM_CS_DMAEN; /* enable DREQ */ + + pcmReg[PCM_DREQ] = PCM_DREQ_TX_PANIC(16) | PCM_DREQ_TX_REQ_L(30); + + pcmReg[PCM_INTSTC] = 0b1111; /* clear status bits */ + + /* enable PCM */ + + pcmReg[PCM_CS] |= PCM_CS_EN; + + /* enable tx */ + + pcmReg[PCM_CS] |= PCM_CS_TXON; + + dmaIVirt[0]->periphData = 0x0F; +} + +/* ----------------------------------------------------------------------- */ + +static void initHWClk + (int clkCtl, int clkDiv, int clkSrc, int divI, int divF, int MASH) +{ + DBG(DBG_INTERNAL, "ctl=%d div=%d src=%d /I=%d /f=%d M=%d", + clkCtl, clkDiv, clkSrc, divI, divF, MASH); + + /* kill the clock if busy, anything else isn't reliable */ + + if (clkReg[clkCtl] & CLK_CTL_BUSY) + { + do + { + clkReg[clkCtl] = BCM_PASSWD | CLK_CTL_KILL; + } + while (clkReg[clkCtl] & CLK_CTL_BUSY); + } + + clkReg[clkDiv] = (BCM_PASSWD | CLK_DIV_DIVI(divI) | CLK_DIV_DIVF(divF)); + + usleep(10); + + clkReg[clkCtl] = (BCM_PASSWD | CLK_CTL_MASH(MASH) | CLK_CTL_SRC(clkSrc)); + + usleep(10); + + clkReg[clkCtl] |= (BCM_PASSWD | CLK_CTL_ENAB); +} + +static void initClock(int mainClock) +{ + const unsigned BITS=10; + int clockPWM; + unsigned clkCtl, clkDiv, clkSrc, clkDivI, clkDivF, clkMash, clkBits; + char *per; + unsigned micros; + + DBG(DBG_STARTUP, "mainClock=%d", mainClock); + + if (mainClock) micros = gpioCfg.clockMicros; + else micros = PI_WF_MICROS; + + clockPWM = mainClock ^ (gpioCfg.clockPeriph == PI_CLOCK_PCM); + + if (clockPWM) + { + clkCtl = CLK_PWMCTL; + clkDiv = CLK_PWMDIV; + per = "PWM"; + } + else + { + clkCtl = CLK_PCMCTL; + clkDiv = CLK_PCMDIV; + per = "PCM"; + } + + clkSrc = CLK_CTL_SRC_PLLD; + clkDivI = 50 * micros; /* 10 MHz - 1 MHz */ + clkBits = BITS; /* 10/BITS MHz - 1/BITS MHz */ + clkDivF = 0; + clkMash = 0; + + DBG(DBG_STARTUP, "%s PLLD divi=%d divf=%d mash=%d bits=%d", + per, clkDivI, clkDivF, clkMash, clkBits); + + initHWClk(clkCtl, clkDiv, clkSrc, clkDivI, clkDivF, clkMash); + + if (clockPWM) initPWM(BITS); + else initPCM(BITS); + + myGpioDelay(2000); +} + +/* ----------------------------------------------------------------------- */ + +static void initDMAgo(volatile uint32_t *dmaAddr, uint32_t cbAddr) +{ + DBG(DBG_STARTUP, ""); + + dmaAddr[DMA_CS] = DMA_CHANNEL_RESET; + + dmaAddr[DMA_CS] = DMA_INTERRUPT_STATUS | DMA_END_FLAG; + + dmaAddr[DMA_CONBLK_AD] = cbAddr; + + /* clear READ/FIFO/READ_LAST_NOT_SET error bits */ + + dmaAddr[DMA_DEBUG] = DMA_DEBUG_READ_ERR | + DMA_DEBUG_FIFO_ERR | + DMA_DEBUG_RD_LST_NOT_SET_ERR; + + + dmaAddr[DMA_CS] = DMA_WAIT_ON_WRITES | + DMA_PANIC_PRIORITY(8) | + DMA_PRIORITY(8) | + DMA_ACTIVATE; +} + +/* ----------------------------------------------------------------------- */ + +static void initClearGlobals(void) +{ + int i; + + DBG(DBG_STARTUP, ""); + + alertBits = 0; + monitorBits = 0; + notifyBits = 0; + scriptBits = 0; + gFilterBits = 0; + nFilterBits = 0; + wdogBits = 0; + + pthAlertRunning = 0; + pthFifoRunning = 0; + pthSocketRunning = 0; + + wfc[0] = 0; + wfc[1] = 0; + wfc[2] = 0; + + wfcur=0; + + wfStats.micros = 0; + wfStats.highMicros = 0; + wfStats.maxMicros = PI_WAVE_MAX_MICROS; + + wfStats.pulses = 0; + wfStats.highPulses = 0; + wfStats.maxPulses = PI_WAVE_MAX_PULSES; + + wfStats.cbs = 0; + wfStats.highCbs = 0; + wfStats.maxCbs = (PI_WAVE_BLOCKS * PAGES_PER_BLOCK * CBS_PER_OPAGE); + + gpioGetSamples.func = NULL; + gpioGetSamples.ex = 0; + gpioGetSamples.userdata = NULL; + gpioGetSamples.bits = 0; + + for (i=0; i<=PI_MAX_USER_GPIO; i++) + { + wfRx[i].mode = PI_WFRX_NONE; + pthread_mutex_init(&wfRx[i].mutex, NULL); + gpioAlert[i].func = NULL; + } + + for (i=0; i<=PI_MAX_GPIO; i++) + { + gpioInfo [i].is = GPIO_UNDEFINED; + gpioInfo [i].width = 0; + gpioInfo [i].range = PI_DEFAULT_DUTYCYCLE_RANGE; + gpioInfo [i].freqIdx = DEFAULT_PWM_IDX; + } + + for (i=0; i> 4) & 0xFF; + + /* model + 0=A 1=B + 2=A+ 3=B+ + 4=Pi2B + 5=Alpha + 6=Compute Module + 7=Unknown + 8=Pi3B + 9=Zero + */ + if (model < 2) gpioMask = PI_DEFAULT_UPDATE_MASK_A_B2; + else if (model < 4) gpioMask = PI_DEFAULT_UPDATE_MASK_APLUS_BPLUS; + else if (model == 4) gpioMask = PI_DEFAULT_UPDATE_MASK_PI2B; + else if (model == 6) gpioMask = PI_DEFAULT_UPDATE_MASK_COMPUTE; + else if (model == 8) gpioMask = PI_DEFAULT_UPDATE_MASK_PI3B; + else if (model == 9) gpioMask = PI_DEFAULT_UPDATE_MASK_ZERO; + else gpioMask = PI_DEFAULT_UPDATE_MASK_UNKNOWN; + } + + gpioMaskSet = 1; + } + +#ifndef EMBEDDED_IN_VM + sigSetHandler(); +#endif + + if (initPeripherals() < 0) return PI_INIT_FAILED; + + if (initAllocDMAMem() < 0) return PI_INIT_FAILED; + + /* done with /dev/mem */ + + if (fdMem != -1) + { + close(fdMem); + fdMem = -1; + } + + param.sched_priority = sched_get_priority_max(SCHED_FIFO); + + if (gpioCfg.internals & PI_CFG_RT_PRIORITY) + sched_setscheduler(0, SCHED_FIFO, ¶m); + + initClock(1); /* initialise main clock */ + + atexit(gpioTerminate); + + if (pthread_attr_init(&pthAttr)) + SOFT_ERROR(PI_INIT_FAILED, "pthread_attr_init failed (%m)"); + + if (pthread_attr_setstacksize(&pthAttr, STACK_SIZE)) + SOFT_ERROR(PI_INIT_FAILED, "pthread_attr_setstacksize failed (%m)"); + + if (pthread_create(&pthAlert, &pthAttr, pthAlertThread, &i)) + SOFT_ERROR(PI_INIT_FAILED, "pthread_create alert failed (%m)"); + + pthAlertRunning = 1; + + if (!(gpioCfg.ifFlags & PI_DISABLE_FIFO_IF)) + { + if (pthread_create(&pthFifo, &pthAttr, pthFifoThread, &i)) + SOFT_ERROR(PI_INIT_FAILED, "pthread_create fifo failed (%m)"); + + pthFifoRunning = 1; + } + + if (!(gpioCfg.ifFlags & PI_DISABLE_SOCK_IF)) + { + fdSock = socket(AF_INET , SOCK_STREAM , 0); + + if (fdSock == -1) + SOFT_ERROR(PI_INIT_FAILED, "socket failed (%m)"); + + portStr = getenv(PI_ENVPORT); + + if (portStr) port = atoi(portStr); else port = gpioCfg.socketPort; + + server.sin_family = AF_INET; + if (gpioCfg.ifFlags & PI_LOCALHOST_SOCK_IF) + { + server.sin_addr.s_addr = htonl(INADDR_LOOPBACK); + } + else + { + server.sin_addr.s_addr = htonl(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); + + if (pthread_create(&pthSocket, &pthAttr, pthSocketThread, &i)) + SOFT_ERROR(PI_INIT_FAILED, "pthread_create socket failed (%m)"); + + pthSocketRunning = 1; + } + + myGpioDelay(10000); + + dmaInitCbs(); + + flushMemory(); + + initDMAgo((uint32_t *)dmaIn, (uint32_t)dmaIBus[0]); + + myGpioDelay(20000); + + return PIGPIO_VERSION; +} + + +/* ======================================================================= */ + +int getBitInBytes(int bitPos, char *buf, int numBits) +{ + int bitp, bufp; + + if (bitPos < numBits) + { + bufp = bitPos / 8; + bitp = 7 - (bitPos % 8); + if (buf[bufp] & (1<= 0) && (pos < NUM_WAVE_OOL)) + { + waveOOLPageSlot(pos, &page, &slot); + return (dmaOVirt[page]->OOL[slot]); + } + + return -1; +} + +/* ----------------------------------------------------------------------- */ + +void rawWaveSetOOL(int pos, uint32_t value) +{ + int page, slot; + + if ((pos >= 0) && (pos < NUM_WAVE_OOL)) + { + waveOOLPageSlot(pos, &page, &slot); + dmaOVirt[page]->OOL[slot] = value; + } +} + + +/* ----------------------------------------------------------------------- */ + +uint32_t rawWaveGetOut(int pos) +{ + int page, slot; + + if ((pos >= 0) && (pos < NUM_WAVE_OOL)) + { + waveOOLPageSlot(pos, &page, &slot); + return (dmaOVirt[page]->OOL[slot]); + } + + return -1; +} + +/* ----------------------------------------------------------------------- */ + +void rawWaveSetOut(int pos, uint32_t value) +{ + int page, slot; + + if ((pos >= 0) && (pos < NUM_WAVE_OOL)) + { + waveOOLPageSlot(pos, &page, &slot); + dmaOVirt[page]->OOL[slot] = value; + } +} + + +/* ----------------------------------------------------------------------- */ + +uint32_t rawWaveGetIn(int pos) +{ + int page, slot; + + if ((pos >= 0) && (pos < NUM_WAVE_OOL)) + { + waveOOLPageSlot((NUM_WAVE_OOL-1)-pos, &page, &slot); + return (dmaOVirt[page]->OOL[slot]); + } + + return -1; +} + +/* ----------------------------------------------------------------------- */ + +void rawWaveSetIn(int pos, uint32_t value) +{ + int page, slot; + + if ((pos >= 0) && (pos < NUM_WAVE_OOL)) + { + waveOOLPageSlot((NUM_WAVE_OOL-1)-pos, &page, &slot); + dmaOVirt[page]->OOL[slot] = value; + } +} + +/* ----------------------------------------------------------------------- */ + +rawWaveInfo_t rawWaveInfo(int wave_id) +{ + rawWaveInfo_t dummy = {0, 0, 0, 0, 0, 0, 0, 0}; + + if ((wave_id >=0) && (wave_id < PI_MAX_WAVES)) return waveInfo[wave_id]; + else return dummy; +} + +/* ----------------------------------------------------------------------- */ + +double time_time(void) +{ + struct timeval tv; + double t; + + gettimeofday(&tv, 0); + + t = (double)tv.tv_sec + ((double)tv.tv_usec / 1E6); + + return t; +} + +/* ----------------------------------------------------------------------- */ + +void time_sleep(double seconds) +{ + struct timespec ts, rem; + + if (seconds > 0.0) + { + ts.tv_sec = seconds; + ts.tv_nsec = (seconds-(double)ts.tv_sec) * 1E9; + + while (clock_nanosleep(CLOCK_REALTIME, 0, &ts, &rem)) + { + /* copy remaining time to ts */ + ts.tv_sec = rem.tv_sec; + ts.tv_nsec = rem.tv_nsec; + } + } +} + +/* ----------------------------------------------------------------------- */ + +void rawDumpWave(void) +{ + int i; + + unsigned numWaves, t; + + rawWave_t *waves; + + numWaves = wfc[wfcur]; + waves = wf [wfcur]; + + t = 0; + + for (i=0; i= PI_MAX_SCRIPTS) return; + + if (gpioScript[script_id].state == PI_SCRIPT_IN_USE) + { + + for (i=0; i> 4) & 3; + + if (pwm == 0) pwmReg[PWM_CTL] &= (~PWM_CTL_PWEN1); + else pwmReg[PWM_CTL] &= (~PWM_CTL_PWEN2); + + gpioInfo[i].width = 0; + gpioInfo[i].is = GPIO_UNDEFINED; + } + } +} + +/* ----------------------------------------------------------------------- */ + +int gpioSetMode(unsigned gpio, unsigned mode) +{ + int reg, shift, old_mode; + + DBG(DBG_USER, "gpio=%d mode=%d", gpio, mode); + + CHECK_INITED; + + if (gpio > PI_MAX_GPIO) + SOFT_ERROR(PI_BAD_GPIO, "bad gpio (%d)", gpio); + + if (mode > PI_ALT3) + SOFT_ERROR(PI_BAD_MODE, "gpio %d, bad mode (%d)", gpio, mode); + + reg = gpio/10; + shift = (gpio%10) * 3; + + old_mode = (gpioReg[reg] >> shift) & 7; + + if (mode != old_mode) + { + switchFunctionOff(gpio); + + gpioInfo[gpio].is = GPIO_UNDEFINED; + } + + gpioReg[reg] = (gpioReg[reg] & ~(7< PI_MAX_GPIO) + SOFT_ERROR(PI_BAD_GPIO, "bad gpio (%d)", gpio); + + reg = gpio/10; + shift = (gpio%10) * 3; + + return (gpioReg[reg] >> shift) & 7; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetPullUpDown(unsigned gpio, unsigned pud) +{ + DBG(DBG_USER, "gpio=%d pud=%d", gpio, pud); + + CHECK_INITED; + + if (gpio > PI_MAX_GPIO) + SOFT_ERROR(PI_BAD_GPIO, "bad gpio (%d)", gpio); + + if (pud > PI_PUD_UP) + SOFT_ERROR(PI_BAD_PUD, "gpio %d, bad pud (%d)", gpio, pud); + + *(gpioReg + GPPUD) = pud; + + myGpioDelay(20); + + *(gpioReg + GPPUDCLK0 + BANK) = BIT; + + myGpioDelay(20); + + *(gpioReg + GPPUD) = 0; + + *(gpioReg + GPPUDCLK0 + BANK) = 0; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioRead(unsigned gpio) +{ + DBG(DBG_USER, "gpio=%d", gpio); + + CHECK_INITED; + + if (gpio > PI_MAX_GPIO) + SOFT_ERROR(PI_BAD_GPIO, "bad gpio (%d)", gpio); + + if ((*(gpioReg + GPLEV0 + BANK) & BIT) != 0) return PI_ON; + else return PI_OFF; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWrite(unsigned gpio, unsigned level) +{ + DBG(DBG_USER, "gpio=%d level=%d", gpio, level); + + CHECK_INITED; + + if (gpio > PI_MAX_GPIO) + SOFT_ERROR(PI_BAD_GPIO, "bad gpio (%d)", gpio); + + if (level > PI_ON) + SOFT_ERROR(PI_BAD_LEVEL, "gpio %d, bad level (%d)", gpio, level); + + if (gpio <= PI_MAX_GPIO) + { + if (gpioInfo[gpio].is != GPIO_WRITE) + { + /* stop a glitch between setting mode then level */ + if (level == PI_OFF) *(gpioReg + GPCLR0 + BANK) = BIT; + else *(gpioReg + GPSET0 + BANK) = BIT; + + switchFunctionOff(gpio); + + gpioInfo[gpio].is = GPIO_WRITE; + } + } + + myGpioSetMode(gpio, PI_OUTPUT); + + if (level == PI_OFF) *(gpioReg + GPCLR0 + BANK) = BIT; + else *(gpioReg + GPSET0 + BANK) = BIT; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioPWM(unsigned gpio, unsigned val) +{ + DBG(DBG_USER, "gpio=%d dutycycle=%d", gpio, val); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (val > gpioInfo[gpio].range) + SOFT_ERROR(PI_BAD_DUTYCYCLE, "gpio %d, bad dutycycle (%d)", gpio, val); + + if (gpioInfo[gpio].is != GPIO_PWM) + { + switchFunctionOff(gpio); + + gpioInfo[gpio].is = GPIO_PWM; + } + + myGpioSetMode(gpio, PI_OUTPUT); + + myGpioSetPwm(gpio, gpioInfo[gpio].width, val); + + gpioInfo[gpio].width=val; + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int gpioGetPWMdutycycle(unsigned gpio) +{ + unsigned pwm; + + DBG(DBG_USER, "gpio=%d", gpio); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + switch (gpioInfo[gpio].is) + { + case GPIO_PWM: + return gpioInfo[gpio].width; + + case GPIO_HW_PWM: + pwm = (PWMDef[gpio] >> 4) & 3; + return hw_pwm_duty[pwm]; + + case GPIO_HW_CLK: + return PI_HW_PWM_RANGE/2; + + default: + SOFT_ERROR(PI_NOT_PWM_GPIO, "not a PWM gpio (%d)", gpio); + } +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetPWMrange(unsigned gpio, unsigned range) +{ + int oldWidth, newWidth; + + DBG(DBG_USER, "gpio=%d range=%d", gpio, range); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if ((range < PI_MIN_DUTYCYCLE_RANGE) || (range > PI_MAX_DUTYCYCLE_RANGE)) + SOFT_ERROR(PI_BAD_DUTYRANGE, "gpio %d, bad range (%d)", gpio, range); + + oldWidth = gpioInfo[gpio].width; + + if (oldWidth) + { + if (gpioInfo[gpio].is == GPIO_PWM) + { + newWidth = (range * oldWidth) / gpioInfo[gpio].range; + + myGpioSetPwm(gpio, oldWidth, 0); + gpioInfo[gpio].range = range; + gpioInfo[gpio].width = newWidth; + myGpioSetPwm(gpio, 0, newWidth); + } + } + + gpioInfo[gpio].range = range; + + /* return the actual range for the current gpio frequency */ + + return pwmRealRange[gpioInfo[gpio].freqIdx]; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioGetPWMrange(unsigned gpio) +{ + DBG(DBG_USER, "gpio=%d", gpio); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + switch (gpioInfo[gpio].is) + { + case GPIO_HW_PWM: + case GPIO_HW_CLK: + return PI_HW_PWM_RANGE; + + default: + return gpioInfo[gpio].range; + } +} + + +/* ----------------------------------------------------------------------- */ + +int gpioGetPWMrealRange(unsigned gpio) +{ + unsigned pwm; + + DBG(DBG_USER, "gpio=%d", gpio); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + switch (gpioInfo[gpio].is) + { + case GPIO_HW_PWM: + pwm = (PWMDef[gpio] >> 4) & 3; + return hw_pwm_real_range[pwm]; + + case GPIO_HW_CLK: + return PI_HW_PWM_RANGE; + + default: + return pwmRealRange[gpioInfo[gpio].freqIdx]; + } +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetPWMfrequency(unsigned gpio, unsigned frequency) +{ + int i, width; + unsigned diff, best, idx; + + DBG(DBG_USER, "gpio=%d frequency=%d", gpio, frequency); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (frequency > pwmFreq[0]) idx = 0; + else if (frequency < pwmFreq[PWM_FREQS-1]) idx = PWM_FREQS-1; + else + { + best = 100000; /* impossibly high frequency difference */ + idx = 0; + + for (i=0; i pwmFreq[i]) diff = frequency - pwmFreq[i]; + else diff = pwmFreq[i] - frequency; + + if (diff < best) + { + best = diff; + idx = i; + } + } + } + + width = gpioInfo[gpio].width; + + if (width) + { + if (gpioInfo[gpio].is == GPIO_PWM) + { + myGpioSetPwm(gpio, width, 0); + gpioInfo[gpio].freqIdx = idx; + myGpioSetPwm(gpio, 0, width); + } + } + + gpioInfo[gpio].freqIdx = idx; + + return pwmFreq[idx]; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioGetPWMfrequency(unsigned gpio) +{ + unsigned pwm, clock; + + DBG(DBG_USER, "gpio=%d", gpio); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + switch (gpioInfo[gpio].is) + { + case GPIO_HW_PWM: + pwm = (PWMDef[gpio] >> 4) & 3; + return hw_pwm_freq[pwm]; + + case GPIO_HW_CLK: + clock = (clkDef[gpio] >> 4) & 3; + return hw_clk_freq[clock]; + + default: + return pwmFreq[gpioInfo[gpio].freqIdx]; + } +} + + +/* ----------------------------------------------------------------------- */ + +int gpioServo(unsigned gpio, unsigned val) +{ + DBG(DBG_USER, "gpio=%d pulsewidth=%d", gpio, val); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if ((val!=PI_SERVO_OFF) && (valPI_MAX_SERVO_PULSEWIDTH) + SOFT_ERROR(PI_BAD_PULSEWIDTH, + "gpio %d, bad pulsewidth (%d)", gpio, val); + + if (gpioInfo[gpio].is != GPIO_SERVO) + { + switchFunctionOff(gpio); + + gpioInfo[gpio].is = GPIO_SERVO; + } + + myGpioSetMode(gpio, PI_OUTPUT); + + myGpioSetServo(gpio, gpioInfo[gpio].width, val); + + gpioInfo[gpio].width=val; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioGetServoPulsewidth(unsigned gpio) +{ + DBG(DBG_USER, "gpio=%d", gpio); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (gpioInfo[gpio].is != GPIO_SERVO) + SOFT_ERROR(PI_NOT_SERVO_GPIO, "not a servo gpio (%d)", gpio); + + return gpioInfo[gpio].width; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWaveClear(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + wfc[0] = 0; + wfc[1] = 0; + wfc[2] = 0; + + wfcur = 0; + + wfStats.micros = 0; + wfStats.pulses = 0; + wfStats.cbs = 0; + + waveOutBotCB = PI_WAVE_COUNT_PAGES*CBS_PER_OPAGE; + waveOutBotOOL = PI_WAVE_COUNT_PAGES*OOL_PER_OPAGE; + waveOutTopOOL = NUM_WAVE_OOL; + + waveOutCount = 0; + + waveEndPtr = NULL; + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveAddNew(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + wfc[0] = 0; + wfc[1] = 0; + wfc[2] = 0; + + wfcur = 0; + + wfStats.micros = 0; + wfStats.pulses = 0; + wfStats.cbs = 0; + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveAddGeneric(unsigned numPulses, gpioPulse_t *pulses) +{ + int p; + + DBG(DBG_USER, "numPulses=%u pulses=%08X", numPulses, (uint32_t)pulses); + + CHECK_INITED; + + if (numPulses > PI_WAVE_MAX_PULSES) + SOFT_ERROR(PI_TOO_MANY_PULSES, "bad number of pulses (%d)", numPulses); + + if (!pulses) SOFT_ERROR(PI_BAD_POINTER, "bad (NULL) pulses pointer"); + + for (p=0; p PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if ((baud < PI_WAVE_MIN_BAUD) || (baud > PI_WAVE_MAX_BAUD)) + SOFT_ERROR(PI_BAD_WAVE_BAUD, "bad baud rate (%d)", baud); + + if ((data_bits < PI_MIN_WAVE_DATABITS) || + (data_bits > PI_MAX_WAVE_DATABITS)) + SOFT_ERROR(PI_BAD_DATABITS, "bad number of databits (%d)", data_bits); + + if ((stop_bits < PI_MIN_WAVE_HALFSTOPBITS) || + (stop_bits > PI_MAX_WAVE_HALFSTOPBITS)) + SOFT_ERROR(PI_BAD_STOPBITS, + "bad number of (half) stop bits (%d)", stop_bits); + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (numBytes > PI_WAVE_MAX_CHARS) + SOFT_ERROR(PI_TOO_MANY_CHARS, "too many chars (%d)", numBytes); + + if (offset > PI_WAVE_MAX_MICROS) + SOFT_ERROR(PI_BAD_SER_OFFSET, "offset too large (%d)", offset); + + if (data_bits > 8) numBytes /= 2; + if (data_bits > 16) numBytes /= 2; + + if (!numBytes) return 0; + + waveBitDelay(baud, data_bits, stop_bits, bitDelay); + + p = 0; + + wf[2][p].gpioOn = (1< bitDelay[0]) wf[2][p].usDelay = offset; + else wf[2][p].usDelay = bitDelay[0]; + + for (i=0; i PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", spiSS); + + /* + CPOL CPHA + 0 0 read rising/write falling + 0 1 read falling/write rising + 1 0 read falling/write rising + 1 1 read rising/write falling + */ + + if (spi->clk_pol) {rising_edge[0] = 0; rising_edge[1] = 1;} + else {rising_edge[0] = 1; rising_edge[1] = 0;} + + if (spi->clk_pha) {read_cycle[0] = 0; read_cycle[1] = 1;} + else {read_cycle[0] = 1; read_cycle[1] = 0;} + + p = 0; + + if (offset) + { + wf[2][p].gpioOn = 0; + wf[2][p].gpioOff = 0; + wf[2][p].flags = 0; + wf[2][p].usDelay = offset; + p++; + } + + on_bits = 0; + off_bits = 0; + + tx_bit_pos = 0; + + /* preset initial mosi bit */ + + if (getBitInBytes(tx_bit_pos, buf, spiTxBits)) + { + on_bits |= (1<<(spi->mosi)); + dbv = 1; + } + else + { + off_bits |= (1<<(spi->mosi)); + dbv = 0; + } + + if (!spi->clk_pha) tx_bit_pos ++; + + if (spi->ss_pol) off_bits |= (1<clk_pol) on_bits |= (1<<(spi->clk)); + else off_bits |= (1<<(spi->clk)); + + wf[2][p].gpioOn = on_bits; + wf[2][p].gpioOff = off_bits; + wf[2][p].flags = 0; + + if (spi->clk_us > spi->ss_us) wf[2][p].usDelay = spi->clk_us; + else wf[2][p].usDelay = spi->ss_us; + + p++; + + for (bit=1; bit<=spiBits; bit++) + { + for (halfbit=0; halfbit<2; halfbit++) + { + wf[2][p].usDelay = spi->clk_us; + wf[2][p].flags = 0; + + on_bits = 0; + off_bits = 0; + + if (read_cycle[halfbit]) + { + if ((bit>=spiBitFirst) && (bit<=spiBitLast)) + wf[2][p].flags = WAVE_FLAG_READ; + } + else + { + if (getBitInBytes(tx_bit_pos, buf, spiTxBits)) + { + if (!dbv) on_bits |= (1<<(spi->mosi)); + dbv = 1; + } + else + { + if (dbv) off_bits |= (1<<(spi->mosi)); + dbv = 0; + } + + ++tx_bit_pos; + } + + if (rising_edge[halfbit]) on_bits |= (1<<(spi->clk)); + else off_bits |= (1<<(spi->clk)); + + wf[2][p].gpioOn = on_bits; + wf[2][p].gpioOff = off_bits; + + p++; + } + } + + on_bits = 0; + off_bits = 0; + + if (spi->ss_pol) on_bits |= (1<= NUM_WAVE_CBS) + return PI_TOO_MANY_CBS; + + if ((numBOOL+waveOutBotOOL) >= (waveOutTopOOL-numTOOL)) + return PI_TOO_MANY_OOL; + + if (wid >= PI_MAX_WAVES) + return PI_NO_WAVEFORM_ID; + + wid = waveOutCount++; + + waveInfo[wid].botCB = waveOutBotCB; + waveInfo[wid].topCB = waveOutBotCB + numCB -1; + waveInfo[wid].botOOL = waveOutBotOOL; + waveInfo[wid].topOOL = waveOutTopOOL; + waveInfo[wid].numCB = numCB; + waveInfo[wid].numBOOL = numBOOL; + waveInfo[wid].numTOOL = numTOOL; + + waveOutBotCB += numCB; + waveOutBotOOL += numBOOL; + waveOutTopOOL -= numTOOL; + } + + /* Must be room if got this far. */ + + CB = waveInfo[wid].botCB; + BOOL = waveInfo[wid].botOOL; + TOOL = waveInfo[wid].topOOL; + + wave2Cbs(PI_WAVE_MODE_ONE_SHOT, &CB, &BOOL, &TOOL); + + /* Sanity check. */ + + if ( (numCB != (CB-waveInfo[wid].botCB)) || + (numBOOL != (BOOL-waveInfo[wid].botOOL)) || + (numTOOL != (waveInfo[wid].topOOL-TOOL)) ) + { + DBG(DBG_ALWAYS, "ERROR wid=%d CBs %d=%d BOOL %d=%d TOOL %d=%d", wid, + numCB, CB-waveInfo[wid].botCB, + numBOOL, BOOL-waveInfo[wid].botOOL, + numTOOL, waveInfo[wid].topOOL-TOOL); + } + + waveInfo[wid].deleted = 0; + + /* Consume waves. */ + + wfc[0] = 0; + wfc[1] = 0; + wfc[2] = 0; + + wfcur = 0; + + return wid; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveDelete(unsigned wave_id) +{ + DBG(DBG_USER, "wave id=%d", wave_id); + + CHECK_INITED; + + if ((wave_id >= waveOutCount) || waveInfo[wave_id].deleted) + SOFT_ERROR(PI_BAD_WAVE_ID, "bad wave id (%d)", wave_id); + + waveInfo[wave_id].deleted = 1; + + if (wave_id == (waveOutCount-1)) + { + /* top wave deleted, garbage collect any other deleted waves */ + + while ((wave_id > 0) && (waveInfo[wave_id-1].deleted)) --wave_id; + + waveOutBotCB = waveInfo[wave_id].botCB; + waveOutBotOOL = waveInfo[wave_id].botOOL; + waveOutTopOOL = waveInfo[wave_id].topOOL; + + waveOutCount = wave_id; + } + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveTxStart(unsigned wave_mode) +{ + /* This function is deprecated and has been removed. */ + + CHECK_INITED; + + SOFT_ERROR(PI_DEPRECATED, "deprected function removed"); +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveTxSend(unsigned wave_id, unsigned wave_mode) +{ + rawCbs_t *p=NULL; + + DBG(DBG_USER, "wave_id=%d wave_mode=%d", wave_id, wave_mode); + + CHECK_INITED; + + if ((wave_id >= waveOutCount) || waveInfo[wave_id].deleted) + SOFT_ERROR(PI_BAD_WAVE_ID, "bad wave id (%d)", wave_id); + + if (wave_mode > PI_WAVE_MODE_REPEAT_SYNC) + SOFT_ERROR(PI_BAD_WAVE_MODE, "bad wave mode (%d)", wave_mode); + + if (!waveClockInited) + { + stopHardwarePWM(); + initClock(0); /* initialise secondary clock */ + waveClockInited = 1; + PWMClockInited = 0; + } + + p = rawWaveCBAdr(waveInfo[wave_id].topCB); + + if ((wave_mode & 1) == PI_WAVE_MODE_ONE_SHOT) + p->next = 0; + else + p->next = waveCbPOadr(waveInfo[wave_id].botCB+1); + + if (waveEndPtr && (wave_mode > PI_WAVE_MODE_REPEAT)) + { + *waveEndPtr = waveCbPOadr(waveInfo[wave_id].botCB+1); + + if (!dmaOut[DMA_CONBLK_AD]) + { + initDMAgo((uint32_t *)dmaOut, waveCbPOadr(waveInfo[wave_id].botCB)); + } + } + else + { + initDMAgo((uint32_t *)dmaOut, waveCbPOadr(waveInfo[wave_id].botCB)); + } + + waveEndPtr = &p->next; + + /* for compatability with the deprecated gpioWaveTxStart return the + number of cbs + */ + return (waveInfo[wave_id].topCB - waveInfo[wave_id].botCB) + 1; +} + + +/* ----------------------------------------------------------------------- */ + +static int chainGetCB(int n) +{ + int block, index; + + if (n < (WCB_CHAIN_CBS * PI_WAVE_COUNT_PAGES)) + { + block = n / WCB_CHAIN_CBS; + index = n % WCB_CHAIN_CBS; + return (block*CBS_PER_OPAGE) + WCB_COUNTER_CBS + index; + } + return -1; +} + +static void chainSetVal(int n, uint32_t val) +{ + int block, index; + uint32_t *p; + + if (n < (WCB_CHAIN_OOL * PI_WAVE_COUNT_PAGES)) + { + block = n / WCB_CHAIN_OOL; + index = n % WCB_CHAIN_OOL; + p = (uint32_t *) dmaOVirt[block] + (WCB_COUNTER_CBS+WCB_CHAIN_CBS) * 8; + p[index] = val; + } +} + +static uint32_t chainGetValPadr(int n) +{ + int block, index; + uint32_t *p; + + if (n < (WCB_CHAIN_OOL * PI_WAVE_COUNT_PAGES)) + { + block = n / WCB_CHAIN_OOL; + index = n % WCB_CHAIN_OOL; + p = (uint32_t *) dmaOBus[block] + (WCB_COUNTER_CBS+WCB_CHAIN_CBS) * 8; + return (uint32_t) (p + index); + } + return 0; +} + +static uint32_t chainGetCntVal(int counter, int slot) +{ + uint32_t *p; + int page, offset; + page = counter / 2; + offset = (counter % 2 ? WCB_COUNTER_OOL : 0); + p = (uint32_t *) dmaOVirt[page] + (WCB_COUNTER_CBS+WCB_CHAIN_CBS) * 8; + return p[WCB_CHAIN_OOL+ offset + slot]; +} + +static void chainSetCntVal(int counter, int slot, uint32_t value) +{ + uint32_t *p; + int page, offset; + page = counter / 2; + offset = (counter % 2 ? WCB_COUNTER_OOL : 0); + p = (uint32_t *) dmaOVirt[page] + (WCB_COUNTER_CBS+WCB_CHAIN_CBS) * 8; + p[WCB_CHAIN_OOL + offset + slot] = value; +} + +static uint32_t chainGetCntValPadr(int counter, int slot) +{ + uint32_t *p; + int page, offset; + page = counter / 2; + offset = (counter % 2 ? WCB_COUNTER_OOL : 0); + p = (uint32_t *) dmaOBus[page] + (WCB_COUNTER_CBS+WCB_CHAIN_CBS) * 8; + return (uint32_t)(p + WCB_CHAIN_OOL + offset + slot); +} + +static int chainGetCntCB(int counter) +{ + int page, offset; + page = counter / 2; + offset = (counter % 2 ? WCB_CNT_CBS : 0); + return ((page * CBS_PER_OPAGE) + offset); +} + +static void chainMakeCounter( + unsigned counter, + unsigned blklen, + unsigned blocks, + unsigned count, + uint32_t repeat, + uint32_t next) +{ + rawCbs_t *p=NULL; + + int b, baseCB, dig; + uint32_t nxt; + + int botCB; + + botCB = chainGetCntCB(counter); + + baseCB = botCB; + + /* set up all the OOLs */ + for (b=0; b < (blocks*(blklen+1)); b++) chainSetCntVal(counter, b, repeat); + + for (b=0; binfo = NORMAL_DMA; + + p->src = chainGetCntValPadr(counter, b*(blklen+1)); + p->dst = (waveCbPOadr(botCB+1) + 20); + + p->length = 4; + p->next = waveCbPOadr(botCB); + + /* copy BOTTOM to TOP */ + + p = rawWaveCBAdr(botCB++); + + p->info = NORMAL_DMA; + + p->src = chainGetCntValPadr(counter, b*(blklen+1)); + p->dst = chainGetCntValPadr(counter, (b*(blklen+1))+blklen); + + p->length = 4; + p->next = waveCbPOadr(botCB); + + /* shift all down one */ + + p = rawWaveCBAdr(botCB++); + + p->info = NORMAL_DMA|DMA_SRC_INC|DMA_DEST_INC; + + p->src = chainGetCntValPadr(counter, ((b*(blklen+1))+1)); + p->dst = chainGetCntValPadr(counter, ((b*(blklen+1))+0)); + + p->length = blklen*4; + p->next = repeat; + } + + /* reset the counter */ + + p = rawWaveCBAdr(botCB); + + p->info = NORMAL_DMA|DMA_SRC_INC|DMA_DEST_INC; + + p->src = chainGetCntValPadr(counter, blocks*(blklen+1)); + p->dst = chainGetCntValPadr(counter, 0); + + p->length = blocks*(blklen+1)*4; + p->next = next; + + b = 0; + + while (count && (binfo = NORMAL_DMA | TIMED_DMA(2); + p->dst = PCM_TIMER; + } + else + { + p->info = NORMAL_DMA | TIMED_DMA(5); + p->dst = PWM_TIMER; + } + + p->src = (uint32_t) (&dmaOBus[0]->periphData); + p->length = BPD * 20 / PI_WF_MICROS; /* 20 micros delay */ + p->next = waveCbPOadr(chainGetCB(cb)); + + counters = 0; + wid = -1; + + i = 0; + + while (i bufSize) + SOFT_ERROR(PI_BAD_CHAIN_CMD, + "incomplete chain command (at %d)", i); + + cmd = buf[i+1]; + + if (cmd == 0) /* loop begin */ + { + if (stk_lev >= (sizeof(stk_pos)/sizeof(int))) + SOFT_ERROR(PI_CHAIN_NESTING, + "chain counters nested too deep (at %d)", i); + + stk_pos[stk_lev++] = cb; + + i += 2; + } + else if (cmd == 1) /* loop end */ + { + if (counters >= WCB_COUNTERS) + SOFT_ERROR(PI_CHAIN_COUNTER, + "too many chain counters (at %d)", i); + + if ((i+4) > bufSize) + SOFT_ERROR(PI_BAD_CHAIN_CMD, + "incomplete chain command (at %d)", i); + + loop = 0; + if (--stk_lev >= 0) loop = stk_pos[stk_lev]; + + if ((loop < 1) || (loop == cb)) + SOFT_ERROR(PI_BAD_CHAIN_LOOP, + "empty chain loop (at %d)", i); + + cycles = ((unsigned)buf[i+3] << 8) + (unsigned)buf[i+2]; + + i += 4; + + if (cycles > PI_MAX_WAVE_CYCLES) + SOFT_ERROR(PI_CHAIN_LOOP_CNT, + "bad chain loop count (%d)", cycles); + + if (cycles == 0) + { + /* Skip the complete loop block. Change + the next pointing to the start of the + loop block to the current cb. + */ + p = rawWaveCBAdr(chainGetCB(loop)); + p->next = waveCbPOadr(chainGetCB(cb)); + } + else if (cycles == 1) + { + /* Nothing to do, no need for a counter. */ + } + else + { + chaincb = chainGetCB(cb++); + if (chaincb < 0) + SOFT_ERROR(PI_CHAIN_TOO_BIG, "chain is too long (%d)", cb); + + p = rawWaveCBAdr(chaincb); + + repeat = waveCbPOadr(chainGetCB(loop)); + + /* Need to check next cb as well. */ + + chaincb = chainGetCB(cb); + + if (chaincb < 0) + SOFT_ERROR(PI_CHAIN_TOO_BIG, "chain is too long (%d)", cb); + + next = waveCbPOadr(chainGetCB(cb)); + + /* dummy src and dest */ + p->info = NORMAL_DMA; + p->src = (uint32_t) (&dmaOBus[0]->periphData); + p->dst = (uint32_t) (&dmaOBus[0]->periphData); + p->length = 4; + p->next = waveCbPOadr(chainGetCntCB(counters)); + + chainMakeCounter(counters, blklen, blocks, + cycles-1, repeat, next); + + counters++; + } + } + else if (cmd == 2) /* delay us */ + { + if ((i+4) > bufSize) + SOFT_ERROR(PI_BAD_CHAIN_CMD, + "incomplete chain command (at %d)", i); + + cycles = ((unsigned)buf[i+3] << 8) + (unsigned)buf[i+2]; + + i += 4; + + if (cycles > PI_MAX_WAVE_DELAY) + SOFT_ERROR(PI_BAD_CHAIN_DELAY, + "bad chain delay micros (%d)", cycles); + + if (cycles) + { + delayLeft = cycles; + delayCBs = waveDelayCBs(delayLeft); + for (dcb=0; dcbinfo = NORMAL_DMA | TIMED_DMA(2); + p->dst = PCM_TIMER; + } + else + { + p->info = NORMAL_DMA | TIMED_DMA(5); + p->dst = PWM_TIMER; + } + + p->src = (uint32_t) (&dmaOBus[0]->periphData); + + p->length = BPD * delayLeft / PI_WF_MICROS; + + if ((gpioCfg.DMAsecondaryChannel >= DMA_LITE_FIRST) && + (p->length > DMA_LITE_MAX)) + { + p->length = DMA_LITE_MAX; + } + + delayLeft -= (p->length / BPD); + + p->next = waveCbPOadr(chainGetCB(cb)); + } + } + } + else if (cmd == 3) /* repeat loop forever */ + { + i += 2; + + loop = 0; + if (--stk_lev >= 0) loop = stk_pos[stk_lev]; + + if ((loop < 1) || (loop == cb)) + SOFT_ERROR(PI_BAD_CHAIN_LOOP, + "empty chain loop (at %d)", i); + + chaincb = chainGetCB(cb++); + if (chaincb < 0) + SOFT_ERROR(PI_CHAIN_TOO_BIG, "chain is too long (%d)", cb); + + if (i < bufSize) + SOFT_ERROR(PI_BAD_FOREVER, + "loop forever must be last command"); + + p = rawWaveCBAdr(chaincb); + + /* dummy src and dest */ + p->info = NORMAL_DMA; + p->src = (uint32_t) (&dmaOBus[0]->periphData); + p->dst = (uint32_t) (&dmaOBus[0]->periphData); + p->length = 4; + p->next = waveCbPOadr(chainGetCB(loop)); + endPtr = &p->next; + } + else + SOFT_ERROR(PI_BAD_CHAIN_CMD, + "unknown chain command (255 %d)", cmd); + } + else if ((wid >= waveOutCount) || waveInfo[wid].deleted) + SOFT_ERROR(PI_BAD_WAVE_ID, "undefined wave (%d)", wid); + else + { + chaincb = chainGetCB(cb++); + + if (chaincb < 0) + SOFT_ERROR(PI_CHAIN_TOO_BIG, "chain is too long (%d)", cb); + + p = rawWaveCBAdr(chaincb); + + chaincb = chainGetCB(cb); + + if (chaincb < 0) + SOFT_ERROR(PI_CHAIN_TOO_BIG, "chain is too long (%d)", cb); + + chainSetVal(cb-1, waveCbPOadr(chaincb)); + + /* patch next of wid topCB to next cb */ + + p->info = NORMAL_DMA; + p->src = chainGetValPadr(cb-1); /* this next */ + p->dst = waveCbPOadr(waveInfo[wid].topCB) + 20; /* wid next */ + p->length = 4; + p->next = waveCbPOadr(waveInfo[wid].botCB+1); + + i += 1; + } + } + + chaincb = chainGetCB(cb++); + + if (chaincb < 0) + SOFT_ERROR(PI_CHAIN_TOO_BIG, "chain is too long (%d)", cb); + + p = rawWaveCBAdr(chaincb); + + p->info = NORMAL_DMA; + p->src = (uint32_t) (&dmaOBus[0]->periphData); + p->dst = (uint32_t) (&dmaOBus[0]->periphData); + p->length = 4; + p->next = 0; + + if (!endPtr) endPtr = &p->next; + + initDMAgo((uint32_t *)dmaOut, waveCbPOadr(chainGetCB(0))); + + waveEndPtr = endPtr; + + return 0; +} + +/*-------------------------------------------------------------------------*/ + +int gpioWaveTxBusy(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + if (dmaOut[DMA_CONBLK_AD]) + return 1; + else + return 0; +} + +/*-------------------------------------------------------------------------*/ + +int gpioWaveTxAt(void) +{ + int i, cb; + + DBG(DBG_USER, ""); + + CHECK_INITED; + + cb = dmaNowAtOCB(); + + if (cb < 0) return -cb; + + for (i=0; i= waveInfo[i].botCB) && + (cb <= waveInfo[i].topCB) ) return i; + } + + return PI_WAVE_NOT_FOUND; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveTxStop(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + dmaOut[DMA_CS] = DMA_CHANNEL_RESET; + dmaOut[DMA_CONBLK_AD] = 0; + + waveEndPtr = NULL; + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetMicros(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.micros; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetHighMicros(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.highMicros; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetMaxMicros(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.maxMicros; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetPulses(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.pulses; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetHighPulses(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.highPulses; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetMaxPulses(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.maxPulses; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetCbs(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.cbs; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetHighCbs(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.highCbs; +} + +/* ----------------------------------------------------------------------- */ + +int gpioWaveGetMaxCbs(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return wfStats.maxCbs; +} + +/* ----------------------------------------------------------------------- */ + +static int read_SDA(wfRx_t *w) +{ + myGpioSetMode(w->I.SDA, PI_INPUT); + return gpioRead(w->I.SDA); +} + +static void set_SDA(wfRx_t *w) +{ + myGpioSetMode(w->I.SDA, PI_INPUT); +} + +static void clear_SDA(wfRx_t *w) +{ + myGpioSetMode(w->I.SDA, PI_OUTPUT); + myGpioWrite(w->I.SDA, 0); +} + +static void clear_SCL(wfRx_t *w) +{ + myGpioSetMode(w->I.SCL, PI_OUTPUT); + myGpioWrite(w->I.SCL, 0); +} + +static void I2C_delay(wfRx_t *w) +{ + myGpioDelay(w->I.delay); +} + +static void I2C_clock_stretch(wfRx_t *w) +{ + uint32_t now, max_stretch=10000; + + myGpioSetMode(w->I.SCL, PI_INPUT); + now = gpioTick(); + while ((gpioRead(w->I.SCL) == 0) && ((gpioTick()-now) < max_stretch)); +} + +static void I2CStart(wfRx_t *w) +{ + if (w->I.started) + { + set_SDA(w); + I2C_delay(w); + I2C_clock_stretch(w); + I2C_delay(w); + } + + clear_SDA(w); + I2C_delay(w); + clear_SCL(w); + I2C_delay(w); + + w->I.started = 1; +} + +static void I2CStop(wfRx_t *w) +{ + clear_SDA(w); + I2C_delay(w); + I2C_clock_stretch(w); + I2C_delay(w); + set_SDA(w); + I2C_delay(w); + + w->I.started = 0; +} + +static void I2CPutBit(wfRx_t *w, int bit) +{ + if (bit) set_SDA(w); + else clear_SDA(w); + + I2C_delay(w); + I2C_clock_stretch(w); + I2C_delay(w); + clear_SCL(w); +} + +static int I2CGetBit(wfRx_t *w) +{ + int bit; + + set_SDA(w); /* let SDA float */ + I2C_delay(w); + I2C_clock_stretch(w); + bit = read_SDA(w); + I2C_delay(w); + clear_SCL(w); + + return bit; +} + +static int I2CPutByte(wfRx_t *w, int byte) +{ + int bit, nack; + + for(bit=0; bit<8; bit++) + { + I2CPutBit(w, byte & 0x80); + byte <<= 1; + } + + nack = I2CGetBit(w); + + return nack; +} + +static uint8_t I2CGetByte(wfRx_t *w, int nack) +{ + int bit, byte=0; + + for (bit=0; bit<8; bit++) + { + byte = (byte << 1) | I2CGetBit(w); + } + + I2CPutBit(w, nack); + + return byte; +} + +/*-------------------------------------------------------------------------*/ + +int bbI2COpen(unsigned SDA, unsigned SCL, unsigned baud) +{ + DBG(DBG_USER, "SDA=%d SCL=%d baud=%d", SDA, SCL, baud); + + CHECK_INITED; + + if (SDA > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad SDA (%d)", SDA); + + if (SCL > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad SCL (%d)", SCL); + + if ((baud < PI_BB_I2C_MIN_BAUD) || (baud > PI_BB_I2C_MAX_BAUD)) + SOFT_ERROR(PI_BAD_I2C_BAUD, + "SDA %d, bad baud rate (%d)", SDA, baud); + + if (wfRx[SDA].mode != PI_WFRX_NONE) + SOFT_ERROR(PI_GPIO_IN_USE, "gpio %d is already being used", SDA); + + if ((wfRx[SCL].mode != PI_WFRX_NONE) || (SCL == SDA)) + SOFT_ERROR(PI_GPIO_IN_USE, "gpio %d is already being used", SCL); + + wfRx[SDA].gpio = SDA; + wfRx[SDA].mode = PI_WFRX_I2C_SDA; + wfRx[SDA].baud = baud; + + wfRx[SDA].I.started = 0; + wfRx[SDA].I.SDA = SDA; + wfRx[SDA].I.SCL = SCL; + wfRx[SDA].I.delay = 500000 / baud; + wfRx[SDA].I.SDAMode = gpioGetMode(SDA); + wfRx[SDA].I.SCLMode = gpioGetMode(SCL); + + wfRx[SCL].gpio = SCL; + wfRx[SCL].mode = PI_WFRX_I2C_SCL; + + myGpioSetMode(SDA, PI_INPUT); + myGpioSetMode(SCL, PI_INPUT); + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int bbI2CClose(unsigned SDA) +{ + DBG(DBG_USER, "SDA=%d", SDA); + + CHECK_INITED; + + if (SDA > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", SDA); + + switch(wfRx[SDA].mode) + { + case PI_WFRX_I2C_SDA: + + myGpioSetMode(wfRx[SDA].I.SDA, wfRx[SDA].I.SDAMode); + myGpioSetMode(wfRx[SDA].I.SCL, wfRx[SDA].I.SCLMode); + + wfRx[wfRx[SDA].I.SDA].mode = PI_WFRX_NONE; + wfRx[wfRx[SDA].I.SCL].mode = PI_WFRX_NONE; + + break; + + default: + + SOFT_ERROR(PI_NOT_I2C_GPIO, "no I2C on gpio (%d)", SDA); + + break; + + } + + return 0; +} + +/*-------------------------------------------------------------------------*/ + +int bbI2CZip( + unsigned SDA, + char *inBuf, + unsigned inLen, + char *outBuf, + unsigned outLen) +{ + int i, ack, inPos, outPos, status, bytes; + int addr, flags, esc, setesc; + wfRx_t *w; + + DBG(DBG_USER, "gpio=%d inBuf=%s outBuf=%08X len=%d", + SDA, myBuf2Str(inLen, (char *)inBuf), (int)outBuf, outLen); + + CHECK_INITED; + + if (SDA > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", SDA); + + if (wfRx[SDA].mode != PI_WFRX_I2C_SDA) + SOFT_ERROR(PI_NOT_I2C_GPIO, "no I2C on gpio (%d)", SDA); + + if (!inBuf || !inLen) + SOFT_ERROR(PI_BAD_POINTER, "input buffer can't be NULL"); + + if (!outBuf && outLen) + SOFT_ERROR(PI_BAD_POINTER, "output buffer can't be NULL"); + + w = &wfRx[SDA]; + + inPos = 0; + outPos = 0; + status = 0; + + addr = 0; + flags = 0; + esc = 0; + setesc = 0; + + wfRx_lock(SDA); + + while (!status && (inPos < inLen)) + { + DBG(DBG_INTERNAL, "status=%d inpos=%d inlen=%d cmd=%d addr=%d flags=%x", + status, inPos, inLen, inBuf[inPos], addr, flags); + + switch (inBuf[inPos++]) + { + case PI_I2C_END: + status = 1; + break; + + case PI_I2C_START: + I2CStart(w); + break; + + case PI_I2C_STOP: + I2CStop(w); + break; + + case PI_I2C_ADDR: + addr = myI2CGetPar(inBuf, &inPos, inLen, &esc); + if (addr < 0) status = PI_BAD_I2C_CMD; + break; + + case PI_I2C_FLAGS: + /* cheat to force two byte flags */ + esc = 1; + flags = myI2CGetPar(inBuf, &inPos, inLen, &esc); + if (flags < 0) status = PI_BAD_I2C_CMD; + break; + + case PI_I2C_ESC: + setesc = 1; + break; + + case PI_I2C_READ: + + bytes = myI2CGetPar(inBuf, &inPos, inLen, &esc); + + if (bytes >= 0) ack = I2CPutByte(w, (addr<<1)|1); + + if (bytes > 0) + { + if (!ack) + { + if ((bytes + outPos) < outLen) + { + for (i=0; i<(bytes-1); i++) + { + outBuf[outPos++] = I2CGetByte(w, 0); + } + outBuf[outPos++] = I2CGetByte(w, 1); + } + else status = PI_BAD_I2C_RLEN; + } + else status = PI_I2C_READ_FAILED; + } + else status = PI_BAD_I2C_CMD; + break; + + case PI_I2C_WRITE: + + bytes = myI2CGetPar(inBuf, &inPos, inLen, &esc); + + if (bytes >= 0) ack = I2CPutByte(w, addr<<1); + + if (bytes > 0) + { + if (!ack) + { + if ((bytes + inPos) < inLen) + { + for (i=0; i<(bytes-1); i++) + { + ack = I2CPutByte(w, inBuf[inPos++]); + if (ack) status = PI_I2C_WRITE_FAILED; + } + ack = I2CPutByte(w, inBuf[inPos++]); + } + else status = PI_BAD_I2C_RLEN; + } else status = PI_I2C_WRITE_FAILED; + } + else status = PI_BAD_I2C_CMD; + break; + + default: + status = PI_BAD_I2C_CMD; + } + + if (setesc) esc = 1; else esc = 0; + + setesc = 0; + } + + wfRx_unlock(SDA); + + if (status >= 0) status = outPos; + + return status; +} + +/* ----------------------------------------------------------------------- */ + +static void set_CS(wfRx_t *w) +{ + myGpioWrite(w->S.CS, PI_SPI_FLAGS_GET_CSPOL(w->S.spiFlags)); +} + +static void clear_CS(wfRx_t *w) +{ + myGpioWrite(w->S.CS, !PI_SPI_FLAGS_GET_CSPOL(w->S.spiFlags)); +} + +static void set_SCLK(wfRx_t *w) +{ + myGpioWrite(w->S.SCLK, !PI_SPI_FLAGS_GET_CPOL(w->S.spiFlags)); +} + +static void clear_SCLK(wfRx_t *w) +{ + myGpioWrite(w->S.SCLK, PI_SPI_FLAGS_GET_CPOL(w->S.spiFlags)); +} + +static void SPI_delay(wfRx_t *w) +{ + myGpioDelay(w->S.delay); +} + +static void bbSPIStart(wfRx_t *w) +{ + clear_SCLK(w); + + SPI_delay(w); + + set_CS(w); + + SPI_delay(w); +} + +static void bbSPIStop(wfRx_t *w) +{ + SPI_delay(w); + + clear_CS(w); + + SPI_delay(w); + + clear_SCLK(w); +} + +static uint8_t bbSPIXferByte(wfRx_t *w, char txByte) +{ + uint8_t bit, rxByte=0; + + if (PI_SPI_FLAGS_GET_CPHA(w->S.spiFlags)) + { + /* + CPHA = 1 + write on set clock + read on clear clock + */ + + for (bit=0; bit<8; bit++) + { + set_SCLK(w); + + if (PI_SPI_FLAGS_GET_TX_LSB(w->S.spiFlags)) + { + myGpioWrite(w->S.MOSI, txByte & 0x01); + txByte >>= 1; + } + else + { + myGpioWrite(w->S.MOSI, txByte & 0x80); + txByte <<= 1; + } + + SPI_delay(w); + + clear_SCLK(w); + + if (PI_SPI_FLAGS_GET_RX_LSB(w->S.spiFlags)) + { + rxByte = (rxByte >> 1) | myGpioRead(w->S.MISO) << 7; + } + else + { + rxByte = (rxByte << 1) | myGpioRead(w->S.MISO); + } + + SPI_delay(w); + } + } + else + { + /* + CPHA = 0 + read on set clock + write on clear clock + */ + + for (bit=0; bit<8; bit++) + { + if (PI_SPI_FLAGS_GET_TX_LSB(w->S.spiFlags)) + { + myGpioWrite(w->S.MOSI, txByte & 0x01); + txByte >>= 1; + } + else + { + myGpioWrite(w->S.MOSI, txByte & 0x80); + txByte <<= 1; + } + + SPI_delay(w); + + set_SCLK(w); + + if (PI_SPI_FLAGS_GET_RX_LSB(w->S.spiFlags)) + { + rxByte = (rxByte >> 1) | myGpioRead(w->S.MISO) << 7; + } + else + { + rxByte = (rxByte << 1) | myGpioRead(w->S.MISO); + } + + SPI_delay(w); + + clear_SCLK(w); + } + } + + return rxByte; +} + +/*-------------------------------------------------------------------------*/ + +int bbSPIOpen( + unsigned CS, unsigned MISO, unsigned MOSI, unsigned SCLK, + unsigned baud, unsigned spiFlags) +{ + int valid; + uint32_t bits; + + DBG(DBG_USER, "CS=%d MISO=%d MOSI=%d SCLK=%d baud=%d flags=%d", + CS, MISO, MOSI, SCLK, baud, spiFlags); + + CHECK_INITED; + + if (CS > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad CS (%d)", CS); + + if (MISO > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad MISO (%d)", MISO); + + if (MOSI > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad MOSI (%d)", MOSI); + + if (SCLK > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad SCLK (%d)", SCLK); + + if ((baud < PI_BB_SPI_MIN_BAUD) || (baud > PI_BB_SPI_MAX_BAUD)) + SOFT_ERROR(PI_BAD_SPI_BAUD, "CS %d, bad baud (%d)", CS, baud); + + if (wfRx[CS].mode != PI_WFRX_NONE) + SOFT_ERROR(PI_GPIO_IN_USE, + "CS %d is already being used, mode %d", CS, wfRx[CS].mode); + + valid = 0; + + /* check all GPIO unique */ + + bits = (1< PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", CS); + + switch(wfRx[CS].mode) + { + case PI_WFRX_SPI_CS: + + myGpioSetMode(wfRx[CS].S.CS, wfRx[CS].S.CSMode); + wfRx[CS].mode = PI_WFRX_NONE; + + SCLK = wfRx[CS].S.SCLK; + + if (--wfRx[SCLK].S.usage <= 0) + { + myGpioSetMode(wfRx[SCLK].S.MISO, wfRx[SCLK].S.MISOMode); + myGpioSetMode(wfRx[SCLK].S.MOSI, wfRx[SCLK].S.MOSIMode); + myGpioSetMode(wfRx[SCLK].S.SCLK, wfRx[SCLK].S.SCLKMode); + + wfRx[wfRx[SCLK].S.MISO].mode = PI_WFRX_NONE; + wfRx[wfRx[SCLK].S.MOSI].mode = PI_WFRX_NONE; + wfRx[wfRx[SCLK].S.SCLK].mode = PI_WFRX_NONE; + } + + break; + + default: + + SOFT_ERROR(PI_NOT_SPI_GPIO, "no SPI on gpio (%d)", CS); + + break; + + } + + return 0; +} + +/*-------------------------------------------------------------------------*/ + +int bbSPIXfer( + unsigned CS, + char *inBuf, + char *outBuf, + unsigned count) +{ + int SCLK; + int pos; + wfRx_t *w; + + DBG(DBG_USER, "CS=%d inBuf=%s outBuf=%08X count=%d", + CS, myBuf2Str(count, (char *)inBuf), (int)outBuf, count); + + CHECK_INITED; + + if (CS > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", CS); + + if (wfRx[CS].mode != PI_WFRX_SPI_CS) + SOFT_ERROR(PI_NOT_SPI_GPIO, "no SPI on gpio (%d)", CS); + + if (!inBuf || !count) + SOFT_ERROR(PI_BAD_POINTER, "input buffer can't be NULL"); + + if (!outBuf && count) + SOFT_ERROR(PI_BAD_POINTER, "output buffer can't be NULL"); + + SCLK = wfRx[CS].S.SCLK; + + wfRx[SCLK].S.CS = CS; + wfRx[SCLK].baud = wfRx[CS].baud; + wfRx[SCLK].S.delay = wfRx[CS].S.delay; + wfRx[SCLK].S.spiFlags = wfRx[CS].S.spiFlags; + + w = &wfRx[SCLK]; + + wfRx_lock(SCLK); + + bbSPIStart(w); + + for (pos=0; pos < count; pos++) + { + outBuf[pos] = bbSPIXferByte(w, inBuf[pos]); + } + + bbSPIStop(w); + + wfRx_unlock(SCLK); + + return count; +} + +/*-------------------------------------------------------------------------*/ + +int gpioSerialReadOpen(unsigned gpio, unsigned baud, unsigned data_bits) +{ + int bitTime, timeout; + + DBG(DBG_USER, "gpio=%d baud=%d data_bits=%d", gpio, baud, data_bits); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if ((baud < PI_BB_SER_MIN_BAUD) || (baud > PI_BB_SER_MAX_BAUD)) + SOFT_ERROR(PI_BAD_WAVE_BAUD, + "gpio %d, bad baud rate (%d)", gpio, baud); + + if ((data_bits < PI_MIN_WAVE_DATABITS) || + (data_bits > PI_MAX_WAVE_DATABITS)) + SOFT_ERROR(PI_BAD_DATABITS, + "gpio %d, bad data bits (%d)", gpio, data_bits); + + if (wfRx[gpio].mode != PI_WFRX_NONE) + SOFT_ERROR(PI_GPIO_IN_USE, "gpio %d is already being used", gpio); + + bitTime = (1000 * MILLION) / baud; /* nanos */ + + timeout = ((data_bits+2) * bitTime)/MILLION; /* millis */ + + if (timeout < 1) timeout = 1; + + wfRx[gpio].gpio = gpio; + wfRx[gpio].mode = PI_WFRX_SERIAL; + wfRx[gpio].baud = baud; + + wfRx[gpio].s.buf = malloc(SRX_BUF_SIZE); + wfRx[gpio].s.bufSize = SRX_BUF_SIZE; + wfRx[gpio].s.timeout = timeout; + wfRx[gpio].s.fullBit = bitTime; /* nanos */ + wfRx[gpio].s.halfBit = (bitTime/2)+500; /* nanos (500 for rounding) */ + wfRx[gpio].s.readPos = 0; + wfRx[gpio].s.writePos = 0; + wfRx[gpio].s.bit = -1; + wfRx[gpio].s.dataBits = data_bits; + wfRx[gpio].s.invert = PI_BB_SER_NORMAL; + + if (data_bits < 9) wfRx[gpio].s.bytes = 1; + else if (data_bits < 17) wfRx[gpio].s.bytes = 2; + else wfRx[gpio].s.bytes = 4; + + gpioSetAlertFunc(gpio, waveRxBit); + + return 0; +} + +/*-------------------------------------------------------------------------*/ + +int gpioSerialReadInvert(unsigned gpio, unsigned invert) +{ + DBG(DBG_USER, "gpio=%d invert=%d", gpio, invert); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (wfRx[gpio].mode != PI_WFRX_SERIAL) + SOFT_ERROR(PI_NOT_SERIAL_GPIO, "no serial read on gpio (%d)", gpio); + + if ((invert < PI_BB_SER_NORMAL) || + (invert > PI_BB_SER_INVERT)) + SOFT_ERROR(PI_BAD_SER_INVERT, + "bad invert level for gpio %d (%d)", gpio, invert); + + wfRx[gpio].s.invert = invert; + + return 0; +} + +/*-------------------------------------------------------------------------*/ + +int gpioSerialRead(unsigned gpio, void *buf, size_t bufSize) +{ + unsigned bytes=0, wpos; + volatile wfRx_t *w; + + DBG(DBG_USER, "gpio=%d buf=%08X bufSize=%d", gpio, (int)buf, bufSize); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (bufSize == 0) + SOFT_ERROR(PI_BAD_SERIAL_COUNT, "buffer size can't be zero"); + + if (wfRx[gpio].mode != PI_WFRX_SERIAL) + SOFT_ERROR(PI_NOT_SERIAL_GPIO, "no serial read on gpio (%d)", gpio); + + w = &wfRx[gpio]; + + if (w->s.readPos != w->s.writePos) + { + wpos = w->s.writePos; + + if (wpos > w->s.readPos) bytes = wpos - w->s.readPos; + else bytes = w->s.bufSize - w->s.readPos; + + if (bytes > bufSize) bytes = bufSize; + + /* copy in multiples of the data size in bytes */ + + bytes = (bytes / w->s.bytes) * w->s.bytes; + + if (buf) memcpy(buf, w->s.buf+w->s.readPos, bytes); + + w->s.readPos += bytes; + + if (w->s.readPos >= w->s.bufSize) w->s.readPos = 0; + } + return bytes; +} + + +/*-------------------------------------------------------------------------*/ + +int gpioSerialReadClose(unsigned gpio) +{ + DBG(DBG_USER, "gpio=%d", gpio); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + switch(wfRx[gpio].mode) + { + case PI_WFRX_NONE: + + SOFT_ERROR(PI_NOT_SERIAL_GPIO, "no serial read on gpio (%d)", gpio); + + break; + + case PI_WFRX_SERIAL: + + free(wfRx[gpio].s.buf); + + gpioSetWatchdog(gpio, 0); /* switch off timeouts */ + + gpioSetAlertFunc(gpio, NULL); /* cancel alert */ + + wfRx[gpio].mode = PI_WFRX_NONE; + + break; + } + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +static int intGpioSetAlertFunc( + unsigned gpio, + void * f, + int user, + void * userdata) +{ + DBG(DBG_INTERNAL, "gpio=%d function=%08X, user=%d, userdata=%08X", + gpio, (uint32_t)f, user, (uint32_t)userdata); + + gpioAlert[gpio].ex = user; + gpioAlert[gpio].userdata = userdata; + + gpioAlert[gpio].func = f; + + if (f) + { + alertBits |= BIT; + } + else + { + alertBits &= ~BIT; + } + + monitorBits = alertBits | notifyBits | scriptBits | gpioGetSamples.bits; + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int gpioSetAlertFunc(unsigned gpio, gpioAlertFunc_t f) +{ + DBG(DBG_USER, "gpio=%d function=%08X", gpio, (uint32_t)f); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + intGpioSetAlertFunc(gpio, f, 0, NULL); + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetAlertFuncEx(unsigned gpio, gpioAlertFuncEx_t f, void *userdata) +{ + DBG(DBG_USER, "gpio=%d function=%08X userdata=%08X", + gpio, (uint32_t)f, (uint32_t)userdata); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + intGpioSetAlertFunc(gpio, f, 1, userdata); + + return 0; +} + +static void *pthISRThread(void *x) +{ + gpioISR_t *isr = x; + int fd; + int retval; + uint32_t tick; + int level; + uint32_t levels; + struct pollfd pfd; + char buf[64]; + + DBG(DBG_USER, "gpio=%d edge=%d timeout=%d f=%x u=%d data=%x", + isr->gpio, isr->edge, isr->timeout, (uint32_t)isr->func, + isr->ex, (uint32_t)isr->userdata); + + sprintf(buf, "/sys/class/gpio/gpio%d/value", isr->gpio); + + if ((fd = open(buf, O_RDONLY)) < 0) + { + DBG(DBG_ALWAYS, "gpio %d not exported", isr->gpio); + return NULL; + } + + pfd.fd = fd; + + pfd.events = POLLPRI; + + lseek(fd, 0, SEEK_SET); /* consume any prior interrupt */ + read(fd, buf, sizeof buf); + + while (1) + { + retval = poll(&pfd, 1, isr->timeout); /* wait for interrupt */ + + tick = systReg[SYST_CLO]; + + levels = *(gpioReg + GPLEV0); + + if (retval >= 0) + { + lseek(fd, 0, SEEK_SET); /* consume interrupt */ + read(fd, buf, sizeof buf); + if (retval) + { + if (levels & (1<gpio)) level = PI_ON; else level = PI_OFF; + } + else level = PI_TIMEOUT; + + if (isr->ex) (isr->func)(isr->gpio, level, tick, isr->userdata); + else (isr->func)(isr->gpio, level, tick); + } + } + + return NULL; +} + + +/* ----------------------------------------------------------------------- */ + +static int intGpioSetISRFunc( + unsigned gpio, + unsigned edge, + int timeout, + void *f, + int user, + void *userdata) +{ + char buf[64]; + + char *edge_str[]={"rising\n", "falling\n", "both\n"}; + int fd; + int err; + + DBG(DBG_INTERNAL, + "gpio=%d edge=%d timeout=%d function=%08X user=%d userdata=%08X", + gpio, edge, timeout, (uint32_t)f, user, (uint32_t)userdata); + + if (f) + { + if (!gpioISR[gpio].inited) /* export gpio if unexported */ + { + fd = open("/sys/class/gpio/export", O_WRONLY); + if (fd < 0) return PI_BAD_ISR_INIT; + + /* ignore write fail if already exported */ + sprintf(buf, "%d\n", gpio); + err = write(fd, buf, strlen(buf)); + close(fd); + + sprintf(buf, "/sys/class/gpio/gpio%d/direction", gpio); + fd = open(buf, O_WRONLY); + if (fd < 0) return PI_BAD_ISR_INIT; + + err = write(fd, "in\n", 3); + close(fd); + if (err != 3) return PI_BAD_ISR_INIT; + + gpioISR[gpio].gpio = gpio; + gpioISR[gpio].edge = -1; + gpioISR[gpio].timeout = -1; + + gpioISR[gpio].inited = 1; + } + + if (gpioISR[gpio].edge != edge) + { + sprintf(buf, "/sys/class/gpio/gpio%d/edge", gpio); + fd = open(buf, O_WRONLY); + if (fd < 0) return PI_BAD_ISR_INIT; + + err = write(fd, edge_str[edge], strlen(edge_str[edge])); + close(fd); + if (err != strlen(edge_str[edge])) return PI_BAD_ISR_INIT; + + gpioISR[gpio].edge = edge; + + if (gpioISR[gpio].pth != NULL) + pthread_kill(*gpioISR[gpio].pth, SIGCHLD); + } + + if (timeout <= 0) timeout = -1; + if (gpioISR[gpio].timeout != timeout) + { + gpioISR[gpio].timeout = timeout; + + if (gpioISR[gpio].pth != NULL) + pthread_kill(*gpioISR[gpio].pth, SIGCHLD); + } + + gpioISR[gpio].func = f; + gpioISR[gpio].ex = user; + gpioISR[gpio].userdata = userdata; + + if (gpioISR[gpio].pth == NULL) + gpioISR[gpio].pth = gpioStartThread(pthISRThread, &gpioISR[gpio]); + } + else /* null function, delete ISR, unexport gpio */ + { + if (gpioISR[gpio].pth) /* delete any existing ISR */ + { + gpioStopThread(gpioISR[gpio].pth); + gpioISR[gpio].func = NULL; + gpioISR[gpio].pth = NULL; + } + + if (gpioISR[gpio].inited) /* unexport the gpio */ + { + fd = open("/sys/class/gpio/unexport", O_WRONLY); + if (fd < 0) return PI_BAD_ISR_INIT; + sprintf(buf, "%d\n", gpio); + err = write(fd, buf, strlen(buf)); + close(fd); + if (err != strlen(buf)) return PI_BAD_ISR_INIT; + gpioISR[gpio].inited = 0; + } + } + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int gpioSetISRFunc( + unsigned gpio, + unsigned edge, + int timeout, + gpioISRFunc_t f) +{ + DBG(DBG_USER, "gpio=%d edge=%d timeout=%d function=%08X", + gpio, edge, timeout, (uint32_t)f); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (edge > EITHER_EDGE) + SOFT_ERROR(PI_BAD_EDGE, "bad ISR edge (%d)", edge); + + return intGpioSetISRFunc(gpio, edge, timeout, f, 0, NULL); +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetISRFuncEx( + unsigned gpio, + unsigned edge, + int timeout, + gpioAlertFuncEx_t f, + void *userdata) +{ + DBG(DBG_USER, "gpio=%d edge=%d timeout=%d function=%08X userdata=%08X", + gpio, edge, timeout, (uint32_t)f, (uint32_t)userdata); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (edge > EITHER_EDGE) + SOFT_ERROR(PI_BAD_EDGE, "bad ISR edge (%d)", edge); + + return intGpioSetISRFunc(gpio, edge, timeout, f, 1, userdata); +} + +static void closeOrphanedNotifications(int slot, int fd) +{ + int i; + + /* Check for and close any orphaned notifications. */ + + for (i=0; i= PI_NOTIFY_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (gpioNotify[handle].state <= PI_NOTIFY_CLOSING) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + gpioNotify[handle].bits = bits; + + gpioNotify[handle].state = PI_NOTIFY_RUNNING; + + intNotifyBits(); + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioNotifyPause (unsigned handle) +{ + DBG(DBG_USER, "handle=%d", handle); + + CHECK_INITED; + + if (handle >= PI_NOTIFY_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (gpioNotify[handle].state <= PI_NOTIFY_CLOSING) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + gpioNotify[handle].bits = 0; + + gpioNotify[handle].state = PI_NOTIFY_PAUSED; + + intNotifyBits(); + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioNotifyClose(unsigned handle) +{ + DBG(DBG_USER, "handle=%d", handle); + + CHECK_INITED; + + if (handle >= PI_NOTIFY_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (gpioNotify[handle].state <= PI_NOTIFY_CLOSING) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + gpioNotify[handle].bits = 0; + + gpioNotify[handle].state = PI_NOTIFY_CLOSING; + + intNotifyBits(); + + /* actual close done in alert thread */ + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int gpioTrigger(unsigned gpio, unsigned pulseLen, unsigned level) +{ + DBG(DBG_USER, "gpio=%d pulseLen=%d level=%d", gpio, pulseLen, level); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (level > PI_ON) + SOFT_ERROR(PI_BAD_LEVEL, "gpio %d, bad level (%d)", gpio, level); + + if ((pulseLen > PI_MAX_BUSY_DELAY) || (!pulseLen)) + SOFT_ERROR(PI_BAD_PULSELEN, + "gpio %d, bad pulseLen (%d)", gpio, pulseLen); + + if (level == PI_OFF) *(gpioReg + GPCLR0 + BANK) = BIT; + else *(gpioReg + GPSET0 + BANK) = BIT; + + myGpioDelay(pulseLen); + + if (level != PI_OFF) *(gpioReg + GPCLR0 + BANK) = BIT; + else *(gpioReg + GPSET0 + BANK) = BIT; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetWatchdog(unsigned gpio, unsigned timeout) +{ + DBG(DBG_USER, "gpio=%d timeout=%d", gpio, timeout); + + CHECK_INITED; + + if (gpio > PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (timeout > PI_MAX_WDOG_TIMEOUT) + SOFT_ERROR(PI_BAD_WDOG_TIMEOUT, + "gpio %d, bad timeout (%d)", gpio, timeout); + + gpioAlert[gpio].wdTick = systReg[SYST_CLO]; + gpioAlert[gpio].wdSteadyUs = timeout*1000; + + if (timeout) wdogBits |= (1< PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (steady > PI_MAX_STEADY) + SOFT_ERROR(PI_BAD_FILTER, "bad steady (%d)", steady); + + if (active > PI_MAX_ACTIVE) + SOFT_ERROR(PI_BAD_FILTER, "bad active (%d)", active); + + gpioAlert[gpio].nfTick1 = systReg[SYST_CLO]; + gpioAlert[gpio].nfTick2 = gpioAlert[gpio].nfTick1; + gpioAlert[gpio].nfSteadyUs = steady; + gpioAlert[gpio].nfActiveUs = active; + gpioAlert[gpio].nfActive = 0; + + if (steady) nFilterBits |= (1< PI_MAX_USER_GPIO) + SOFT_ERROR(PI_BAD_USER_GPIO, "bad gpio (%d)", gpio); + + if (steady > PI_MAX_STEADY) + SOFT_ERROR(PI_BAD_FILTER, "bad steady (%d)", steady); + + if (steady) + { + gpioAlert[gpio].gfTick = systReg[SYST_CLO]; + + if (gpioRead_Bits_0_31() & (1< PI_MAX_TIMER) + SOFT_ERROR(PI_BAD_TIMER, "bad timer id (%d)", id); + + if ((millis < PI_MIN_MS) || (millis > PI_MAX_MS)) + SOFT_ERROR(PI_BAD_MS, "timer %d, bad millis (%d)", id, millis); + + intGpioSetTimerFunc(id, millis, f, 0, NULL); + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetTimerFuncEx(unsigned id, unsigned millis, gpioTimerFuncEx_t f, + void * userdata) +{ + DBG(DBG_USER, "id=%d millis=%d function=%08X, userdata=%08X", + id, millis, (uint32_t)f, (uint32_t)userdata); + + CHECK_INITED; + + if (id > PI_MAX_TIMER) + SOFT_ERROR(PI_BAD_TIMER, "bad timer id (%d)", id); + + if ((millis < PI_MIN_MS) || (millis > PI_MAX_MS)) + SOFT_ERROR(PI_BAD_MS, "timer %d, bad millis (%d)", id, millis); + + intGpioSetTimerFunc(id, millis, f, 1, userdata); + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +pthread_t *gpioStartThread(gpioThreadFunc_t f, void *userdata) +{ + pthread_t *pth; + pthread_attr_t pthAttr; + + DBG(DBG_USER, "f=%08X, userdata=%08X", (uint32_t)f, (uint32_t)userdata); + + CHECK_INITED_RET_NULL_PTR; + + pth = malloc(sizeof(pthread_t)); + + if (pth) + { + if (pthread_attr_init(&pthAttr)) + { + free(pth); + SOFT_ERROR(NULL, "pthread_attr_init failed"); + } + + if (pthread_attr_setstacksize(&pthAttr, STACK_SIZE)) + { + free(pth); + SOFT_ERROR(NULL, "pthread_attr_setstacksize failed"); + } + + if (pthread_create(pth, &pthAttr, f, userdata)) + { + free(pth); + SOFT_ERROR(NULL, "pthread_create failed"); + } + } + return pth; +} + +/* ----------------------------------------------------------------------- */ + +void gpioStopThread(pthread_t *pth) +{ + DBG(DBG_USER, "pth=%08X", (uint32_t)pth); + + CHECK_INITED_RET_NIL; + + if (pth) + { + pthread_cancel(*pth); + pthread_join(*pth, NULL); + free(pth); + } +} + +/* ----------------------------------------------------------------------- */ + +int gpioStoreScript(char *script) +{ + gpioScript_t *s; + int status, slot, i; + + DBG(DBG_USER, "script=[%s]", script); + + CHECK_INITED; + + slot = -1; + + for (i=0; iscript, 0); + + if (status == 0) + { + s->request = PI_SCRIPT_HALT; + s->run_state = PI_SCRIPT_INITING; + + pthread_cond_init(&s->pthCond, NULL); + pthread_mutex_init(&s->pthMutex, NULL); + + s->id = slot; + + gpioScript[slot].state = PI_SCRIPT_IN_USE; + + s->pthIdp = gpioStartThread(pthScript, s); + + status = slot; + + } + else + { + if (s->script.par) free(s->script.par); + s->script.par = NULL; + gpioScript[slot].state = PI_SCRIPT_FREE; + } + + return status; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioRunScript(unsigned script_id, unsigned numParam, uint32_t *param) +{ + int status = 0; + + DBG(DBG_USER, "script_id=%d numParam=%d param=%08X", + script_id, numParam, (uint32_t)param); + + CHECK_INITED; + + if (script_id >= PI_MAX_SCRIPTS) + SOFT_ERROR(PI_BAD_SCRIPT_ID, "bad script id(%d)", script_id); + + if (numParam > PI_MAX_SCRIPT_PARAMS) + SOFT_ERROR(PI_TOO_MANY_PARAM, "bad number of parameters(%d)", numParam); + + if (gpioScript[script_id].state == PI_SCRIPT_IN_USE) + { + pthread_mutex_lock(&gpioScript[script_id].pthMutex); + + if (gpioScript[script_id].run_state != PI_SCRIPT_INITING) + { + if ((numParam > 0) && (param != 0)) + { + memcpy(gpioScript[script_id].script.par, param, + sizeof(uint32_t) * numParam); + } + + gpioScript[script_id].request = PI_SCRIPT_RUN; + + pthread_cond_signal(&gpioScript[script_id].pthCond); + } + else + { + status = PI_SCRIPT_NOT_READY; + } + + pthread_mutex_unlock(&gpioScript[script_id].pthMutex); + + return status; + } + else + { + return PI_BAD_SCRIPT_ID; + } +} + + +/* ----------------------------------------------------------------------- */ + +int gpioScriptStatus(unsigned script_id, uint32_t *param) +{ + DBG(DBG_USER, "script_id=%d param=%08X", script_id, (uint32_t)param); + + CHECK_INITED; + + if (script_id >= PI_MAX_SCRIPTS) + SOFT_ERROR(PI_BAD_SCRIPT_ID, "bad script id(%d)", script_id); + + if (gpioScript[script_id].state == PI_SCRIPT_IN_USE) + { + if (param != NULL) + { + memcpy(param, gpioScript[script_id].script.par, + sizeof(uint32_t) * PI_MAX_SCRIPT_PARAMS); + } + + return gpioScript[script_id].run_state; + } + else return PI_BAD_SCRIPT_ID; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioStopScript(unsigned script_id) +{ + DBG(DBG_USER, "script_id=%d", script_id); + + CHECK_INITED; + + if (script_id >= PI_MAX_SCRIPTS) + SOFT_ERROR(PI_BAD_SCRIPT_ID, "bad script id(%d)", script_id); + + if (gpioScript[script_id].state == PI_SCRIPT_IN_USE) + { + pthread_mutex_lock(&gpioScript[script_id].pthMutex); + + gpioScript[script_id].request = PI_SCRIPT_HALT; + + if (gpioScript[script_id].run_state == PI_SCRIPT_WAITING) + { + pthread_cond_signal(&gpioScript[script_id].pthCond); + } + + pthread_mutex_unlock(&gpioScript[script_id].pthMutex); + + return 0; + } + else return PI_BAD_SCRIPT_ID; +} + +/* ----------------------------------------------------------------------- */ + +int gpioDeleteScript(unsigned script_id) +{ + DBG(DBG_USER, "script_id=%d", script_id); + + CHECK_INITED; + + if (script_id >= PI_MAX_SCRIPTS) + SOFT_ERROR(PI_BAD_SCRIPT_ID, "bad script id(%d)", script_id); + + if (gpioScript[script_id].state == PI_SCRIPT_IN_USE) + { + gpioScript[script_id].state = PI_SCRIPT_DYING; + + pthread_mutex_lock(&gpioScript[script_id].pthMutex); + + gpioScript[script_id].request = PI_SCRIPT_HALT; + + if (gpioScript[script_id].run_state == PI_SCRIPT_WAITING) + { + pthread_cond_signal(&gpioScript[script_id].pthCond); + } + + pthread_mutex_unlock(&gpioScript[script_id].pthMutex); + + while (gpioScript[script_id].run_state == PI_SCRIPT_RUNNING) + { + myGpioSleep(0, 5000); /* give script time to halt */ + } + + gpioStopThread(gpioScript[script_id].pthIdp); + + if (gpioScript[script_id].script.par) + free(gpioScript[script_id].script.par); + + gpioScript[script_id].script.par = NULL; + + gpioScript[script_id].state = PI_SCRIPT_FREE; + + return 0; + } + else return PI_BAD_SCRIPT_ID; +} + + + +/* ----------------------------------------------------------------------- */ + +int gpioSetSignalFunc(unsigned signum, gpioSignalFunc_t f) +{ + DBG(DBG_USER, "signum=%d function=%08X", signum, (uint32_t)f); + + CHECK_INITED; + + if (signum > PI_MAX_SIGNUM) + SOFT_ERROR(PI_BAD_SIGNUM, "bad signum (%d)", signum); + + gpioSignal[signum].ex = 0; + gpioSignal[signum].userdata = NULL; + + gpioSignal[signum].func = f; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSetSignalFuncEx(unsigned signum, gpioSignalFuncEx_t f, + void *userdata) +{ + DBG(DBG_USER, "signum=%d function=%08X userdata=%08X", + signum, (uint32_t)f, (uint32_t)userdata); + + CHECK_INITED; + + if (signum > PI_MAX_SIGNUM) + SOFT_ERROR(PI_BAD_SIGNUM, "bad signum (%d)", signum); + + gpioSignal[signum].ex = 1; + gpioSignal[signum].userdata = userdata; + + gpioSignal[signum].func = f; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +uint32_t gpioRead_Bits_0_31(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return (*(gpioReg + GPLEV0)); +} + + +/* ----------------------------------------------------------------------- */ + +uint32_t gpioRead_Bits_32_53(void) +{ + DBG(DBG_USER, ""); + + CHECK_INITED; + + return (*(gpioReg + GPLEV1)); +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWrite_Bits_0_31_Clear(uint32_t bits) +{ + DBG(DBG_USER, "bits=%08X", bits); + + CHECK_INITED; + + *(gpioReg + GPCLR0) = bits; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWrite_Bits_32_53_Clear(uint32_t bits) +{ + DBG(DBG_USER, "bits=%08X", bits); + + CHECK_INITED; + + *(gpioReg + GPCLR1) = bits; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWrite_Bits_0_31_Set(uint32_t bits) +{ + DBG(DBG_USER, "bits=%08X", bits); + + CHECK_INITED; + + *(gpioReg + GPSET0) = bits; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioWrite_Bits_32_53_Set(uint32_t bits) +{ + DBG(DBG_USER, "bits=%08X", bits); + + CHECK_INITED; + + *(gpioReg + GPSET1) = bits; + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int gpioHardwareClock(unsigned gpio, unsigned frequency) +{ + int cctl[] = {CLK_GP0_CTL, CLK_GP1_CTL, CLK_GP2_CTL}; + int cdiv[] = {CLK_GP0_DIV, CLK_GP1_DIV, CLK_GP2_DIV}; + int csrc[CLK_SRCS] = {CLK_CTL_SRC_OSC, CLK_CTL_SRC_PLLD}; + uint32_t cfreq[CLK_SRCS]={CLK_OSC_FREQ, CLK_PLLD_FREQ}; + unsigned clock, mode, mash; + int password = 0; + double f; + clkInf_t clkInf={0,0,0}; + + DBG(DBG_USER, "gpio=%d frequency=%d", gpio, frequency); + + CHECK_INITED; + + if ((gpio >> 24) == 0x5A) password = 1; + + gpio &= 0xFFFFFF; + + if (gpio > PI_MAX_GPIO) + SOFT_ERROR(PI_BAD_GPIO, "bad gpio (%d)", gpio); + + if (!clkDef[gpio]) + SOFT_ERROR(PI_NOT_HCLK_GPIO, "bad gpio for clock (%d)", gpio); + + if (((frequency < PI_HW_CLK_MIN_FREQ) || + (frequency > PI_HW_CLK_MAX_FREQ)) && + (frequency)) + SOFT_ERROR(PI_BAD_HCLK_FREQ, + "bad hardware clock frequency (%d)", frequency); + + clock = (clkDef[gpio] >> 4) & 3; + + if ((clock == 1) && (!password)) + SOFT_ERROR(PI_BAD_HCLK_PASS, + "Need password to use clock 1 (%d)", gpio); + + mode = clkDef[gpio] & 7; + mash = frequency < PI_MASH_MAX_FREQ ? 1 : 0; + + if (frequency) + { + if (chooseBestClock(&clkInf, frequency, CLK_SRCS, cfreq)) + { + if (clkInf.frac == 0) mash = 0; + + initHWClk(cctl[clock], cdiv[clock], + csrc[clkInf.clock], clkInf.div, clkInf.frac, mash); + + myGpioSetMode(gpio, mode); + + gpioInfo[gpio].is = GPIO_HW_CLK; + + f = (double) cfreq[clkInf.clock] / + ((double)clkInf.div + ((double)clkInf.frac / 4096.0)); + + hw_clk_freq[clock] = (f + 0.5); + + DBG(DBG_USER, "cf=%d div=%d frac=%d mash=%d", + cfreq[clkInf.clock], clkInf.div, clkInf.frac, mash); + } + else + { + SOFT_ERROR(PI_BAD_HCLK_FREQ, + "bad hardware clock frequency (%d)", frequency); + } + } + else + { + /* frequency 0, stop clock */ + clkReg[cctl[clock]] = BCM_PASSWD | CLK_CTL_KILL; + + if (gpioInfo[gpio].is == GPIO_HW_CLK) + gpioInfo[gpio].is = GPIO_UNDEFINED; + } + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int gpioHardwarePWM( + unsigned gpio, unsigned frequency, unsigned dutycycle) +{ + uint32_t old_PWM_CTL; + unsigned pwm, mode; + uint32_t real_range, real_dutycycle; + + DBG(DBG_USER, "gpio=%d frequency=%d dutycycle=%d", + gpio, frequency, dutycycle); + + CHECK_INITED; + + if (gpio > PI_MAX_GPIO) + SOFT_ERROR(PI_BAD_GPIO, "bad gpio (%d)", gpio); + + if (!PWMDef[gpio]) + SOFT_ERROR(PI_NOT_HPWM_GPIO, "bad gpio for PWM (%d)", gpio); + + if (dutycycle > PI_HW_PWM_RANGE) + SOFT_ERROR(PI_BAD_HPWM_DUTY, "bad PWM dutycycle (%d)", dutycycle); + + if (((frequency < PI_HW_PWM_MIN_FREQ) || + (frequency > PI_HW_PWM_MAX_FREQ)) && + (frequency)) + SOFT_ERROR(PI_BAD_HPWM_FREQ, + "bad hardware PWM frequency (%d)", frequency); + + if (gpioCfg.clockPeriph == PI_CLOCK_PWM) + SOFT_ERROR(PI_HPWM_ILLEGAL, "illegal, PWM in use for main clock"); + + pwm = (PWMDef[gpio] >> 4) & 3; + mode = PWMDef[gpio] & 7; + + if (frequency) + { + real_range = ((double)CLK_PLLD_FREQ / (2.0 * frequency)) + 0.5; + real_dutycycle = ((uint64_t)dutycycle * real_range) / PI_HW_PWM_RANGE; + + /* record the set PWM frequency and dutycycle */ + + hw_pwm_freq[pwm] = + ((double)CLK_PLLD_FREQ / ( 2.0 * real_range)) + 0.5; + + hw_pwm_duty[pwm] = dutycycle; + + hw_pwm_real_range[pwm] = real_range; + + /* Abort any waveform transmission in progress */ + + if (gpioWaveTxBusy()) gpioWaveTxStop(); + + waveClockInited = 0; + + /* preserve channel enable only and mark space mode */ + + old_PWM_CTL = pwmReg[PWM_CTL] & + (PWM_CTL_PWEN1 | PWM_CTL_MSEN1 | PWM_CTL_PWEN2 | PWM_CTL_MSEN2); + + if (!PWMClockInited) + { + pwmReg[PWM_CTL] = 0; + + myGpioDelay(10); + + initHWClk(CLK_PWMCTL, CLK_PWMDIV, CLK_CTL_SRC_PLLD, 2, 0, 0); + + PWMClockInited = 1; + } + + if (pwm == 0) + { + pwmReg[PWM_RNG1] = real_range; + myGpioDelay(10); + pwmReg[PWM_DAT1] = real_dutycycle; + myGpioDelay(10); + + pwmReg[PWM_CTL] = (old_PWM_CTL | PWM_CTL_PWEN1 | PWM_CTL_MSEN1); + } + else + { + pwmReg[PWM_RNG2] = real_range; + myGpioDelay(10); + pwmReg[PWM_DAT2] = real_dutycycle; + myGpioDelay(10); + + pwmReg[PWM_CTL] = (old_PWM_CTL | PWM_CTL_PWEN2 | PWM_CTL_MSEN2); + } + + if (gpioInfo[gpio].is != GPIO_HW_PWM) + { + switchFunctionOff(gpio); + + myGpioSetMode(gpio, mode); + + gpioInfo[gpio].is = GPIO_HW_PWM; + } + } + else + { + /* frequency 0, stop PWM */ + + if (gpioInfo[gpio].is == GPIO_HW_PWM) + { + if (pwm == 0) pwmReg[PWM_CTL] &= (~PWM_CTL_PWEN1); + else pwmReg[PWM_CTL] &= (~PWM_CTL_PWEN2); + + gpioInfo[gpio].is = GPIO_UNDEFINED; + } + } + + return 0; +} + + +int gpioSetPad(unsigned pad, unsigned padStrength) +{ + DBG(DBG_USER, "pad=%d padStrength=%d", pad, padStrength); + + CHECK_INITED; + + if (pad > PI_MAX_PAD) + SOFT_ERROR(PI_BAD_PAD, "bad pad number (%d)", pad); + + if ((padStrength < PI_MIN_PAD_STRENGTH) || + (padStrength > PI_MAX_PAD_STRENGTH)) + SOFT_ERROR(PI_BAD_STRENGTH, "bad pad drive strength (%d)", pad); + + /* 1-16 -> 0-7 */ + + padStrength += 1; + padStrength /= 2; + padStrength -= 1; + + padsReg[11+pad] = BCM_PASSWD | 0x18 | (padStrength & 7) ; + + return 0; +} + +int gpioGetPad(unsigned pad) +{ + int strength; + + DBG(DBG_USER, "pad=%d", pad); + + CHECK_INITED; + + if (pad > PI_MAX_PAD) + SOFT_ERROR(PI_BAD_PAD, "bad pad (%d)", pad); + + strength = padsReg[11+pad] & 7; + + strength *= 2; + strength += 2; + + return strength; +} + +int shell(char *scriptName, char *scriptString) +{ + int status; + char buf[4096]; + + DBG(DBG_USER, "name=%s string=%s", scriptName, scriptString); + + CHECK_INITED; + + if (!myScriptNameValid(scriptName)) + SOFT_ERROR(PI_BAD_SCRIPT_NAME, "bad script name (%s)", scriptName); + + snprintf(buf, sizeof(buf), + "/opt/pigpio/cgi/%s %s", scriptName, scriptString); + + DBG(DBG_USER, "%s", buf); + + status = system(buf); + + if (status < 0) status = PI_BAD_SHELL_STATUS; + + return status; +} + + +int fileApprove(char *filename) +{ + char match[PI_MAX_PATH]; + char buffer[PI_MAX_PATH]; + char line[PI_MAX_PATH]; + char mperm; + char perm; + char term; + FILE *f; + + buffer[0] = 0; + match[0] = 0; + + f = fopen("/opt/pigpio/access", "r"); + + if (!f) return PI_FILE_NONE; + + while (!feof(f)) + { + buffer[0] = 0; + perm = 0; + term = 0; + if (fgets(line, sizeof(line), f)) + { + sscanf(line, " %511s %c%c", buffer, &perm, &term); + if (term == 10) + { + if (myPathBad(buffer)) continue; /* disallow risky lines */ + + if (fnmatch(buffer, filename, 0) == 0) + { + if (match[0]) + { + if (fnmatch(match, buffer, 0) == 0) + { + strcpy(match, buffer); + mperm = perm; + } + } + else + { + strcpy(match, buffer); + mperm = perm; + } + } + } + } + } + + fclose(f); + + if (match[0]) + { + switch (toupper(mperm)) + { + case 'R': return PI_FILE_READ; + case 'W': return PI_FILE_WRITE; + case 'U': return PI_FILE_RW; + default : return PI_FILE_NONE; + } + } + + return PI_FILE_NONE; +} + +int fileOpen(char *file, unsigned mode) +{ + int fd=-1; + int i, slot, oflag, omode; + struct stat statbuf; + + DBG(DBG_USER, "file=%s mode=%d", file, mode); + + CHECK_INITED; + + if ( (mode < PI_FILE_MIN) || + (mode > PI_FILE_MAX) || + ((mode & PI_FILE_RW) == 0) ) + SOFT_ERROR(PI_BAD_FILE_MODE, "bad mode (%d)", mode); + + if ((fileApprove(file) & mode) == PI_FILE_NONE) + SOFT_ERROR(PI_NO_FILE_ACCESS, "no permission to access file (%s)", file); + + slot = -1; + + for (i=0; i= PI_FILE_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (fileInfo[handle].state != PI_FILE_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (fileInfo[handle].fd >= 0) close(fileInfo[handle].fd); + + fileInfo[handle].fd = -1; + fileInfo[handle].state = PI_FILE_CLOSED; + + return 0; +} + +int fileWrite(unsigned handle, char *buf, unsigned count) +{ + int w; + + DBG(DBG_USER, "handle=%d count=%d [%s]", + handle, count, myBuf2Str(count, buf)); + + CHECK_INITED; + + if (handle >= PI_FILE_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (fileInfo[handle].state != PI_FILE_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (!count) + SOFT_ERROR(PI_BAD_PARAM, "bad count (%d)", count); + + if (!(fileInfo[handle].mode & PI_FILE_WRITE)) + SOFT_ERROR(PI_FILE_NOT_WOPEN, "file not opened for write"); + + w = write(fileInfo[handle].fd, buf, count); + + if (w != count) + { + if (w == -1) DBG(DBG_USER, "write failed with errno %d", errno); + + return PI_BAD_FILE_WRITE; + } + return 0; +} + +int fileRead(unsigned handle, char *buf, unsigned count) +{ + int r; + + DBG(DBG_USER, "handle=%d count=%d buf=0x%X", handle, count, (unsigned)buf); + + CHECK_INITED; + + if (handle >= PI_FILE_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (fileInfo[handle].state != PI_FILE_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (!count) + SOFT_ERROR(PI_BAD_PARAM, "bad count (%d)", count); + + if (!(fileInfo[handle].mode & PI_FILE_READ)) + SOFT_ERROR(PI_FILE_NOT_ROPEN, "file not opened for read"); + + r = read(fileInfo[handle].fd, buf, count); + + if (r == -1) + { + DBG(DBG_USER, "read failed with errno %d", errno); + return PI_BAD_FILE_READ; + } + else + { + buf[r] = 0; + return r; + } +} + + +int fileSeek(unsigned handle, int32_t seekOffset, int seekFrom) +{ + int whence, s; + + DBG(DBG_USER, "handle=%d offset=%d from=%d", + handle, seekOffset, seekFrom); + + CHECK_INITED; + + if (handle >= PI_FILE_SLOTS) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + if (fileInfo[handle].state != PI_FILE_OPENED) + SOFT_ERROR(PI_BAD_HANDLE, "bad handle (%d)", handle); + + switch (seekFrom) + { + case PI_FROM_START: + whence = SEEK_SET; + break; + + case PI_FROM_CURRENT: + whence = SEEK_CUR; + break; + + case PI_FROM_END: + whence = SEEK_END; + break; + + default: + SOFT_ERROR(PI_BAD_FILE_SEEK, "bad seek from (%d)", seekFrom); + } + + s = lseek(fileInfo[handle].fd, seekOffset, whence); + + if (s == -1) + { + DBG(DBG_USER, "seek failed with errno %d", errno); + return PI_BAD_FILE_SEEK; + } + + return s; +} + +int fileList(char *fpat, char *buf, unsigned count) +{ + int len, bufpos; + glob_t pglob; + int i; + + DBG(DBG_USER, "fpat=%s count=%d buf=%x", fpat, count, (unsigned)buf); + + CHECK_INITED; + + if (fileApprove(fpat) == PI_FILE_NONE) + SOFT_ERROR(PI_NO_FILE_ACCESS, "no permission to access file (%s)", fpat); + + bufpos = 0; + + if (glob(fpat, GLOB_MARK, NULL, &pglob) == 0) + { + for (i=0; i PI_TIME_ABSOLUTE) + SOFT_ERROR(PI_BAD_TIMETYPE, "bad timetype (%d)", timetype); + + if (timetype == PI_TIME_ABSOLUTE) + { + clock_gettime(CLOCK_REALTIME, &ts); + *seconds = ts.tv_sec; + *micros = ts.tv_nsec/1000; + } + else + { + clock_gettime(CLOCK_REALTIME, &ts); + + TIMER_SUB(&ts, &libStarted, &ts); + + *seconds = ts.tv_sec; + *micros = ts.tv_nsec/1000; + } + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioSleep(unsigned timetype, int seconds, int micros) +{ + struct timespec ts, rem; + + DBG(DBG_USER, "timetype=%d seconds=%d micros=%d", + timetype, seconds, micros); + + CHECK_INITED; + + if (timetype > PI_TIME_ABSOLUTE) + SOFT_ERROR(PI_BAD_TIMETYPE, "bad timetype (%d)", timetype); + + if (seconds < 0) + SOFT_ERROR(PI_BAD_SECONDS, "bad seconds (%d)", seconds); + + if ((micros < 0) || (micros > 999999)) + SOFT_ERROR(PI_BAD_MICROS, "bad micros (%d)", micros); + + ts.tv_sec = seconds; + ts.tv_nsec = micros * 1000; + + if (timetype == PI_TIME_ABSOLUTE) + { + while (clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &ts, &rem)); + } + else + { + while (clock_nanosleep(CLOCK_REALTIME, 0, &ts, &rem)) + { + /* copy remaining time to ts */ + ts.tv_sec = rem.tv_sec; + ts.tv_nsec = rem.tv_nsec; + } + } + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +uint32_t gpioDelay(uint32_t micros) +{ + uint32_t start; + + DBG(DBG_USER, "microseconds=%u", micros); + + CHECK_INITED; + + start = systReg[SYST_CLO]; + + if (micros <= PI_MAX_BUSY_DELAY) + while ((systReg[SYST_CLO] - start) <= micros); + else + gpioSleep(PI_TIME_RELATIVE, (micros/MILLION), (micros%MILLION)); + + return (systReg[SYST_CLO] - start); +} + + +/* ----------------------------------------------------------------------- */ + +uint32_t gpioTick(void) +{ + CHECK_INITED; + + return systReg[SYST_CLO]; +} + + +/* ----------------------------------------------------------------------- */ + +unsigned gpioVersion(void) +{ + DBG(DBG_USER, ""); + + return PIGPIO_VERSION; +} + + +/* ----------------------------------------------------------------------- */ + +/* +2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 +5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 + +W W S M M M B B B B P P P P T T T T T T T T R R R R + +W warranty void if either bit is set + +S 0=old (bits 0-22 are revision number) 1=new (following fields apply) + +M 0=256 1=512 2=1024 + +B 0=Sony 1=Egoman 2=Embest 3=Unknown 4=Embest + +P 0=2835, 1=2836, 2=2837 + +T 0=A 1=B 2=A+ 3=B+ 4=Pi2B 5=Alpha 6=Compute Module 7=Unknown 8=Pi3B 9=Zero + +R PCB board revision + +*/ + +unsigned gpioHardwareRevision(void) +{ + static unsigned rev = 0; + + FILE * filp; + char buf[512]; + char term; + + DBG(DBG_USER, ""); + + if (rev) return rev; + + piCores = 0; + + filp = fopen ("/proc/cpuinfo", "r"); + + if (filp != NULL) + { + while (fgets(buf, sizeof(buf), filp) != NULL) + { + if (piCores == 0) + { + if (!strncasecmp("model name", buf, 10)) + { + if (strstr (buf, "ARMv6") != NULL) + { + piCores = 1; + pi_peri_phys = 0x20000000; + pi_dram_bus = 0x40000000; + pi_mem_flag = 0x0C; + } + else if (strstr (buf, "ARMv7") != NULL) + { + piCores = 4; + pi_peri_phys = 0x3F000000; + pi_dram_bus = 0xC0000000; + pi_mem_flag = 0x04; + } + else if (strstr (buf, "ARMv8") != NULL) + { + piCores = 4; + pi_peri_phys = 0x3F000000; + pi_dram_bus = 0xC0000000; + pi_mem_flag = 0x04; + } + } + } + + if (!strncasecmp("revision\t:", buf, 10)) + { + if (sscanf(buf+10, "%x%c", &rev, &term) == 2) + { + if (term != '\n') rev = 0; + else rev &= 0xFFFFFF; /* mask out warranty bit */ + } + } + } + + fclose(filp); + } + return rev; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioCfgBufferSize(unsigned millis) +{ + DBG(DBG_USER, "millis=%d", millis); + + CHECK_NOT_INITED; + + if ((millis < PI_BUF_MILLIS_MIN) || (millis > PI_BUF_MILLIS_MAX)) + SOFT_ERROR(PI_BAD_BUF_MILLIS, "bad millis (%d)", millis); + + gpioCfg.bufferMilliseconds = millis; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioCfgClock(unsigned micros, unsigned peripheral, unsigned source) +{ + DBG(DBG_USER, "micros=%d peripheral=%d", micros, peripheral); + + CHECK_NOT_INITED; + + if ((micros < 1) || (micros > 10)) + SOFT_ERROR(PI_BAD_CLK_MICROS, "bad micros (%d)", micros); + + if (!clkCfg[micros].valid) + SOFT_ERROR(PI_BAD_CLK_MICROS, "bad micros (%d)", micros); + + if (peripheral > PI_CLOCK_PCM) + SOFT_ERROR(PI_BAD_CLK_PERIPH, "bad peripheral (%d)", peripheral); + + gpioCfg.clockMicros = micros; + gpioCfg.clockPeriph = peripheral; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioCfgDMAchannel(unsigned DMAchannel) +{ + DBG(DBG_USER, "channel=%d", DMAchannel); + + CHECK_NOT_INITED; + + if ((DMAchannel < PI_MIN_DMA_CHANNEL) || (DMAchannel > PI_MAX_DMA_CHANNEL)) + SOFT_ERROR(PI_BAD_CHANNEL, "bad channel (%d)", DMAchannel); + + gpioCfg.DMAprimaryChannel = DMAchannel; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioCfgDMAchannels(unsigned primaryChannel, unsigned secondaryChannel) +{ + DBG(DBG_USER, "primary channel=%d, secondary channel=%d", + primaryChannel, secondaryChannel); + + CHECK_NOT_INITED; + + if (primaryChannel > PI_MAX_DMA_CHANNEL) + SOFT_ERROR(PI_BAD_PRIM_CHANNEL, "bad primary channel (%d)", + primaryChannel); + + if ((secondaryChannel > PI_MAX_DMA_CHANNEL) || + (secondaryChannel == primaryChannel)) + SOFT_ERROR(PI_BAD_SECO_CHANNEL, "bad secondary channel (%d)", + secondaryChannel); + + gpioCfg.DMAprimaryChannel = primaryChannel; + gpioCfg.DMAsecondaryChannel = secondaryChannel; + + return 0; +} + + +/*-------------------------------------------------------------------------*/ + +int gpioCfgPermissions(uint64_t updateMask) +{ + DBG(DBG_USER, "gpio update mask=%llX", updateMask); + + CHECK_NOT_INITED; + + gpioMask = updateMask; + + gpioMaskSet = 1; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioCfgInterfaces(unsigned ifFlags) +{ + DBG(DBG_USER, "ifFlags=%X", ifFlags); + + CHECK_NOT_INITED; + + if (ifFlags > 7) + SOFT_ERROR(PI_BAD_IF_FLAGS, "bad ifFlags (%X)", ifFlags); + + gpioCfg.ifFlags = ifFlags; + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int gpioCfgSocketPort(unsigned port) +{ + DBG(DBG_USER, "port=%d", port); + + CHECK_NOT_INITED; + + if ((port < PI_MIN_SOCKET_PORT) || (port > PI_MAX_SOCKET_PORT)) + SOFT_ERROR(PI_BAD_SOCKET_PORT, "bad port (%d)", port); + + gpioCfg.socketPort = port; + + return 0; +} + + +/* ----------------------------------------------------------------------- */ + +int gpioCfgMemAlloc(unsigned memAllocMode) +{ + DBG(DBG_USER, "memAllocMode=%d", memAllocMode); + + CHECK_NOT_INITED; + + if (memAllocMode > PI_MEM_ALLOC_MAILBOX) + SOFT_ERROR( + PI_BAD_MALLOC_MODE, "bad mem alloc mode (%d)", memAllocMode); + + gpioCfg.memAllocMode = memAllocMode; + + return 0; +} + +/* ----------------------------------------------------------------------- */ + +int gpioCfgNetAddr(int numSockAddr, uint32_t *sockAddr) +{ + int i; + + DBG(DBG_USER, "numSockAddr=%d sockAddr=%08X", + numSockAddr, (unsigned)sockAddr); + + CHECK_NOT_INITED; + + if (numSockAddr <= 0) numSockNetAddr = 0; + else + { + if (numSockAddr >= MAX_CONNECT_ADDRESSES) + numSockAddr = MAX_CONNECT_ADDRESSES; + + for (i=0; i>4) & 0xF; + return 0; +} + +int gpioCfgInternals(unsigned cfgWhat, unsigned cfgVal) +{ + int retVal = PI_BAD_CFG_INTERNAL; + + DBG(DBG_USER, "cfgWhat=%u, cfgVal=%d", cfgWhat, cfgVal); + + switch(cfgWhat) + { + case 562484977: + + if (cfgVal) gpioCfg.internals |= PI_CFG_STATS; + else gpioCfg.internals &= (~PI_CFG_STATS); + + DBG(DBG_ALWAYS, "show stats is %u", cfgVal); + + retVal = 0; + + break; + + case 984762879: + + if ((cfgVal >= DBG_ALWAYS) && (cfgVal <= DBG_MAX_LEVEL)) + { + + gpioCfg.dbgLevel = cfgVal; + gpioCfg.internals = (gpioCfg.internals & (~0xF)) | cfgVal; + + DBG(DBG_ALWAYS, "Debug level is %u", cfgVal); + + retVal = 0; + } + + break; + } + + return retVal; +} + + +/* include any user customisations */ + +#include "custom.cext" + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpio.h b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpio.h new file mode 100644 index 0000000..0822e18 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpio.h @@ -0,0 +1,5942 @@ +/* +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 +*/ + +#ifndef PIGPIO_H +#define PIGPIO_H + +#include +#include + +#define PIGPIO_VERSION 56 + +/*TEXT + +pigpio is a C library for the Raspberry which allows control of the GPIO. + +*Features* + +o hardware timed PWM on any of GPIO 0-31 + +o hardware timed servo pulses on any of GPIO 0-31 + +o callbacks when any of GPIO 0-31 change state + +o callbacks at timed intervals + +o reading/writing all of the GPIO in a bank as one operation + +o individually setting GPIO modes, reading and writing + +o notifications when any of GPIO 0-31 change state + +o the construction of output waveforms with microsecond timing + +o rudimentary permission control over GPIO + +o a simple interface to start and stop new threads + +o I2C, SPI, and serial link wrappers + +o creating and running scripts + +*GPIO* + +ALL GPIO are identified by their Broadcom number. + +*Credits* + +The PWM and servo pulses are timed using the DMA and PWM peripherals. + +This use was inspired by Richard Hirst's servoblaster kernel module. + +See [[https://github.com/richardghirst/PiBits/tree/master/ServoBlaster]] + +*Usage* + +Include in your source files. + +Assuming your source is in prog.c use the following command to build and +run the executable. + +. . +gcc -Wall -pthread -o prog prog.c -lpigpio -lrt +sudo ./prog +. . + +For examples of usage see the C programs within the pigpio archive file. + +*Notes* + +All the functions which return an int return < 0 on error. + +[*gpioInitialise*] must be called before all other library functions +with the following exceptions: + +. . +[*gpioCfg**] +[*gpioVersion*] +[*gpioHardwareRevision*] +. . + +If the library is not initialised all but the [*gpioCfg**], +[*gpioVersion*], and [*gpioHardwareRevision*] functions will +return error PI_NOT_INITIALISED. + +If the library is initialised the [*gpioCfg**] functions will return +error PI_INITIALISED. + +TEXT*/ + +/*OVERVIEW + +ESSENTIAL + +gpioInitialise Initialise library +gpioTerminate Stop library + +BEGINNER + +gpioSetMode Set a GPIO mode +gpioGetMode Get a GPIO mode + +gpioSetPullUpDown Set/clear GPIO pull up/down resistor + +gpioRead Read a GPIO +gpioWrite Write a GPIO + +gpioPWM Start/stop PWM pulses on a GPIO +gpioGetPWMdutycycle Get dutycycle setting on a GPIO + +gpioServo Start/stop servo pulses on a GPIO +gpioGetServoPulsewidth Get pulsewidth setting on a GPIO + +gpioDelay Delay for a number of microseconds + +gpioSetAlertFunc Request a GPIO level change callback + +gpioSetTimerFunc Request a regular timed callback + +INTERMEDIATE + +gpioTrigger Send a trigger pulse to a GPIO. + +gpioSetWatchdog Set a watchdog on a GPIO. + +gpioSetPWMrange Configure PWM range for a GPIO +gpioGetPWMrange Get configured PWM range for a GPIO + +gpioSetPWMfrequency Configure PWM frequency for a GPIO +gpioGetPWMfrequency Get configured PWM frequency for a GPIO + +gpioRead_Bits_0_31 Read all GPIO in bank 1 +gpioRead_Bits_32_53 Read all GPIO in bank 2 + +gpioWrite_Bits_0_31_Clear Clear selected GPIO in bank 1 +gpioWrite_Bits_32_53_Clear Clear selected GPIO in bank 2 + +gpioWrite_Bits_0_31_Set Set selected GPIO in bank 1 +gpioWrite_Bits_32_53_Set Set selected GPIO in bank 2 + +gpioStartThread Start a new thread +gpioStopThread Stop a previously started thread + +ADVANCED + +gpioGetPWMrealRange Get underlying PWM range for a GPIO + +gpioSetAlertFuncEx Request a GPIO change callback, extended + +gpioSetISRFunc Request a GPIO interrupt callback +gpioSetISRFuncEx Request a GPIO interrupt callback, extended + +gpioSetSignalFunc Request a signal callback +gpioSetSignalFuncEx Request a signal callback, extended + +gpioSetGetSamplesFunc Requests a GPIO samples callback +gpioSetGetSamplesFuncEx Requests a GPIO samples callback, extended + +gpioSetTimerFuncEx Request a regular timed callback, extended + +gpioNotifyOpen Request a notification handle +gpioNotifyOpenWithSize Request a notification handle with sized pipe +gpioNotifyBegin Start notifications for selected GPIO +gpioNotifyPause Pause notifications +gpioNotifyClose Close a notification + +gpioSerialReadOpen Opens a GPIO for bit bang serial reads +gpioSerialReadInvert Configures normal/inverted for serial reads +gpioSerialRead Reads bit bang serial data from a GPIO +gpioSerialReadClose Closes a GPIO for bit bang serial reads + +gpioHardwareClock Start hardware clock on supported GPIO +gpioHardwarePWM Start hardware PWM on supported GPIO + +gpioGlitchFilter Set a glitch filter on a GPIO +gpioNoiseFilter Set a noise filter on a GPIO + +gpioGetPad Gets a pads drive strength +gpioSetPad Sets a pads drive strength + +shell Executes a shell command + +SCRIPTS + +gpioStoreScript Store a script +gpioRunScript Run a stored script +gpioScriptStatus Get script status and parameters +gpioStopScript Stop a running script +gpioDeleteScript Delete a stored script + +WAVES + +gpioWaveClear Deletes all waveforms + +gpioWaveAddNew Starts a new waveform +gpioWaveAddGeneric Adds a series of pulses to the waveform +gpioWaveAddSerial Adds serial data to the waveform + +gpioWaveCreate Creates a waveform from added data +gpioWaveDelete Deletes a waveform + +gpioWaveTxSend Transmits a waveform + +gpioWaveChain Transmits a chain of waveforms + +gpioWaveTxAt Returns the current transmitting waveform + +gpioWaveTxBusy Checks to see if the waveform has ended +gpioWaveTxStop Aborts the current waveform + +gpioWaveGetMicros Length in microseconds of the current waveform +gpioWaveGetHighMicros Length of longest waveform so far +gpioWaveGetMaxMicros Absolute maximum allowed micros + +gpioWaveGetPulses Length in pulses of the current waveform +gpioWaveGetHighPulses Length of longest waveform so far +gpioWaveGetMaxPulses Absolute maximum allowed pulses + +gpioWaveGetCbs Length in control blocks of the current waveform +gpioWaveGetHighCbs Length of longest waveform so far +gpioWaveGetMaxCbs Absolute maximum allowed control blocks + +I2C + +i2cOpen Opens an I2C device +i2cClose Closes an I2C device + +i2cWriteQuick SMBus write quick +i2cWriteByte SMBus write byte +i2cReadByte SMBus read byte +i2cWriteByteData SMBus write byte data +i2cWriteWordData SMBus write word data +i2cReadByteData SMBus read byte data +i2cReadWordData SMBus read word data +i2cProcessCall SMBus process call +i2cWriteBlockData SMBus write block data +i2cReadBlockData SMBus read block data +i2cBlockProcessCall SMBus block process call + +i2cWriteI2CBlockData SMBus write I2C block data +i2cReadI2CBlockData SMBus read I2C block data + +i2cReadDevice Reads the raw I2C device +i2cWriteDevice Writes the raw I2C device + +i2cSwitchCombined Sets or clears the combined flag + +i2cSegments Performs multiple I2C transactions + +i2cZip Performs multiple I2C transactions + +bbI2COpen Opens GPIO for bit banging I2C +bbI2CClose Closes GPIO for bit banging I2C +bbI2CZip Performs multiple bit banged I2C transactions + +SPI + +spiOpen Opens a SPI device +spiClose Closes a SPI device + +spiRead Reads bytes from a SPI device +spiWrite Writes bytes to a SPI device +spiXfer Transfers bytes with a SPI device + +bbSPIOpen Opens GPIO for bit banging SPI +bbSPIClose Closes GPIO for bit banging SPI +bbSPIXfer Performs multiple bit banged SPI transactions + +SERIAL + +serOpen Opens a serial device +serClose Closes a serial device + +serReadByte Reads a byte from a serial device +serWriteByte Writes a byte to a serial device +serRead Reads bytes from a serial device +serWrite Writes bytes to a serial device + +serDataAvailable Returns number of bytes ready to be read + +FILES + +fileOpen Opens a file +fileClose Closes a file +fileRead Reads bytes from a file +fileWrite Writes bytes to a file +fileSeek Seeks to a position within a file +fileList List files which match a pattern + +CONFIGURATION + +gpioCfgBufferSize Configure the GPIO sample buffer size +gpioCfgClock Configure the GPIO sample rate +gpioCfgDMAchannel Configure the DMA channel (DEPRECATED) +gpioCfgDMAchannels Configure the DMA channels +gpioCfgPermissions Configure the GPIO access permissions +gpioCfgInterfaces Configure user interfaces +gpioCfgSocketPort Configure socket port +gpioCfgMemAlloc Configure DMA memory allocation mode +gpioCfgNetAddr Configure allowed network addresses + +gpioCfgInternals Configure miscellaneous internals (DEPRECATED) +gpioCfgGetInternals Get internal configuration settings +gpioCfgSetInternals Set internal configuration settings + +CUSTOM + +gpioCustom1 User custom function 1 +gpioCustom2 User custom function 2 + +UTILITIES + +gpioTick Get current tick (microseconds) + +gpioHardwareRevision Get hardware revision +gpioVersion Get the pigpio version + +getBitInBytes Get the value of a bit +putBitInBytes Set the value of a bit + +gpioTime Get current time +gpioSleep Sleep for specified time + +time_sleep Sleeps for a float number of seconds +time_time Float number of seconds since the epoch + +EXPERT + +rawWaveAddSPI Not intended for general use +rawWaveAddGeneric Not intended for general use +rawWaveCB Not intended for general use +rawWaveCBAdr Not intended for general use +rawWaveGetOOL Not intended for general use +rawWaveSetOOL Not intended for general use +rawWaveGetOut Not intended for general use +rawWaveSetOut Not intended for general use +rawWaveGetIn Not intended for general use +rawWaveSetIn Not intended for general use +rawWaveInfo Not intended for general use +rawDumpWave Not intended for general use +rawDumpScript Not intended for general use + +OVERVIEW*/ + +#define PI_INPFIFO "/dev/pigpio" +#define PI_OUTFIFO "/dev/pigout" +#define PI_ERRFIFO "/dev/pigerr" + +#define PI_ENVPORT "PIGPIO_PORT" +#define PI_ENVADDR "PIGPIO_ADDR" + +#define PI_LOCKFILE "/var/run/pigpio.pid" + +#define PI_I2C_COMBINED "/sys/module/i2c_bcm2708/parameters/combined" + +#ifdef __cplusplus +extern "C" { +#endif + +typedef struct +{ + uint16_t func; + uint16_t size; +} gpioHeader_t; + +typedef struct +{ + size_t size; + void *ptr; + uint32_t data; +} gpioExtent_t; + +typedef struct +{ + uint32_t tick; + uint32_t level; +} gpioSample_t; + +typedef struct +{ + uint16_t seqno; + uint16_t flags; + uint32_t tick; + uint32_t level; +} gpioReport_t; + +typedef struct +{ + uint32_t gpioOn; + uint32_t gpioOff; + uint32_t usDelay; +} gpioPulse_t; + +#define WAVE_FLAG_READ 1 +#define WAVE_FLAG_TICK 2 + +typedef struct +{ + uint32_t gpioOn; + uint32_t gpioOff; + uint32_t usDelay; + uint32_t flags; +} rawWave_t; + +/* +CBs are used in order from the lowest numbered CB up to +the maximum NUM_WAVE_CBS. + +OOLS are used from the bottom climbing up and from +the top climbing down. + +The GPIO on and off settings climb up from the bottom (botOOL/numBOOL). + +The level and tick read values are stored in descending locations +from the top (topOOL/numTOOL). +*/ + +typedef struct +{ + uint16_t botCB; /* first CB used by wave */ + uint16_t topCB; /* last CB used by wave */ + uint16_t botOOL; /* first bottom OOL used by wave */ + /* botOOL to botOOL + numBOOL - 1 are in use */ + uint16_t topOOL; /* last top OOL used by wave */ + /* topOOL - numTOOL to topOOL are in use.*/ + uint16_t deleted; + uint16_t numCB; + uint16_t numBOOL; + uint16_t numTOOL; +} rawWaveInfo_t; + +typedef struct +{ + int clk; /* GPIO for clock */ + int mosi; /* GPIO for MOSI */ + int miso; /* GPIO for MISO */ + int ss_pol; /* slave select off state */ + int ss_us; /* delay after slave select */ + int clk_pol; /* clock off state */ + int clk_pha; /* clock phase */ + int clk_us; /* clock micros */ +} rawSPI_t; + +typedef struct { /* linux/arch/arm/mach-bcm2708/include/mach/dma.h */ + uint32_t info; + uint32_t src; + uint32_t dst; + uint32_t length; + uint32_t stride; + uint32_t next; + uint32_t pad[2]; +} rawCbs_t; + +typedef struct +{ + uint16_t addr; /* slave address */ + uint16_t flags; + uint16_t len; /* msg length */ + uint8_t *buf; /* pointer to msg data */ +} pi_i2c_msg_t; + +typedef void (*gpioAlertFunc_t) (int gpio, + int level, + uint32_t tick); + +typedef void (*gpioAlertFuncEx_t) (int gpio, + int level, + uint32_t tick, + void *userdata); + +typedef void (*gpioISRFunc_t) (int gpio, + int level, + uint32_t tick); + +typedef void (*gpioISRFuncEx_t) (int gpio, + int level, + uint32_t tick, + void *userdata); + +typedef void (*gpioTimerFunc_t) (void); + +typedef void (*gpioTimerFuncEx_t) (void *userdata); + +typedef void (*gpioSignalFunc_t) (int signum); + +typedef void (*gpioSignalFuncEx_t) (int signum, + void *userdata); + +typedef void (*gpioGetSamplesFunc_t) (const gpioSample_t *samples, + int numSamples); + +typedef void (*gpioGetSamplesFuncEx_t) (const gpioSample_t *samples, + int numSamples, + void *userdata); + +typedef void *(gpioThreadFunc_t) (void *); + + +/* gpio: 0-53 */ + +#define PI_MIN_GPIO 0 +#define PI_MAX_GPIO 53 + +/* user_gpio: 0-31 */ + +#define PI_MAX_USER_GPIO 31 + +/* level: 0-1 */ + +#define PI_OFF 0 +#define PI_ON 1 + +#define PI_CLEAR 0 +#define PI_SET 1 + +#define PI_LOW 0 +#define PI_HIGH 1 + +/* level: only reported for GPIO time-out, see gpioSetWatchdog */ + +#define PI_TIMEOUT 2 + +/* mode: 0-7 */ + +#define PI_INPUT 0 +#define PI_OUTPUT 1 +#define PI_ALT0 4 +#define PI_ALT1 5 +#define PI_ALT2 6 +#define PI_ALT3 7 +#define PI_ALT4 3 +#define PI_ALT5 2 + +/* pud: 0-2 */ + +#define PI_PUD_OFF 0 +#define PI_PUD_DOWN 1 +#define PI_PUD_UP 2 + +/* dutycycle: 0-range */ + +#define PI_DEFAULT_DUTYCYCLE_RANGE 255 + +/* range: 25-40000 */ + +#define PI_MIN_DUTYCYCLE_RANGE 25 +#define PI_MAX_DUTYCYCLE_RANGE 40000 + +/* pulsewidth: 0, 500-2500 */ + +#define PI_SERVO_OFF 0 +#define PI_MIN_SERVO_PULSEWIDTH 500 +#define PI_MAX_SERVO_PULSEWIDTH 2500 + +/* hardware PWM */ + +#define PI_HW_PWM_MIN_FREQ 1 +#define PI_HW_PWM_MAX_FREQ 125000000 +#define PI_HW_PWM_RANGE 1000000 + +/* hardware clock */ + +#define PI_HW_CLK_MIN_FREQ 4689 +#define PI_HW_CLK_MAX_FREQ 250000000 + +#define PI_NOTIFY_SLOTS 32 + +#define PI_NTFY_FLAGS_ALIVE (1 <<6) +#define PI_NTFY_FLAGS_WDOG (1 <<5) +#define PI_NTFY_FLAGS_BIT(x) (((x)<<0)&31) + +#define PI_WAVE_BLOCKS 4 +#define PI_WAVE_MAX_PULSES (PI_WAVE_BLOCKS * 3000) +#define PI_WAVE_MAX_CHARS (PI_WAVE_BLOCKS * 300) + +#define PI_BB_I2C_MIN_BAUD 50 +#define PI_BB_I2C_MAX_BAUD 500000 + +#define PI_BB_SPI_MIN_BAUD 50 +#define PI_BB_SPI_MAX_BAUD 250000 + +#define PI_BB_SER_MIN_BAUD 50 +#define PI_BB_SER_MAX_BAUD 250000 + +#define PI_BB_SER_NORMAL 0 +#define PI_BB_SER_INVERT 1 + +#define PI_WAVE_MIN_BAUD 50 +#define PI_WAVE_MAX_BAUD 1000000 + +#define PI_SPI_MIN_BAUD 32000 +#define PI_SPI_MAX_BAUD 125000000 + +#define PI_MIN_WAVE_DATABITS 1 +#define PI_MAX_WAVE_DATABITS 32 + +#define PI_MIN_WAVE_HALFSTOPBITS 2 +#define PI_MAX_WAVE_HALFSTOPBITS 8 + +#define PI_WAVE_MAX_MICROS (30 * 60 * 1000000) /* half an hour */ + +#define PI_MAX_WAVES 250 + +#define PI_MAX_WAVE_CYCLES 65535 +#define PI_MAX_WAVE_DELAY 65535 + +#define PI_WAVE_COUNT_PAGES 10 + +/* wave tx mode */ + +#define PI_WAVE_MODE_ONE_SHOT 0 +#define PI_WAVE_MODE_REPEAT 1 +#define PI_WAVE_MODE_ONE_SHOT_SYNC 2 +#define PI_WAVE_MODE_REPEAT_SYNC 3 + +/* special wave at return values */ + +#define PI_WAVE_NOT_FOUND 9998 /* Transmitted wave not found. */ +#define PI_NO_TX_WAVE 9999 /* No wave being transmitted. */ + +/* Files, I2C, SPI, SER */ + +#define PI_FILE_SLOTS 8 +#define PI_I2C_SLOTS 32 +#define PI_SPI_SLOTS 16 +#define PI_SER_SLOTS 8 + +#define PI_MAX_I2C_ADDR 0x7F + +#define PI_NUM_AUX_SPI_CHANNEL 3 +#define PI_NUM_STD_SPI_CHANNEL 2 + +#define PI_MAX_I2C_DEVICE_COUNT (1<<16) +#define PI_MAX_SPI_DEVICE_COUNT (1<<16) + +/* max pi_i2c_msg_t per transaction */ + +#define PI_I2C_RDRW_IOCTL_MAX_MSGS 42 + +/* flags for i2cTransaction, pi_i2c_msg_t */ + +#define PI_I2C_M_WR 0x0000 /* write data */ +#define PI_I2C_M_RD 0x0001 /* read data */ +#define PI_I2C_M_TEN 0x0010 /* ten bit chip address */ +#define PI_I2C_M_RECV_LEN 0x0400 /* length will be first received byte */ +#define PI_I2C_M_NO_RD_ACK 0x0800 /* if I2C_FUNC_PROTOCOL_MANGLING */ +#define PI_I2C_M_IGNORE_NAK 0x1000 /* if I2C_FUNC_PROTOCOL_MANGLING */ +#define PI_I2C_M_REV_DIR_ADDR 0x2000 /* if I2C_FUNC_PROTOCOL_MANGLING */ +#define PI_I2C_M_NOSTART 0x4000 /* if I2C_FUNC_PROTOCOL_MANGLING */ + +/* bbI2CZip and i2cZip commands */ + +#define PI_I2C_END 0 +#define PI_I2C_ESC 1 +#define PI_I2C_START 2 +#define PI_I2C_COMBINED_ON 2 +#define PI_I2C_STOP 3 +#define PI_I2C_COMBINED_OFF 3 +#define PI_I2C_ADDR 4 +#define PI_I2C_FLAGS 5 +#define PI_I2C_READ 6 +#define PI_I2C_WRITE 7 + +/* SPI */ + +#define PI_SPI_FLAGS_BITLEN(x) ((x&63)<<16) +#define PI_SPI_FLAGS_RX_LSB(x) ((x&1)<<15) +#define PI_SPI_FLAGS_TX_LSB(x) ((x&1)<<14) +#define PI_SPI_FLAGS_3WREN(x) ((x&15)<<10) +#define PI_SPI_FLAGS_3WIRE(x) ((x&1)<<9) +#define PI_SPI_FLAGS_AUX_SPI(x) ((x&1)<<8) +#define PI_SPI_FLAGS_RESVD(x) ((x&7)<<5) +#define PI_SPI_FLAGS_CSPOLS(x) ((x&7)<<2) +#define PI_SPI_FLAGS_MODE(x) ((x&3)) + +/* Longest busy delay */ + +#define PI_MAX_BUSY_DELAY 100 + +/* timeout: 0-60000 */ + +#define PI_MIN_WDOG_TIMEOUT 0 +#define PI_MAX_WDOG_TIMEOUT 60000 + +/* timer: 0-9 */ + +#define PI_MIN_TIMER 0 +#define PI_MAX_TIMER 9 + +/* millis: 10-60000 */ + +#define PI_MIN_MS 10 +#define PI_MAX_MS 60000 + +#define PI_MAX_SCRIPTS 32 + +#define PI_MAX_SCRIPT_TAGS 50 +#define PI_MAX_SCRIPT_VARS 150 +#define PI_MAX_SCRIPT_PARAMS 10 + +/* script status */ + +#define PI_SCRIPT_INITING 0 +#define PI_SCRIPT_HALTED 1 +#define PI_SCRIPT_RUNNING 2 +#define PI_SCRIPT_WAITING 3 +#define PI_SCRIPT_FAILED 4 + +/* signum: 0-63 */ + +#define PI_MIN_SIGNUM 0 +#define PI_MAX_SIGNUM 63 + +/* timetype: 0-1 */ + +#define PI_TIME_RELATIVE 0 +#define PI_TIME_ABSOLUTE 1 + +#define PI_MAX_MICS_DELAY 1000000 /* 1 second */ +#define PI_MAX_MILS_DELAY 60000 /* 60 seconds */ + +/* cfgMillis */ + +#define PI_BUF_MILLIS_MIN 100 +#define PI_BUF_MILLIS_MAX 10000 + +/* cfgMicros: 1, 2, 4, 5, 8, or 10 */ + +/* cfgPeripheral: 0-1 */ + +#define PI_CLOCK_PWM 0 +#define PI_CLOCK_PCM 1 + +/* DMA channel: 0-14 */ + +#define PI_MIN_DMA_CHANNEL 0 +#define PI_MAX_DMA_CHANNEL 14 + +/* port */ + +#define PI_MIN_SOCKET_PORT 1024 +#define PI_MAX_SOCKET_PORT 32000 + + +/* ifFlags: */ + +#define PI_DISABLE_FIFO_IF 1 +#define PI_DISABLE_SOCK_IF 2 +#define PI_LOCALHOST_SOCK_IF 4 + +/* memAllocMode */ + +#define PI_MEM_ALLOC_AUTO 0 +#define PI_MEM_ALLOC_PAGEMAP 1 +#define PI_MEM_ALLOC_MAILBOX 2 + +/* filters */ + +#define PI_MAX_STEADY 300000 +#define PI_MAX_ACTIVE 1000000 + +/* gpioCfgInternals */ + +#define PI_CFG_DBG_LEVEL 0 /* bits 0-3 */ +#define PI_CFG_ALERT_FREQ 4 /* bits 4-7 */ +#define PI_CFG_RT_PRIORITY (1<<8) +#define PI_CFG_STATS (1<<9) + +#define PI_CFG_ILLEGAL_VAL (1<<10) + +/* gpioISR */ + +#define RISING_EDGE 0 +#define FALLING_EDGE 1 +#define EITHER_EDGE 2 + + +/* pads */ + +#define PI_MAX_PAD 2 + +#define PI_MIN_PAD_STRENGTH 1 +#define PI_MAX_PAD_STRENGTH 16 + +/* files */ + +#define PI_FILE_NONE 0 +#define PI_FILE_MIN 1 +#define PI_FILE_READ 1 +#define PI_FILE_WRITE 2 +#define PI_FILE_RW 3 +#define PI_FILE_APPEND 4 +#define PI_FILE_CREATE 8 +#define PI_FILE_TRUNC 16 +#define PI_FILE_MAX 31 + +#define PI_FROM_START 0 +#define PI_FROM_CURRENT 1 +#define PI_FROM_END 2 + +/* Allowed socket connect addresses */ + +#define MAX_CONNECT_ADDRESSES 256 + +/*F*/ +int gpioInitialise(void); +/*D +Initialises the library. + +Returns the pigpio version number if OK, otherwise PI_INIT_FAILED. + +gpioInitialise must be called before using the other library functions +with the following exceptions: + +. . +[*gpioCfg**] +[*gpioVersion*] +[*gpioHardwareRevision*] +. . + +... +if (gpioInitialise() < 0) +{ + // pigpio initialisation failed. +} +else +{ + // pigpio initialised okay. +} +... +D*/ + + +/*F*/ +void gpioTerminate(void); +/*D +Terminates the library. + +Returns nothing. + +Call before program exit. + +This function resets the used DMA channels, releases memory, and +terminates any running threads. + +... +gpioTerminate(); +... +D*/ + + +/*F*/ +int gpioSetMode(unsigned gpio, unsigned mode); +/*D +Sets the GPIO mode, typically input or output. + +. . +gpio: 0-53 +mode: 0-7 +. . + +Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_MODE. + +Arduino style: pinMode. + +... +gpioSetMode(17, PI_INPUT); // Set GPIO17 as input. + +gpioSetMode(18, PI_OUTPUT); // Set GPIO18 as output. + +gpioSetMode(22,PI_ALT0); // Set GPIO22 to alternative mode 0. +... +D*/ + + +/*F*/ +int gpioGetMode(unsigned gpio); +/*D +Gets the GPIO mode. + +. . +gpio: 0-53 +. . + +Returns the GPIO mode if OK, otherwise PI_BAD_GPIO. + +... +if (gpioGetMode(17) != PI_ALT0) +{ + gpioSetMode(17, PI_ALT0); // set GPIO17 to ALT0 +} +... +D*/ + + +/*F*/ +int gpioSetPullUpDown(unsigned gpio, unsigned pud); +/*D +Sets or clears resistor pull ups or downs on the GPIO. + +. . +gpio: 0-53 + pud: 0-2 +. . + +Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_PUD. + +... +gpioSetPullUpDown(17, PI_PUD_UP); // Sets a pull-up. + +gpioSetPullUpDown(18, PI_PUD_DOWN); // Sets a pull-down. + +gpioSetPullUpDown(23, PI_PUD_OFF); // Clear any pull-ups/downs. +... +D*/ + + +/*F*/ +int gpioRead (unsigned gpio); +/*D +Reads the GPIO level, on or off. + +. . +gpio: 0-53 +. . + +Returns the GPIO level if OK, otherwise PI_BAD_GPIO. + +Arduino style: digitalRead. + +... +printf("GPIO24 is level %d", gpioRead(24)); +... +D*/ + + +/*F*/ +int gpioWrite(unsigned gpio, unsigned level); +/*D +Sets the GPIO level, on or off. + +. . + gpio: 0-53 +level: 0-1 +. . + +Returns 0 if OK, otherwise PI_BAD_GPIO or PI_BAD_LEVEL. + +If PWM or servo pulses are active on the GPIO they are switched off. + +Arduino style: digitalWrite + +... +gpioWrite(24, 1); // Set GPIO24 high. +... +D*/ + + +/*F*/ +int gpioPWM(unsigned user_gpio, unsigned dutycycle); +/*D +Starts PWM on the GPIO, dutycycle between 0 (off) and range (fully on). +Range defaults to 255. + +. . +user_gpio: 0-31 +dutycycle: 0-range +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_DUTYCYCLE. + +Arduino style: analogWrite + +This and the servo functionality use the DMA and PWM or PCM peripherals +to control and schedule the pulse lengths and dutycycles. + +The [*gpioSetPWMrange*] function may be used to change the default +range of 255. + +... +gpioPWM(17, 255); // Sets GPIO17 full on. + +gpioPWM(18, 128); // Sets GPIO18 half on. + +gpioPWM(23, 0); // Sets GPIO23 full off. +... +D*/ + + +/*F*/ +int gpioGetPWMdutycycle(unsigned user_gpio); +/*D +Returns the PWM dutycycle setting for the GPIO. + +. . +user_gpio: 0-31 +. . + +Returns between 0 (off) and range (fully on) if OK, otherwise +PI_BAD_USER_GPIO or PI_NOT_PWM_GPIO. + +For normal PWM the dutycycle will be out of the defined range +for the GPIO (see [*gpioGetPWMrange*]). + +If a hardware clock is active on the GPIO the reported dutycycle +will be 500000 (500k) out of 1000000 (1M). + +If hardware PWM is active on the GPIO the reported dutycycle +will be out of a 1000000 (1M). + +Normal PWM range defaults to 255. +D*/ + + +/*F*/ +int gpioSetPWMrange(unsigned user_gpio, unsigned range); +/*D +Selects the dutycycle range to be used for the GPIO. Subsequent calls +to gpioPWM will use a dutycycle between 0 (off) and range (fully on). + +. . +user_gpio: 0-31 + range: 25-40000 +. . + +Returns the real range for the given GPIO's frequency if OK, +otherwise PI_BAD_USER_GPIO or PI_BAD_DUTYRANGE. + +If PWM is currently active on the GPIO its dutycycle will be scaled +to reflect the new range. + +The real range, the number of steps between fully off and fully +on for each frequency, is given in the following table. + +. . + 25, 50, 100, 125, 200, 250, 400, 500, 625, + 800, 1000, 1250, 2000, 2500, 4000, 5000, 10000, 20000 +. . + +The real value set by [*gpioPWM*] is (dutycycle * real range) / range. + +... +gpioSetPWMrange(24, 2000); // Now 2000 is fully on + // 1000 is half on + // 500 is quarter on, etc. +... +D*/ + + +/*F*/ +int gpioGetPWMrange(unsigned user_gpio); +/*D +Returns the dutycycle range used for the GPIO if OK, otherwise +PI_BAD_USER_GPIO. + +. . +user_gpio: 0-31 +. . + +If a hardware clock or hardware PWM is active on the GPIO +the reported range will be 1000000 (1M). + +... +r = gpioGetPWMrange(23); +... +D*/ + + +/*F*/ +int gpioGetPWMrealRange(unsigned user_gpio); +/*D +Returns the real range used for the GPIO if OK, otherwise +PI_BAD_USER_GPIO. + +. . +user_gpio: 0-31 +. . + +If a hardware clock is active on the GPIO the reported real +range will be 1000000 (1M). + +If hardware PWM is active on the GPIO the reported real range +will be approximately 250M divided by the set PWM frequency. + +... +rr = gpioGetPWMrealRange(17); +... +D*/ + + +/*F*/ +int gpioSetPWMfrequency(unsigned user_gpio, unsigned frequency); +/*D +Sets the frequency in hertz to be used for the GPIO. + +. . +user_gpio: 0-31 +frequency: >=0 +. . + +Returns the numerically closest frequency if OK, otherwise +PI_BAD_USER_GPIO. + +If PWM is currently active on the GPIO it will be +switched off and then back on at the new frequency. + +Each GPIO can be independently set to one of 18 different PWM +frequencies. + +The selectable frequencies depend upon the sample rate which +may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). + +The frequencies for each sample rate are: + +. . + Hertz + + 1: 40000 20000 10000 8000 5000 4000 2500 2000 1600 + 1250 1000 800 500 400 250 200 100 50 + + 2: 20000 10000 5000 4000 2500 2000 1250 1000 800 + 625 500 400 250 200 125 100 50 25 + + 4: 10000 5000 2500 2000 1250 1000 625 500 400 + 313 250 200 125 100 63 50 25 13 +sample + rate + (us) 5: 8000 4000 2000 1600 1000 800 500 400 320 + 250 200 160 100 80 50 40 20 10 + + 8: 5000 2500 1250 1000 625 500 313 250 200 + 156 125 100 63 50 31 25 13 6 + + 10: 4000 2000 1000 800 500 400 250 200 160 + 125 100 80 50 40 25 20 10 5 +. . + +... +gpioSetPWMfrequency(23, 0); // Set GPIO23 to lowest frequency. + +gpioSetPWMfrequency(24, 500); // Set GPIO24 to 500Hz. + +gpioSetPWMfrequency(25, 100000); // Set GPIO25 to highest frequency. +... +D*/ + + +/*F*/ +int gpioGetPWMfrequency(unsigned user_gpio); +/*D +Returns the frequency (in hertz) used for the GPIO if OK, otherwise +PI_BAD_USER_GPIO. + +. . +user_gpio: 0-31 +. . + +For normal PWM the frequency will be that defined for the GPIO by +[*gpioSetPWMfrequency*]. + +If a hardware clock is active on the GPIO the reported frequency +will be that set by [*gpioHardwareClock*]. + +If hardware PWM is active on the GPIO the reported frequency +will be that set by [*gpioHardwarePWM*]. + +... +f = gpioGetPWMfrequency(23); // Get frequency used for GPIO23. +... +D*/ + + +/*F*/ +int gpioServo(unsigned user_gpio, unsigned pulsewidth); +/*D +Starts servo pulses on the GPIO, 0 (off), 500 (most anti-clockwise) to +2500 (most clockwise). + +. . + user_gpio: 0-31 +pulsewidth: 0, 500-2500 +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_PULSEWIDTH. + +The range supported by servos varies and should probably be determined +by experiment. A value of 1500 should always be safe and represents +the mid-point of rotation. You can DAMAGE a servo if you command it +to move beyond its limits. + +The following causes an on pulse of 1500 microseconds duration to be +transmitted on GPIO 17 at a rate of 50 times per second. This will +command a servo connected to GPIO 17 to rotate to its mid-point. + +... +gpioServo(17, 1000); // Move servo to safe position anti-clockwise. + +gpioServo(23, 1500); // Move servo to centre position. + +gpioServo(25, 2000); // Move servo to safe position clockwise. +... + +OTHER UPDATE RATES: + +This function updates servos at 50Hz. If you wish to use a different +update frequency you will have to use the PWM functions. + +. . +PWM Hz 50 100 200 400 500 +1E6/Hz 20000 10000 5000 2500 2000 +. . + +Firstly set the desired PWM frequency using [*gpioSetPWMfrequency*]. + +Then set the PWM range using [*gpioSetPWMrange*] to 1E6/frequency. +Doing this allows you to use units of microseconds when setting +the servo pulsewidth. + +E.g. If you want to update a servo connected to GPIO25 at 400Hz + +. . +gpioSetPWMfrequency(25, 400); + +gpioSetPWMrange(25, 2500); +. . + +Thereafter use the PWM command to move the servo, +e.g. gpioPWM(25, 1500) will set a 1500 us pulse. +D*/ + + +/*F*/ +int gpioGetServoPulsewidth(unsigned user_gpio); +/*D +Returns the servo pulsewidth setting for the GPIO. + +. . +user_gpio: 0-31 +. . + +Returns 0 (off), 500 (most anti-clockwise) to 2500 (most clockwise) +if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_SERVO_GPIO. +D*/ + + +/*F*/ +int gpioSetAlertFunc(unsigned user_gpio, gpioAlertFunc_t f); +/*D +Registers a function to be called (a callback) when the specified +GPIO changes state. + +. . +user_gpio: 0-31 + f: the callback function +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO. + +One function may be registered per GPIO. + +The function is passed the GPIO, the new level, and the tick. + +The alert may be cancelled by passing NULL as the function. + +The GPIO are sampled at a rate set when the library is started. + +If a value isn't specifically set the default of 5 us is used. + +The number of samples per second is given in the following table. + +. . + samples + per sec + + 1 1,000,000 + 2 500,000 +sample 4 250,000 +rate 5 200,000 +(us) 8 125,000 + 10 100,000 +. . + +Level changes shorter than the sample rate may be missed. + +The thread which calls the alert functions is triggered nominally +1000 times per second. The active alert functions will be called +once per level change since the last time the thread was activated. +i.e. The active alert functions will get all level changes but there +will be a latency. + +The tick value is the time stamp of the sample in microseconds, see +[*gpioTick*] for more details. + +... +void aFunction(int gpio, int level, uint32_t tick) +{ + printf("GPIO %d became %d at %d", gpio, level, tick); +} + +// call aFunction whenever GPIO 4 changes state + +gpioSetAlertFunc(4, aFunction); +... +D*/ + + +/*F*/ +int gpioSetAlertFuncEx( + unsigned user_gpio, gpioAlertFuncEx_t f, void *userdata); +/*D +Registers a function to be called (a callback) when the specified +GPIO changes state. + +. . +user_gpio: 0-31 + f: the callback function + userdata: pointer to arbitrary user data +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO. + +One function may be registered per GPIO. + +The function is passed the GPIO, the new level, the tick, and +the userdata pointer. + +Only one of [*gpioSetAlertFunc*] or [*gpioSetAlertFuncEx*] can be +registered per GPIO. + +See [*gpioSetAlertFunc*] for further details. +D*/ + + +/*F*/ +int gpioSetISRFunc( + unsigned user_gpio, unsigned edge, int timeout, gpioISRFunc_t f); +/*D +Registers a function to be called (a callback) whenever the specified +GPIO interrupt occurs. + +. . +user_gpio: 0-31 + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE + timeout: interrupt timeout in milliseconds (<=0 to cancel) + f: the callback function +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_EDGE, +or PI_BAD_ISR_INIT. + +One function may be registered per GPIO. + +The function is passed the GPIO, the current level, and the +current tick. The level will be PI_TIMEOUT if the optional +interrupt timeout expires. + +The underlying Linux sysfs GPIO interface is used to provide +the interrupt services. + +The first time the function is called, with a non-NULL f, the +GPIO is exported, set to be an input, and set to interrupt +on the given edge and timeout. + +Subsequent calls, with a non-NULL f, can vary one or more of the +edge, timeout, or function. + +The ISR may be cancelled by passing a NULL f, in which case the +GPIO is unexported. + +The tick is that read at the time the process was informed of +the interrupt. This will be a variable number of microseconds +after the interrupt occurred. Typically the latency will be of +the order of 50 microseconds. The latency is not guaranteed +and will vary with system load. + +The level is that read at the time the process was informed of +the interrupt, or PI_TIMEOUT if the optional interrupt timeout +expired. It may not be the same as the expected edge as +interrupts happening in rapid succession may be missed by the +kernel (i.e. this mechanism can not be used to capture several +interrupts only a few microseconds apart). +D*/ + + +/*F*/ +int gpioSetISRFuncEx( + unsigned user_gpio, + unsigned edge, + int timeout, + gpioISRFuncEx_t f, + void *userdata); +/*D +Registers a function to be called (a callback) whenever the specified +GPIO interrupt occurs. + +. . +user_gpio: 0-31 + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE + timeout: interrupt timeout in milliseconds (<=0 to cancel) + f: the callback function + userdata: pointer to arbitrary user data +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_EDGE, +or PI_BAD_ISR_INIT. + +The function is passed the GPIO, the current level, the +current tick, and the userdata pointer. + +Only one of [*gpioSetISRFunc*] or [*gpioSetISRFuncEx*] can be +registered per GPIO. + +See [*gpioSetISRFunc*] for further details. +D*/ + + +/*F*/ +int gpioNotifyOpen(void); +/*D +This function requests a free notification handle. + +Returns a handle greater than or equal to zero if OK, +otherwise PI_NO_HANDLE. + +A notification is a method for being notified of GPIO state changes +via a pipe or socket. + +Pipe notifications for handle x will be available at the pipe +named /dev/pigpiox (where x is the handle number). E.g. if the +function returns 15 then the notifications must be read +from /dev/pigpio15. + +Socket notifications are returned to the socket which requested the +handle. + +... +h = gpioNotifyOpen(); + +if (h >= 0) +{ + sprintf(str, "/dev/pigpio%d", h); + + fd = open(str, O_RDONLY); + + if (fd >= 0) + { + // Okay. + } + else + { + // Error. + } +} +else +{ + // Error. +} +... +D*/ + + +/*F*/ +int gpioNotifyOpenWithSize(int bufSize); +/*D +This function requests a free notification handle. + +It differs from [*gpioNotifyOpen*] in that the pipe size may be +specified, whereas [*gpioNotifyOpen*] uses the default pipe size. + +See [*gpioNotifyOpen*] for further details. +D*/ + + +/*F*/ +int gpioNotifyBegin(unsigned handle, uint32_t bits); +/*D +This function starts notifications on a previously opened handle. + +. . +handle: >=0, as returned by [*gpioNotifyOpen*] + bits: a bit mask indicating the GPIO of interest +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +The notification sends state changes for each GPIO whose corresponding +bit in bits is set. + +Each notification occupies 12 bytes in the fifo and has the +following structure. + +. . +typedef struct +{ + uint16_t seqno; + uint16_t flags; + uint32_t tick; + uint32_t level; +} gpioReport_t; +. . + +seqno: starts at 0 each time the handle is opened and then increments +by one for each report. + +flags: two flags are defined, PI_NTFY_FLAGS_WDOG and PI_NTFY_FLAGS_ALIVE. + +PI_NTFY_FLAGS_WDOG, if bit 5 is set then bits 0-4 of the flags +indicate a GPIO which has had a watchdog timeout. + +PI_NTFY_FLAGS_ALIVE, if bit 6 is set this indicates a keep alive +signal on the pipe/socket and is sent once a minute in the absence +of other notification activity. + +tick: the number of microseconds since system boot. It wraps around +after 1h12m. + +level: indicates the level of each GPIO. If bit 1<=0, as returned by [*gpioNotifyOpen*] +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +Notifications for the handle are suspended until [*gpioNotifyBegin*] +is called again. + +... +gpioNotifyPause(h); +... +D*/ + + +/*F*/ +int gpioNotifyClose(unsigned handle); +/*D +This function stops notifications on a previously opened handle +and releases the handle for reuse. + +. . +handle: >=0, as returned by [*gpioNotifyOpen*] +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +... +gpioNotifyClose(h); +... +D*/ + + +/*F*/ +int gpioWaveClear(void); +/*D +This function clears all waveforms and any data added by calls to the +[*gpioWaveAdd**] functions. + +Returns 0 if OK. + +... +gpioWaveClear(); +... +D*/ + + +/*F*/ +int gpioWaveAddNew(void); +/*D +This function starts a new empty waveform. + +You wouldn't normally need to call this function as it is automatically +called after a waveform is created with the [*gpioWaveCreate*] function. + +Returns 0 if OK. + +... +gpioWaveAddNew(); +... +D*/ + + +/*F*/ +int gpioWaveAddGeneric(unsigned numPulses, gpioPulse_t *pulses); +/*D +This function adds a number of pulses to the current waveform. + +. . +numPulses: the number of pulses + pulses: an array of pulses +. . + +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_TOO_MANY_PULSES. + +The pulses are interleaved in time order within the existing waveform +(if any). + +Merging allows the waveform to be built in parts, that is the settings +for GPIO#1 can be added, and then GPIO#2 etc. + +If the added waveform is intended to start after or within the existing +waveform then the first pulse should consist of a delay. + +... +// Construct and send a 30 microsecond square wave. + +gpioSetMode(gpio, PI_OUTPUT); + +pulse[0].gpioOn = (1<= 0) +{ + gpioWaveTxSend(wave_id, PI_WAVE_MODE_REPEAT); + + // Transmit for 30 seconds. + + sleep(30); + + gpioWaveTxStop(); +} +else +{ + // Wave create failed. +} +... +D*/ + + +/*F*/ +int gpioWaveAddSerial + (unsigned user_gpio, + unsigned baud, + unsigned data_bits, + unsigned stop_bits, + unsigned offset, + unsigned numBytes, + char *str); +/*D +This function adds a waveform representing serial data to the +existing waveform (if any). The serial data starts offset +microseconds from the start of the waveform. + +. . +user_gpio: 0-31 + baud: 50-1000000 +data_bits: 1-32 +stop_bits: 2-8 + offset: >=0 + numBytes: >=1 + str: an array of chars (which may contain nulls) +. . + +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_BAD_DATABITS, +PI_BAD_STOPBITS, PI_TOO_MANY_CHARS, PI_BAD_SER_OFFSET, +or PI_TOO_MANY_PULSES. + +NOTES: + +The serial data is formatted as one start bit, data_bits data bits, and +stop_bits/2 stop bits. + +It is legal to add serial data streams with different baud rates to +the same waveform. + +numBytes is the number of bytes of data in str. + +The bytes required for each character depend upon data_bits. + +For data_bits 1-8 there will be one byte per character. +For data_bits 9-16 there will be two bytes per character. +For data_bits 17-32 there will be four bytes per character. + +... +#define MSG_LEN 8 + +int i; +char *str; +char data[MSG_LEN]; + +str = "Hello world!"; + +gpioWaveAddSerial(4, 9600, 8, 2, 0, strlen(str), str); + +for (i=0; i=0, as returned by [*gpioWaveCreate*] +. . + +Wave ids are allocated in order, 0, 1, 2, etc. + +Returns 0 if OK, otherwise PI_BAD_WAVE_ID. +D*/ + + +/*F*/ +int gpioWaveTxSend(unsigned wave_id, unsigned wave_mode); +/*D +This function transmits the waveform with id wave_id. The mode +determines whether the waveform is sent once or cycles endlessly. +The SYNC variants wait for the current waveform to reach the +end of a cycle or finish before starting the new waveform. + +WARNING: bad things may happen if you delete the previous +waveform before it has been synced to the new waveform. + +NOTE: Any hardware PWM started by [*gpioHardwarePWM*] will be cancelled. + +. . + wave_id: >=0, as returned by [*gpioWaveCreate*] +wave_mode: PI_WAVE_MODE_ONE_SHOT, PI_WAVE_MODE_REPEAT, + PI_WAVE_MODE_ONE_SHOT_SYNC, PI_WAVE_MODE_REPEAT_SYNC +. . + +Returns the number of DMA control blocks in the waveform if OK, +otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE. +D*/ + + +/*F*/ +int gpioWaveChain(char *buf, unsigned bufSize); +/*D +This function transmits a chain of waveforms. + +NOTE: Any hardware PWM started by [*gpioHardwarePWM*] will be cancelled. + +The waves to be transmitted are specified by the contents of buf +which contains an ordered list of [*wave_id*]s and optional command +codes and related data. + +. . + buf: pointer to the wave_ids and optional command codes +bufSize: the number of bytes in buf +. . + +Returns 0 if OK, otherwise PI_CHAIN_NESTING, PI_CHAIN_LOOP_CNT, PI_BAD_CHAIN_LOOP, PI_BAD_CHAIN_CMD, PI_CHAIN_COUNTER, +PI_BAD_CHAIN_DELAY, PI_CHAIN_TOO_BIG, or PI_BAD_WAVE_ID. + +Each wave is transmitted in the order specified. A wave may +occur multiple times per chain. + +A blocks of waves may be transmitted multiple times by using +the loop commands. The block is bracketed by loop start and +end commands. Loops may be nested. + +Delays between waves may be added with the delay command. + +The following command codes are supported: + +Name @ Cmd & Data @ Meaning +Loop Start @ 255 0 @ Identify start of a wave block +Loop Repeat @ 255 1 x y @ loop x + y*256 times +Delay @ 255 2 x y @ delay x + y*256 microseconds +Loop Forever @ 255 3 @ loop forever + +If present Loop Forever must be the last entry in the chain. + +The code is currently dimensioned to support a chain with roughly +600 entries and 20 loop counters. + +... +#include +#include + +#define WAVES 5 +#define GPIO 4 + +int main(int argc, char *argv[]) +{ + int i, wid[WAVES]; + + if (gpioInitialise()<0) return -1; + + gpioSetMode(GPIO, PI_OUTPUT); + + printf("start piscope, press return"); getchar(); + + for (i=0; i=0 +. . + +Returns the number of bytes copied if OK, otherwise PI_BAD_USER_GPIO +or PI_NOT_SERIAL_GPIO. + +The bytes returned for each character depend upon the number of +data bits [*data_bits*] specified in the [*gpioSerialReadOpen*] command. + +For [*data_bits*] 1-8 there will be one byte per character. +For [*data_bits*] 9-16 there will be two bytes per character. +For [*data_bits*] 17-32 there will be four bytes per character. +D*/ + + +/*F*/ +int gpioSerialReadClose(unsigned user_gpio); +/*D +This function closes a GPIO for bit bang reading of serial data. + +. . +user_gpio: 0-31, previously opened with [*gpioSerialReadOpen*] +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SERIAL_GPIO. +D*/ + +/*F*/ +int i2cOpen(unsigned i2cBus, unsigned i2cAddr, unsigned i2cFlags); +/*D +This returns a handle for the device at the address on the I2C bus. + +. . + i2cBus: >=0 + i2cAddr: 0-0x7F +i2cFlags: 0 +. . + +No flags are currently defined. This parameter should be set to zero. + +Physically buses 0 and 1 are available on the Pi. Higher numbered buses +will be available if a kernel supported bus multiplexor is being used. + +Returns a handle (>=0) if OK, otherwise PI_BAD_I2C_BUS, PI_BAD_I2C_ADDR, +PI_BAD_FLAGS, PI_NO_HANDLE, or PI_I2C_OPEN_FAILED. + +For the SMBus commands the low level transactions are shown at the end +of the function description. The following abbreviations are used. + +. . +S (1 bit) : Start bit +P (1 bit) : Stop bit +Rd/Wr (1 bit) : Read/Write bit. Rd equals 1, Wr equals 0. +A, NA (1 bit) : Accept and not accept bit. +Addr (7 bits): I2C 7 bit address. +i2cReg (8 bits): Command byte, a byte which often selects a register. +Data (8 bits): A data byte. +Count (8 bits): A byte defining the length of a block operation. + +[..]: Data sent by the device. +. . +D*/ + + +/*F*/ +int i2cClose(unsigned handle); +/*D +This closes the I2C device associated with the handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. +D*/ + + +/*F*/ +int i2cWriteQuick(unsigned handle, unsigned bit); +/*D +This sends a single bit (in the Rd/Wr bit) to the device associated +with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] + bit: 0-1, the value to write +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Quick command. SMBus 2.0 5.5.1 +. . +S Addr bit [A] P +. . +D*/ + + +/*F*/ +int i2cWriteByte(unsigned handle, unsigned bVal); +/*D +This sends a single byte to the device associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] + bVal: 0-0xFF, the value to write +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Send byte. SMBus 2.0 5.5.2 +. . +S Addr Wr [A] bVal [A] P +. . +D*/ + + +/*F*/ +int i2cReadByte(unsigned handle); +/*D +This reads a single byte from the device associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +. . + +Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, +or PI_I2C_READ_FAILED. + +Receive byte. SMBus 2.0 5.5.3 +. . +S Addr Rd [A] [Data] NA P +. . +D*/ + + +/*F*/ +int i2cWriteByteData(unsigned handle, unsigned i2cReg, unsigned bVal); +/*D +This writes a single byte to the specified register of the device +associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to write + bVal: 0-0xFF, the value to write +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Write byte. SMBus 2.0 5.5.4 +. . +S Addr Wr [A] i2cReg [A] bVal [A] P +. . +D*/ + + +/*F*/ +int i2cWriteWordData(unsigned handle, unsigned i2cReg, unsigned wVal); +/*D +This writes a single 16 bit word to the specified register of the device +associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to write + wVal: 0-0xFFFF, the value to write +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Write word. SMBus 2.0 5.5.4 +. . +S Addr Wr [A] i2cReg [A] wValLow [A] wValHigh [A] P +. . +D*/ + + +/*F*/ +int i2cReadByteData(unsigned handle, unsigned i2cReg); +/*D +This reads a single byte from the specified register of the device +associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to read +. . + +Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +Read byte. SMBus 2.0 5.5.5 +. . +S Addr Wr [A] i2cReg [A] S Addr Rd [A] [Data] NA P +. . +D*/ + + +/*F*/ +int i2cReadWordData(unsigned handle, unsigned i2cReg); +/*D +This reads a single 16 bit word from the specified register of the device +associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to read +. . + +Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +Read word. SMBus 2.0 5.5.5 +. . +S Addr Wr [A] i2cReg [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P +. . +D*/ + + +/*F*/ +int i2cProcessCall(unsigned handle, unsigned i2cReg, unsigned wVal); +/*D +This writes 16 bits of data to the specified register of the device +associated with handle and reads 16 bits of data in return. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to write/read + wVal: 0-0xFFFF, the value to write +. . + +Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +Process call. SMBus 2.0 5.5.6 +. . +S Addr Wr [A] i2cReg [A] wValLow [A] wValHigh [A] + S Addr Rd [A] [DataLow] A [DataHigh] NA P +. . +D*/ + + +/*F*/ +int i2cWriteBlockData( +unsigned handle, unsigned i2cReg, char *buf, unsigned count); +/*D +This writes up to 32 bytes to the specified register of the device +associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to write + buf: an array with the data to send + count: 1-32, the number of bytes to write +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Block write. SMBus 2.0 5.5.7 +. . +S Addr Wr [A] i2cReg [A] count [A] + buf0 [A] buf1 [A] ... [A] bufn [A] P +. . +D*/ + + +/*F*/ +int i2cReadBlockData(unsigned handle, unsigned i2cReg, char *buf); +/*D +This reads a block of up to 32 bytes from the specified register of +the device associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to read + buf: an array to receive the read data +. . + +The amount of returned data is set by the device. + +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +Block read. SMBus 2.0 5.5.7 +. . +S Addr Wr [A] i2cReg [A] + S Addr Rd [A] [Count] A [buf0] A [buf1] A ... A [bufn] NA P +. . +D*/ + + +/*F*/ +int i2cBlockProcessCall( +unsigned handle, unsigned i2cReg, char *buf, unsigned count); +/*D +This writes data bytes to the specified register of the device +associated with handle and reads a device specified number +of bytes of data in return. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to write/read + buf: an array with the data to send and to receive the read data + count: 1-32, the number of bytes to write +. . + +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +The SMBus 2.0 documentation states that a minimum of 1 byte may be +sent and a minimum of 1 byte may be received. The total number of +bytes sent/received must be 32 or less. + +Block write-block read. SMBus 2.0 5.5.8 +. . +S Addr Wr [A] i2cReg [A] count [A] buf0 [A] ... bufn [A] + S Addr Rd [A] [Count] A [buf0] A ... [bufn] A P +. . +D*/ + + +/*F*/ +int i2cReadI2CBlockData( +unsigned handle, unsigned i2cReg, char *buf, unsigned count); +/*D +This reads count bytes from the specified register of the device +associated with handle . The count may be 1-32. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to read + buf: an array to receive the read data + count: 1-32, the number of bytes to read +. . + +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +. . +S Addr Wr [A] i2cReg [A] + S Addr Rd [A] [buf0] A [buf1] A ... A [bufn] NA P +. . +D*/ + + +/*F*/ +int i2cWriteI2CBlockData( +unsigned handle, unsigned i2cReg, char *buf, unsigned count); +/*D +This writes 1 to 32 bytes to the specified register of the device +associated with handle. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] +i2cReg: 0-255, the register to write + buf: the data to write + count: 1-32, the number of bytes to write +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +. . +S Addr Wr [A] i2cReg [A] buf0 [A] buf1 [A] ... [A] bufn [A] P +. . +D*/ + +/*F*/ +int i2cReadDevice(unsigned handle, char *buf, unsigned count); +/*D +This reads count bytes from the raw device into buf. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] + buf: an array to receive the read data bytes + count: >0, the number of bytes to read +. . + +Returns count (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_READ_FAILED. + +. . +S Addr Rd [A] [buf0] A [buf1] A ... A [bufn] NA P +. . +D*/ + + +/*F*/ +int i2cWriteDevice(unsigned handle, char *buf, unsigned count); +/*D +This writes count bytes from buf to the raw device. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] + buf: an array containing the data bytes to write + count: >0, the number of bytes to write +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +. . +S Addr Wr [A] buf0 [A] buf1 [A] ... [A] bufn [A] P +. . +D*/ + +/*F*/ +void i2cSwitchCombined(int setting); +/*D +This sets the I2C (i2c-bcm2708) module "use combined transactions" +parameter on or off. + +. . +setting: 0 to set the parameter off, non-zero to set it on +. . + + +NOTE: when the flag is on a write followed by a read to the same +slave address will use a repeated start (rather than a stop/start). +D*/ + +/*F*/ +int i2cSegments(unsigned handle, pi_i2c_msg_t *segs, unsigned numSegs); +/*D +This function executes multiple I2C segments in one transaction by +calling the I2C_RDWR ioctl. + +. . + handle: >=0, as returned by a call to [*i2cOpen*] + segs: an array of I2C segments +numSegs: >0, the number of I2C segments +. . + +Returns the number of segments if OK, otherwise PI_BAD_I2C_SEG. +D*/ + +/*F*/ +int i2cZip( + unsigned handle, + char *inBuf, + unsigned inLen, + char *outBuf, + unsigned outLen); +/*D +This function executes a sequence of I2C operations. The +operations to be performed are specified by the contents of inBuf +which contains the concatenated command codes and associated data. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] + inBuf: pointer to the concatenated I2C commands, see below + inLen: size of command buffer +outBuf: pointer to buffer to hold returned data +outLen: size of output buffer +. . + +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_HANDLE, PI_BAD_POINTER, PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN. +PI_BAD_I2C_WLEN, or PI_BAD_I2C_SEG. + +The following command codes are supported: + +Name @ Cmd & Data @ Meaning +End @ 0 @ No more commands +Escape @ 1 @ Next P is two bytes +On @ 2 @ Switch combined flag on +Off @ 3 @ Switch combined flag off +Address @ 4 P @ Set I2C address to P +Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8) +Read @ 6 P @ Read P bytes of data +Write @ 7 P ... @ Write P bytes of data + +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +The address defaults to that associated with the handle. +The flags default to 0. The address and flags maintain their +previous value until updated. + +The returned I2C data is stored in consecutive locations of outBuf. + +... +Set address 0x53, write 0x32, read 6 bytes +Set address 0x1E, write 0x03, read 6 bytes +Set address 0x68, write 0x1B, read 8 bytes +End + +0x04 0x53 0x07 0x01 0x32 0x06 0x06 +0x04 0x1E 0x07 0x01 0x03 0x06 0x06 +0x04 0x68 0x07 0x01 0x1B 0x06 0x08 +0x00 +... +D*/ + +/*F*/ +int bbI2COpen(unsigned SDA, unsigned SCL, unsigned baud); +/*D +This function selects a pair of GPIO for bit banging I2C at a +specified baud rate. + +Bit banging I2C allows for certain operations which are not possible +with the standard I2C driver. + +o baud rates as low as 50 +o repeated starts +o clock stretching +o I2C on any pair of spare GPIO + +. . + SDA: 0-31 + SCL: 0-31 +baud: 50-500000 +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_I2C_BAUD, or +PI_GPIO_IN_USE. + +NOTE: + +The GPIO used for SDA and SCL must have pull-ups to 3V3 connected. As +a guide the hardware pull-ups on pins 3 and 5 are 1k8 in value. +D*/ + +/*F*/ +int bbI2CClose(unsigned SDA); +/*D +This function stops bit banging I2C on a pair of GPIO previously +opened with [*bbI2COpen*]. + +. . +SDA: 0-31, the SDA GPIO used in a prior call to [*bbI2COpen*] +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_I2C_GPIO. +D*/ + +/*F*/ +int bbI2CZip( + unsigned SDA, + char *inBuf, + unsigned inLen, + char *outBuf, + unsigned outLen); +/*D +This function executes a sequence of bit banged I2C operations. The +operations to be performed are specified by the contents of inBuf +which contains the concatenated command codes and associated data. + +. . + SDA: 0-31 (as used in a prior call to [*bbI2COpen*]) + inBuf: pointer to the concatenated I2C commands, see below + inLen: size of command buffer +outBuf: pointer to buffer to hold returned data +outLen: size of output buffer +. . + +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_USER_GPIO, PI_NOT_I2C_GPIO, PI_BAD_POINTER, +PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN, PI_BAD_I2C_WLEN, +PI_I2C_READ_FAILED, or PI_I2C_WRITE_FAILED. + +The following command codes are supported: + +Name @ Cmd & Data @ Meaning +End @ 0 @ No more commands +Escape @ 1 @ Next P is two bytes +Start @ 2 @ Start condition +Stop @ 3 @ Stop condition +Address @ 4 P @ Set I2C address to P +Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8) +Read @ 6 P @ Read P bytes of data +Write @ 7 P ... @ Write P bytes of data + +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +The address and flags default to 0. The address and flags maintain +their previous value until updated. + +No flags are currently defined. + +The returned I2C data is stored in consecutive locations of outBuf. + +... +Set address 0x53 +start, write 0x32, (re)start, read 6 bytes, stop +Set address 0x1E +start, write 0x03, (re)start, read 6 bytes, stop +Set address 0x68 +start, write 0x1B, (re)start, read 8 bytes, stop +End + +0x04 0x53 +0x02 0x07 0x01 0x32 0x02 0x06 0x06 0x03 + +0x04 0x1E +0x02 0x07 0x01 0x03 0x02 0x06 0x06 0x03 + +0x04 0x68 +0x02 0x07 0x01 0x1B 0x02 0x06 0x08 0x03 + +0x00 +... +D*/ + +/*F*/ +int bbSPIOpen( + unsigned CS, unsigned MISO, unsigned MOSI, unsigned SCLK, + unsigned baud, unsigned spiFlags); +/*D +This function selects a set of GPIO for bit banging SPI with +a specified baud rate and mode. + +. . + CS: 0-31 + MISO: 0-31 + MOSI: 0-31 + SCLK: 0-31 + baud: 50-250000 +spiFlags: see below +. . + +spiFlags consists of the least significant 22 bits. + +. . +21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 + 0 0 0 0 0 0 R T 0 0 0 0 0 0 0 0 0 0 0 p m m +. . + +mm defines the SPI mode, defaults to 0 + +. . +Mode CPOL CPHA + 0 0 0 + 1 0 1 + 2 1 0 + 3 1 1 +. . + +p is 0 if CS is active low (default) and 1 for active high. + +T is 1 if the least significant bit is transmitted on MOSI first, the +default (0) shifts the most significant bit out first. + +R is 1 if the least significant bit is received on MISO first, the +default (0) receives the most significant bit first. + +The other bits in flags should be set to zero. + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_SPI_BAUD, or +PI_GPIO_IN_USE. + +If more than one device is connected to the SPI bus (defined by +SCLK, MOSI, and MISO) each must have its own CS. + +... +bbSPIOpen(10, MISO, MOSI, SCLK, 10000, 0); // device 1 +bbSPIOpen(11, MISO, MOSI, SCLK, 20000, 3); // device 2 +... +D*/ + +/*F*/ +int bbSPIClose(unsigned CS); +/*D +This function stops bit banging SPI on a set of GPIO +opened with [*bbSPIOpen*]. + +. . +CS: 0-31, the CS GPIO used in a prior call to [*bbSPIOpen*] +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SPI_GPIO. +D*/ + +/*F*/ +int bbSPIXfer( + unsigned CS, + char *inBuf, + char *outBuf, + unsigned count); +/*D +This function executes a bit banged SPI transfer. + +. . + CS: 0-31 (as used in a prior call to [*bbSPIOpen*]) + inBuf: pointer to buffer to hold data to be sent +outBuf: pointer to buffer to hold returned data + count: size of data transfer +. . + +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_USER_GPIO, PI_NOT_SPI_GPIO or PI_BAD_POINTER. + +... +// gcc -Wall -pthread -o bbSPIx_test bbSPIx_test.c -lpigpio +// sudo ./bbSPIx_test + + +#include + +#include "pigpio.h" + +#define CE0 5 +#define CE1 6 +#define MISO 13 +#define MOSI 19 +#define SCLK 12 + +int main(int argc, char *argv[]) +{ + int i, count, set_val, read_val; + unsigned char inBuf[3]; + char cmd1[] = {0, 0}; + char cmd2[] = {12, 0}; + char cmd3[] = {1, 128, 0}; + + if (gpioInitialise() < 0) + { + fprintf(stderr, "pigpio initialisation failed.\n"); + return 1; + } + + bbSPIOpen(CE0, MISO, MOSI, SCLK, 10000, 0); // MCP4251 DAC + bbSPIOpen(CE1, MISO, MOSI, SCLK, 20000, 3); // MCP3008 ADC + + for (i=0; i<256; i++) + { + cmd1[1] = i; + + count = bbSPIXfer(CE0, cmd1, (char *)inBuf, 2); // > DAC + + if (count == 2) + { + count = bbSPIXfer(CE0, cmd2, (char *)inBuf, 2); // < DAC + + if (count == 2) + { + set_val = inBuf[1]; + + count = bbSPIXfer(CE1, cmd3, (char *)inBuf, 3); // < ADC + + if (count == 3) + { + read_val = ((inBuf[1]&3)<<8) | inBuf[2]; + printf("%d %d\n", set_val, read_val); + } + } + } + } + + bbSPIClose(CE0); + bbSPIClose(CE1); + + gpioTerminate(); + + return 0; +} +... +D*/ + +/*F*/ +int spiOpen(unsigned spiChan, unsigned baud, unsigned spiFlags); +/*D +This function returns a handle for the SPI device on the channel. +Data will be transferred at baud bits per second. The flags may +be used to modify the default behaviour of 4-wire operation, mode 0, +active low chip select. + +An auxiliary SPI device is available on all models but the +A and B and may be selected by setting the A bit in the flags. +The auxiliary device has 3 chip selects and a selectable word +size in bits. + +. . + spiChan: 0-1 (0-2 for the auxiliary SPI device) + baud: 32K-125M (values above 30M are unlikely to work) +spiFlags: see below +. . + +Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL, +PI_BAD_SPI_SPEED, PI_BAD_FLAGS, PI_NO_AUX_SPI, or PI_SPI_OPEN_FAILED. + +spiFlags consists of the least significant 22 bits. + +. . +21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 + b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m +. . + +mm defines the SPI mode. + +Warning: modes 1 and 3 do not appear to work on the auxiliary device. + +. . +Mode POL PHA + 0 0 0 + 1 0 1 + 2 1 0 + 3 1 1 +. . + +px is 0 if CEx is active low (default) and 1 for active high. + +ux is 0 if the CEx GPIO is reserved for SPI (default) and 1 otherwise. + +A is 0 for the standard SPI device, 1 for the auxiliary SPI. + +W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard +SPI device only. + +nnnn defines the number of bytes (0-15) to write before switching +the MOSI line to MISO to read data. This field is ignored +if W is not set. Standard SPI device only. + +T is 1 if the least significant bit is transmitted on MOSI first, the +default (0) shifts the most significant bit out first. Auxiliary SPI +device only. + +R is 1 if the least significant bit is received on MISO first, the +default (0) receives the most significant bit first. Auxiliary SPI +device only. + +bbbbbb defines the word size in bits (0-32). The default (0) +sets 8 bits per word. Auxiliary SPI device only. + +The [*spiRead*], [*spiWrite*], and [*spiXfer*] functions +transfer data packed into 1, 2, or 4 bytes according to +the word size in bits. + +For bits 1-8 there will be one byte per character. +For bits 9-16 there will be two bytes per character. +For bits 17-32 there will be four bytes per character. + +E.g. to transfer 32 12-bit words buf should contain 64 bytes +and count should be 64. + +The other bits in flags should be set to zero. +D*/ + +/*F*/ +int spiClose(unsigned handle); +/*D +This functions closes the SPI device identified by the handle. + +. . +handle: >=0, as returned by a call to [*spiOpen*] +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. +D*/ + + +/*F*/ +int spiRead(unsigned handle, char *buf, unsigned count); +/*D +This function reads count bytes of data from the SPI +device associated with the handle. + +. . +handle: >=0, as returned by a call to [*spiOpen*] + buf: an array to receive the read data bytes + count: the number of bytes to read +. . + +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. +D*/ + + +/*F*/ +int spiWrite(unsigned handle, char *buf, unsigned count); +/*D +This function writes count bytes of data from buf to the SPI +device associated with the handle. + +. . +handle: >=0, as returned by a call to [*spiOpen*] + buf: the data bytes to write + count: the number of bytes to write +. . + +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. +D*/ + +/*F*/ +int spiXfer(unsigned handle, char *txBuf, char *rxBuf, unsigned count); +/*D +This function transfers count bytes of data from txBuf to the SPI +device associated with the handle. Simultaneously count bytes of +data are read from the device and placed in rxBuf. + +. . +handle: >=0, as returned by a call to [*spiOpen*] + txBuf: the data bytes to write + rxBuf: the received data bytes + count: the number of bytes to transfer +. . + +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. +D*/ + + +/*F*/ +int serOpen(char *sertty, unsigned baud, unsigned serFlags); +/*D +This function opens a serial device at a specified baud rate +and with specified flags. The device name must start with +/dev/tty or /dev/serial. + +. . + sertty: the serial device to open + baud: the baud rate in bits per second, see below +serFlags: 0 +. . + +Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, or +PI_SER_OPEN_FAILED. + +The baud rate must be one of 50, 75, 110, 134, 150, +200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200, +38400, 57600, 115200, or 230400. + +No flags are currently defined. This parameter should be set to zero. +D*/ + + +/*F*/ +int serClose(unsigned handle); +/*D +This function closes the serial device associated with handle. + +. . +handle: >=0, as returned by a call to [*serOpen*] +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. +D*/ + +/*F*/ +int serWriteByte(unsigned handle, unsigned bVal); +/*D +This function writes bVal to the serial port associated with handle. + +. . +handle: >=0, as returned by a call to [*serOpen*] +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_SER_WRITE_FAILED. +D*/ + +/*F*/ +int serReadByte(unsigned handle); +/*D +This function reads a byte from the serial port associated with handle. + +. . +handle: >=0, as returned by a call to [*serOpen*] +. . + +Returns the read byte (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_SER_READ_NO_DATA, or PI_SER_READ_FAILED. +D*/ + +/*F*/ +int serWrite(unsigned handle, char *buf, unsigned count); +/*D +This function writes count bytes from buf to the the serial port +associated with handle. + +. . +handle: >=0, as returned by a call to [*serOpen*] + buf: the array of bytes to write + count: the number of bytes to write +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_SER_WRITE_FAILED. +D*/ + + +/*F*/ +int serRead(unsigned handle, char *buf, unsigned count); +/*D +This function reads up count bytes from the the serial port +associated with handle and writes them to buf. + +. . +handle: >=0, as returned by a call to [*serOpen*] + buf: an array to receive the read data + count: the maximum number of bytes to read +. . + +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_SER_READ_NO_DATA. +D*/ + + +/*F*/ +int serDataAvailable(unsigned handle); +/*D +This function returns the number of bytes available +to be read from the device associated with handle. + +. . +handle: >=0, as returned by a call to [*serOpen*] +. . + +Returns the number of bytes of data available (>=0) if OK, +otherwise PI_BAD_HANDLE. +D*/ + + +/*F*/ +int gpioTrigger(unsigned user_gpio, unsigned pulseLen, unsigned level); +/*D +This function sends a trigger pulse to a GPIO. The GPIO is set to +level for pulseLen microseconds and then reset to not level. + +. . +user_gpio: 0-31 + pulseLen: 1-100 + level: 0,1 +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_LEVEL, +or PI_BAD_PULSELEN. +D*/ + + +/*F*/ +int gpioSetWatchdog(unsigned user_gpio, unsigned timeout); +/*D +Sets a watchdog for a GPIO. + +. . +user_gpio: 0-31 + timeout: 0-60000 +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_BAD_WDOG_TIMEOUT. + +The watchdog is nominally in milliseconds. + +One watchdog may be registered per GPIO. + +The watchdog may be cancelled by setting timeout to 0. + +If no level change has been detected for the GPIO for timeout +milliseconds:- + +1) any registered alert function for the GPIO is called with + the level set to PI_TIMEOUT. +2) any notification for the GPIO has a report written to the + fifo with the flags set to indicate a watchdog timeout. + +... +void aFunction(int gpio, int level, uint32_t tick) +{ + printf("GPIO %d became %d at %d", gpio, level, tick); +} + +// call aFunction whenever GPIO 4 changes state +gpioSetAlertFunc(4, aFunction); + +// or approximately every 5 millis +gpioSetWatchdog(4, 5); +... +D*/ + + +/*F*/ +int gpioNoiseFilter(unsigned user_gpio, unsigned steady, unsigned active); +/*D +Sets a noise filter on a GPIO. + +Level changes on the GPIO are ignored until a level which has +been stable for [*steady*] microseconds is detected. Level changes +on the GPIO are then reported for [*active*] microseconds after +which the process repeats. + +. . +user_gpio: 0-31 + steady: 0-300000 + active: 0-1000000 +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. + +Note, level changes before and after the active period may +be reported. Your software must be designed to cope with +such reports. +D*/ + + +/*F*/ +int gpioGlitchFilter(unsigned user_gpio, unsigned steady); +/*D +Sets a glitch filter on a GPIO. + +Level changes on the GPIO are not reported unless the level +has been stable for at least [*steady*] microseconds. The +level is then reported. Level changes of less than [*steady*] +microseconds are ignored. + +. . +user_gpio: 0-31 + steady: 0-300000 +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. + +Note, each (stable) edge will be timestamped [*steady*] microseconds +after it was first detected. +D*/ + + +/*F*/ +int gpioSetGetSamplesFunc(gpioGetSamplesFunc_t f, uint32_t bits); +/*D +Registers a function to be called (a callback) every millisecond +with the latest GPIO samples. + +. . + f: the function to call +bits: the GPIO of interest +. . + +Returns 0 if OK. + +The function is passed a pointer to the samples (an array of +[*gpioSample_t*]), and the number of samples. + +Only one function can be registered. + +The callback may be cancelled by passing NULL as the function. + +The samples returned will be the union of bits, plus any active alerts, +plus any active notifications. + +e.g. if there are alerts for GPIO 7, 8, and 9, notifications for GPIO +8, 10, 23, 24, and bits is (1<<23)|(1<<17) then samples for GPIO +7, 8, 9, 10, 17, 23, and 24 will be reported. +D*/ + + +/*F*/ +int gpioSetGetSamplesFuncEx( + gpioGetSamplesFuncEx_t f, uint32_t bits, void *userdata); +/*D +Registers a function to be called (a callback) every millisecond +with the latest GPIO samples. + +. . + f: the function to call + bits: the GPIO of interest +userdata: a pointer to arbitrary user data +. . + +Returns 0 if OK. + +The function is passed a pointer to the samples (an array of +[*gpioSample_t*]), the number of samples, and the userdata pointer. + +Only one of [*gpioGetSamplesFunc*] or [*gpioGetSamplesFuncEx*] can be +registered. + +See [*gpioSetGetSamplesFunc*] for further details. +D*/ + + +/*F*/ +int gpioSetTimerFunc(unsigned timer, unsigned millis, gpioTimerFunc_t f); +/*D +Registers a function to be called (a callback) every millis milliseconds. + +. . + timer: 0-9 +millis: 10-60000 + f: the function to call +. . + +Returns 0 if OK, otherwise PI_BAD_TIMER, PI_BAD_MS, or PI_TIMER_FAILED. + +10 timers are supported numbered 0 to 9. + +One function may be registered per timer. + +The timer may be cancelled by passing NULL as the function. + +... +void bFunction(void) +{ + printf("two seconds have elapsed"); +} + +// call bFunction every 2000 milliseconds +gpioSetTimerFunc(0, 2000, bFunction); +... +D*/ + + +/*F*/ +int gpioSetTimerFuncEx( + unsigned timer, unsigned millis, gpioTimerFuncEx_t f, void *userdata); +/*D +Registers a function to be called (a callback) every millis milliseconds. + +. . + timer: 0-9. + millis: 10-60000 + f: the function to call +userdata: a pointer to arbitrary user data +. . + +Returns 0 if OK, otherwise PI_BAD_TIMER, PI_BAD_MS, or PI_TIMER_FAILED. + +The function is passed the userdata pointer. + +Only one of [*gpioSetTimerFunc*] or [*gpioSetTimerFuncEx*] can be +registered per timer. + +See [*gpioSetTimerFunc*] for further details. +D*/ + + +/*F*/ +pthread_t *gpioStartThread(gpioThreadFunc_t f, void *userdata); +/*D +Starts a new thread of execution with f as the main routine. + +. . + f: the main function for the new thread +userdata: a pointer to arbitrary user data +. . + +Returns a pointer to pthread_t if OK, otherwise NULL. + +The function is passed the single argument arg. + +The thread can be cancelled by passing the pointer to pthread_t to +[*gpioStopThread*]. + +... +#include +#include + +void *myfunc(void *arg) +{ + while (1) + { + printf("%s", arg); + sleep(1); + } +} + +int main(int argc, char *argv[]) +{ + pthread_t *p1, *p2, *p3; + + if (gpioInitialise() < 0) return 1; + + p1 = gpioStartThread(myfunc, "thread 1"); sleep(3); + + p2 = gpioStartThread(myfunc, "thread 2"); sleep(3); + + p3 = gpioStartThread(myfunc, "thread 3"); sleep(3); + + gpioStopThread(p3); sleep(3); + + gpioStopThread(p2); sleep(3); + + gpioStopThread(p1); sleep(3); + + gpioTerminate(); +} +... +D*/ + + +/*F*/ +void gpioStopThread(pthread_t *pth); +/*D +Cancels the thread pointed at by pth. + +. . +pth: a thread pointer returned by [*gpioStartThread*] +. . + +No value is returned. + +The thread to be stopped should have been started with [*gpioStartThread*]. +D*/ + + +/*F*/ +int gpioStoreScript(char *script); +/*D +This function stores a null terminated script for later execution. + +See [[http://abyz.co.uk/rpi/pigpio/pigs.html#Scripts]] for details. + +. . +script: the text of the script +. . + +The function returns a script id if the script is valid, +otherwise PI_BAD_SCRIPT. +D*/ + + +/*F*/ +int gpioRunScript(unsigned script_id, unsigned numPar, uint32_t *param); +/*D +This function runs a stored script. + +. . +script_id: >=0, as returned by [*gpioStoreScript*] + numPar: 0-10, the number of parameters + param: an array of parameters +. . + +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID, or +PI_TOO_MANY_PARAM. + +param is an array of up to 10 parameters which may be referenced in +the script as p0 to p9. +D*/ + + +/*F*/ +int gpioScriptStatus(unsigned script_id, uint32_t *param); +/*D +This function returns the run status of a stored script as well as +the current values of parameters 0 to 9. + +. . +script_id: >=0, as returned by [*gpioStoreScript*] + param: an array to hold the returned 10 parameters +. . + +The function returns greater than or equal to 0 if OK, +otherwise PI_BAD_SCRIPT_ID. + +The run status may be + +. . +PI_SCRIPT_INITING +PI_SCRIPT_HALTED +PI_SCRIPT_RUNNING +PI_SCRIPT_WAITING +PI_SCRIPT_FAILED +. . + +The current value of script parameters 0 to 9 are returned in param. +D*/ + + +/*F*/ +int gpioStopScript(unsigned script_id); +/*D +This function stops a running script. + +. . +script_id: >=0, as returned by [*gpioStoreScript*] +. . + +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. +D*/ + + +/*F*/ +int gpioDeleteScript(unsigned script_id); +/*D +This function deletes a stored script. + +. . +script_id: >=0, as returned by [*gpioStoreScript*] +. . + +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. +D*/ + + +/*F*/ +int gpioSetSignalFunc(unsigned signum, gpioSignalFunc_t f); +/*D +Registers a function to be called (a callback) when a signal occurs. + +. . +signum: 0-63 + f: the callback function +. . + +Returns 0 if OK, otherwise PI_BAD_SIGNUM. + +The function is passed the signal number. + +One function may be registered per signal. + +The callback may be cancelled by passing NULL. + +By default all signals are treated as fatal and cause the library +to call gpioTerminate and then exit. +D*/ + + +/*F*/ +int gpioSetSignalFuncEx( + unsigned signum, gpioSignalFuncEx_t f, void *userdata); +/*D +Registers a function to be called (a callback) when a signal occurs. + +. . + signum: 0-63 + f: the callback function +userdata: a pointer to arbitrary user data +. . + +Returns 0 if OK, otherwise PI_BAD_SIGNUM. + +The function is passed the signal number and the userdata pointer. + +Only one of gpioSetSignalFunc or gpioSetSignalFuncEx can be +registered per signal. + +See gpioSetSignalFunc for further details. +D*/ + + +/*F*/ +uint32_t gpioRead_Bits_0_31(void); +/*D +Returns the current level of GPIO 0-31. +D*/ + + +/*F*/ +uint32_t gpioRead_Bits_32_53(void); +/*D +Returns the current level of GPIO 32-53. +D*/ + + +/*F*/ +int gpioWrite_Bits_0_31_Clear(uint32_t bits); +/*D +Clears GPIO 0-31 if the corresponding bit in bits is set. + +. . +bits: a bit mask of GPIO to clear +. . + +Returns 0 if OK. + +... +// To clear (set to 0) GPIO 4, 7, and 15 +gpioWrite_Bits_0_31_Clear( (1<<4) | (1<<7) | (1<<15) ); +... +D*/ + + +/*F*/ +int gpioWrite_Bits_32_53_Clear(uint32_t bits); +/*D +Clears GPIO 32-53 if the corresponding bit (0-21) in bits is set. + +. . +bits: a bit mask of GPIO to clear +. . + +Returns 0 if OK. +D*/ + + +/*F*/ +int gpioWrite_Bits_0_31_Set(uint32_t bits); +/*D +Sets GPIO 0-31 if the corresponding bit in bits is set. + +. . +bits: a bit mask of GPIO to set +. . + +Returns 0 if OK. +D*/ + + +/*F*/ +int gpioWrite_Bits_32_53_Set(uint32_t bits); +/*D +Sets GPIO 32-53 if the corresponding bit (0-21) in bits is set. + +. . +bits: a bit mask of GPIO to set +. . + +Returns 0 if OK. + +... +// To set (set to 1) GPIO 32, 40, and 53 +gpioWrite_Bits_32_53_Set((1<<(32-32)) | (1<<(40-32)) | (1<<(53-32))); +... +D*/ + +/*F*/ +int gpioHardwareClock(unsigned gpio, unsigned clkfreq); +/*D +Starts a hardware clock on a GPIO at the specified frequency. +Frequencies above 30MHz are unlikely to work. + +. . + gpio: see description +clkfreq: 0 (off) or 4689-250000000 (250M) +. . + +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_NOT_HCLK_GPIO, +PI_BAD_HCLK_FREQ,or PI_BAD_HCLK_PASS. + +The same clock is available on multiple GPIO. The latest +frequency setting will be used by all GPIO which share a clock. + +The GPIO must be one of the following. + +. . +4 clock 0 All models +5 clock 1 All models but A and B (reserved for system use) +6 clock 2 All models but A and B +20 clock 0 All models but A and B +21 clock 1 All models but A and Rev.2 B (reserved for system use) + +32 clock 0 Compute module only +34 clock 0 Compute module only +42 clock 1 Compute module only (reserved for system use) +43 clock 2 Compute module only +44 clock 1 Compute module only (reserved for system use) +. . + +Access to clock 1 is protected by a password as its use will likely +crash the Pi. The password is given by or'ing 0x5A000000 with the +GPIO number. +D*/ + +/*F*/ +int gpioHardwarePWM(unsigned gpio, unsigned PWMfreq, unsigned PWMduty); +/*D +Starts hardware PWM on a GPIO at the specified frequency and dutycycle. +Frequencies above 30MHz are unlikely to work. + +NOTE: Any waveform started by [*gpioWaveTxSend*], or +[*gpioWaveChain*] will be cancelled. + +This function is only valid if the pigpio main clock is PCM. The +main clock defaults to PCM but may be overridden by a call to +[*gpioCfgClock*]. + +. . + gpio: see description +PWMfreq: 0 (off) or 1-125000000 (125M) +PWMduty: 0 (off) to 1000000 (1M)(fully on) +. . + +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_NOT_HPWM_GPIO, +PI_BAD_HPWM_DUTY, PI_BAD_HPWM_FREQ, or PI_HPWM_ILLEGAL. + +The same PWM channel is available on multiple GPIO. The latest +frequency and dutycycle setting will be used by all GPIO which +share a PWM channel. + +The GPIO must be one of the following. + +. . +12 PWM channel 0 All models but A and B +13 PWM channel 1 All models but A and B +18 PWM channel 0 All models +19 PWM channel 1 All models but A and B + +40 PWM channel 0 Compute module only +41 PWM channel 1 Compute module only +45 PWM channel 1 Compute module only +52 PWM channel 0 Compute module only +53 PWM channel 1 Compute module only +. . + +The actual number of steps beween off and fully on is the +integral part of 250 million divided by PWMfreq. + +The actual frequency set is 250 million / steps. + +There will only be a million steps for a PWMfreq of 250. +Lower frequencies will have more steps and higher +frequencies will have fewer steps. PWMduty is +automatically scaled to take this into account. +D*/ + +/*F*/ +int gpioTime(unsigned timetype, int *seconds, int *micros); +/*D +Updates the seconds and micros variables with the current time. + +. . +timetype: 0 (relative), 1 (absolute) + seconds: a pointer to an int to hold seconds + micros: a pointer to an int to hold microseconds +. . + +Returns 0 if OK, otherwise PI_BAD_TIMETYPE. + +If timetype is PI_TIME_ABSOLUTE updates seconds and micros with the +number of seconds and microseconds since the epoch (1st January 1970). + +If timetype is PI_TIME_RELATIVE updates seconds and micros with the +number of seconds and microseconds since the library was initialised. + +... +int secs, mics; + +// print the number of seconds since the library was started +gpioTime(PI_TIME_RELATIVE, &secs, &mics); +printf("library started %d.%03d seconds ago", secs, mics/1000); +... +D*/ + + +/*F*/ +int gpioSleep(unsigned timetype, int seconds, int micros); +/*D +Sleeps for the number of seconds and microseconds specified by seconds +and micros. + +. . +timetype: 0 (relative), 1 (absolute) + seconds: seconds to sleep + micros: microseconds to sleep +. . + +Returns 0 if OK, otherwise PI_BAD_TIMETYPE, PI_BAD_SECONDS, +or PI_BAD_MICROS. + +If timetype is PI_TIME_ABSOLUTE the sleep ends when the number of seconds +and microseconds since the epoch (1st January 1970) has elapsed. System +clock changes are taken into account. + +If timetype is PI_TIME_RELATIVE the sleep is for the specified number +of seconds and microseconds. System clock changes do not effect the +sleep length. + +For short delays (say, 50 microseonds or less) use [*gpioDelay*]. + +... +gpioSleep(PI_TIME_RELATIVE, 2, 500000); // sleep for 2.5 seconds + +gpioSleep(PI_TIME_RELATIVE, 0, 100000); // sleep for 0.1 seconds + +gpioSleep(PI_TIME_RELATIVE, 60, 0); // sleep for one minute +... +D*/ + + +/*F*/ +uint32_t gpioDelay(uint32_t micros); +/*D +Delays for at least the number of microseconds specified by micros. + +. . +micros: the number of microseconds to sleep +. . + +Returns the actual length of the delay in microseconds. + +Delays of 100 microseconds or less use busy waits. +D*/ + + +/*F*/ +uint32_t gpioTick(void); +/*D +Returns the current system tick. + +Tick is the number of microseconds since system boot. + +As tick is an unsigned 32 bit quantity it wraps around after +2^32 microseconds, which is approximately 1 hour 12 minutes. + +You don't need to worry about the wrap around as long as you +take a tick (uint32_t) from another tick, i.e. the following +code will always provide the correct difference. + +... +uint32_t startTick, endTick; +int diffTick; + +startTick = gpioTick(); + +// do some processing + +endTick = gpioTick(); + +diffTick = endTick - startTick; + +printf("some processing took %d microseconds", diffTick); +... +D*/ + + +/*F*/ +unsigned gpioHardwareRevision(void); +/*D +Returns the hardware revision. + +If the hardware revision can not be found or is not a valid hexadecimal +number the function returns 0. + +The hardware revision is the last few characters on the Revision line of +/proc/cpuinfo. + +The revision number can be used to determine the assignment of GPIO +to pins (see [*gpio*]). + +There are at least three types of board. + +Type 1 boards have hardware revision numbers of 2 and 3. + +Type 2 boards have hardware revision numbers of 4, 5, 6, and 15. + +Type 3 boards have hardware revision numbers of 16 or greater. + +for "Revision : 0002" the function returns 2. +for "Revision : 000f" the function returns 15. +for "Revision : 000g" the function returns 0. +D*/ + + +/*F*/ +unsigned gpioVersion(void); +/*D +Returns the pigpio version. +D*/ + + +/*F*/ +int gpioGetPad(unsigned pad); +/*D +This function returns the pad drive strength in mA. + +. . +pad: 0-2, the pad to get +. . + +Returns the pad drive strength if OK, otherwise PI_BAD_PAD. + +Pad @ GPIO +0 @ 0-27 +1 @ 28-45 +2 @ 46-53 + +... +strength = gpioGetPad(1); // get pad 1 strength +... +D*/ + + +/*F*/ +int gpioSetPad(unsigned pad, unsigned padStrength); +/*D +This function sets the pad drive strength in mA. + +. . + pad: 0-2, the pad to set +padStrength: 1-16 mA +. . + +Returns 0 if OK, otherwise PI_BAD_PAD, or PI_BAD_STRENGTH. + +Pad @ GPIO +0 @ 0-27 +1 @ 28-45 +2 @ 46-53 + +... +gpioSetPad(0, 16); // set pad 0 strength to 16 mA +... +D*/ + + +/*F*/ +int shell(char *scriptName, char *scriptString); +/*D +This function uses the system call to execute a shell script +with the given string as its parameter. + +. . + scriptName: the name of the script, only alphanumeric characters, + '-' and '_' are allowed in the name +scriptString: the string to pass to the script +. . + +The exit status of the system call is returned if OK, otherwise +PI_BAD_SHELL_STATUS. + +scriptName must exist in /opt/pigpio/cgi and must be executable. + +The returned exit status is normally 256 times that set by the +shell script exit function. If the script can't be found 32512 will +be returned. + +The following table gives some example returned statuses. + +Script exit status @ Returned system call status +1 @ 256 +5 @ 1280 +10 @ 2560 +200 @ 51200 +script not found @ 32512 + +... +// pass two parameters, hello and world +status = shell("scr1", "hello world"); + +// pass three parameters, hello, string with spaces, and world +status = shell("scr1", "hello 'string with spaces' world"); + +// pass one parameter, hello string with spaces world +status = shell("scr1", "\"hello string with spaces world\""); +... +D*/ + +#pragma GCC diagnostic push + +#pragma GCC diagnostic ignored "-Wcomment" + +/*F*/ +int fileOpen(char *file, unsigned mode); +/*D +This function returns a handle to a file opened in a specified mode. + +. . +file: the file to open +mode: the file open mode +. . + +Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, PI_NO_FILE_ACCESS, +PI_BAD_FILE_MODE, PI_FILE_OPEN_FAILED, or PI_FILE_IS_A_DIR. + +File + +A file may only be opened if permission is granted by an entry in +/opt/pigpio/access. This is intended to allow remote access to files +in a more or less controlled manner. + +Each entry in /opt/pigpio/access takes the form of a file path +which may contain wildcards followed by a single letter permission. +The permission may be R for read, W for write, U for read/write, +and N for no access. + +Where more than one entry matches a file the most specific rule +applies. If no entry matches a file then access is denied. + +Suppose /opt/pigpio/access contains the following entries + +. . +/home/* n +/home/pi/shared/dir_1/* w +/home/pi/shared/dir_2/* r +/home/pi/shared/dir_3/* u +/home/pi/shared/dir_1/file.txt n +. . + +Files may be written in directory dir_1 with the exception +of file.txt. + +Files may be read in directory dir_2. + +Files may be read and written in directory dir_3. + +If a directory allows read, write, or read/write access then files may +be created in that directory. + +In an attempt to prevent risky permissions the following paths are +ignored in /opt/pigpio/access. + +. . +a path containing .. +a path containing only wildcards (*?) +a path containing less than two non-wildcard parts +. . + +Mode + +The mode may have the following values. + +Macro @ Value @ Meaning +PI_FILE_READ @ 1 @ open file for reading +PI_FILE_WRITE @ 2 @ open file for writing +PI_FILE_RW @ 3 @ open file for reading and writing + +The following values may be or'd into the mode. + +Macro @ Value @ Meaning +PI_FILE_APPEND @ 4 @ Writes append data to the end of the file +PI_FILE_CREATE @ 8 @ The file is created if it doesn't exist +PI_FILE_TRUNC @ 16 @ The file is truncated + +Newly created files are owned by root with permissions owner read and write. + +... +#include +#include + +int main(int argc, char *argv[]) +{ + int handle, c; + char buf[60000]; + + if (gpioInitialise() < 0) return 1; + + // assumes /opt/pigpio/access contains the following line + // /ram/*.c r + + handle = fileOpen("/ram/pigpio.c", PI_FILE_READ); + + if (handle >= 0) + { + while ((c=fileRead(handle, buf, sizeof(buf)-1))) + { + buf[c] = 0; + printf("%s", buf); + } + + fileClose(handle); + } + + gpioTerminate(); +} +... +D*/ + +#pragma GCC diagnostic pop + +/*F*/ +int fileClose(unsigned handle); +/*D +This function closes the file associated with handle. + +. . +handle: >=0, as returned by a call to [*fileOpen*] +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +... +fileClose(h); +... +D*/ + + +/*F*/ +int fileWrite(unsigned handle, char *buf, unsigned count); +/*D +This function writes count bytes from buf to the the file +associated with handle. + +. . +handle: >=0, as returned by a call to [*fileOpen*] + buf: the array of bytes to write + count: the number of bytes to write +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, +PI_FILE_NOT_WOPEN, or PI_BAD_FILE_WRITE. + +... +status = fileWrite(h, buf, count); +if (status == 0) +{ + // okay +} +else +{ + // error +} +... +D*/ + + +/*F*/ +int fileRead(unsigned handle, char *buf, unsigned count); +/*D +This function reads up to count bytes from the the file +associated with handle and writes them to buf. + +. . +handle: >=0, as returned by a call to [*fileOpen*] + buf: an array to receive the read data + count: the maximum number of bytes to read +. . + +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, PI_FILE_NOT_ROPEN, or PI_BAD_FILE_WRITE. + +... +if (fileRead(h, buf, sizeof(buf)) > 0) +{ + // process read data +} +... +D*/ + + +/*F*/ +int fileSeek(unsigned handle, int32_t seekOffset, int seekFrom); +/*D +This function seeks to a position within the file associated +with handle. + +. . + handle: >=0, as returned by a call to [*fileOpen*] +seekOffset: the number of bytes to move. Positive offsets + move forward, negative offsets backwards. + seekFrom: one of PI_FROM_START (0), PI_FROM_CURRENT (1), + or PI_FROM_END (2) +. . + +Returns the new byte position within the file (>=0) if OK, otherwise PI_BAD_HANDLE, or PI_BAD_FILE_SEEK. + +... +fileSeek(0, 20, PI_FROM_START); // Seek to start plus 20 + +size = fileSeek(0, 0, PI_FROM_END); // Seek to end, return size + +pos = fileSeek(0, 0, PI_FROM_CURRENT); // Return current position +... +D*/ + +#pragma GCC diagnostic push + +#pragma GCC diagnostic ignored "-Wcomment" + +/*F*/ +int fileList(char *fpat, char *buf, unsigned count); +/*D +This function returns a list of files which match a pattern. The +pattern may contain wildcards. + +. . + fpat: file pattern to match + buf: an array to receive the matching file names +count: the maximum number of bytes to read +. . + +Returns the number of returned bytes if OK, otherwise PI_NO_FILE_ACCESS, +or PI_NO_FILE_MATCH. + +The pattern must match an entry in /opt/pigpio/access. The pattern +may contain wildcards. See [*fileOpen*]. + +NOTE + +The returned value is not the number of files, it is the number +of bytes in the buffer. The file names are separated by newline +characters. + +... +#include +#include + +int main(int argc, char *argv[]) +{ + int c; + char buf[1000]; + + if (gpioInitialise() < 0) return 1; + + // assumes /opt/pigpio/access contains the following line + // /ram/*.c r + + c = fileList("/ram/p*.c", buf, sizeof(buf)); + + if (c >= 0) + { + // terminate string + buf[c] = 0; + printf("%s", buf); + } + + gpioTerminate(); +} +... +D*/ + +#pragma GCC diagnostic pop + + +/*F*/ +int gpioCfgBufferSize(unsigned cfgMillis); +/*D +Configures pigpio to buffer cfgMillis milliseconds of GPIO samples. + +This function is only effective if called before [*gpioInitialise*]. + +. . +cfgMillis: 100-10000 +. . + +The default setting is 120 milliseconds. + +The intention is to allow for bursts of data and protection against +other processes hogging cpu time. + +I haven't seen a process locked out for more than 100 milliseconds. + +Making the buffer bigger uses a LOT of memory at the more frequent +sampling rates as shown in the following table in MBs. + +. . + buffer milliseconds + 120 250 500 1sec 2sec 4sec 8sec + + 1 16 31 55 107 --- --- --- + 2 10 18 31 55 107 --- --- +sample 4 8 12 18 31 55 107 --- + rate 5 8 10 14 24 45 87 --- + (us) 8 6 8 12 18 31 55 107 + 10 6 8 10 14 24 45 87 +. . +D*/ + + +/*F*/ +int gpioCfgClock( + unsigned cfgMicros, unsigned cfgPeripheral, unsigned cfgSource); +/*D +Configures pigpio to use a particular sample rate timed by a specified +peripheral. + +This function is only effective if called before [*gpioInitialise*]. + +. . + cfgMicros: 1, 2, 4, 5, 8, 10 +cfgPeripheral: 0 (PWM), 1 (PCM) + cfgSource: deprecated, value is ignored +. . + +The timings are provided by the specified peripheral (PWM or PCM). + +The default setting is 5 microseconds using the PCM peripheral. + +The approximate CPU percentage used for each sample rate is: + +. . +sample cpu + rate % + + 1 25 + 2 16 + 4 11 + 5 10 + 8 15 + 10 14 +. . + +A sample rate of 5 microseconds seeems to be the sweet spot. +D*/ + + +/*F*/ +int gpioCfgDMAchannel(unsigned DMAchannel); /* DEPRECATED */ +/*D +Configures pigpio to use the specified DMA channel. + +This function is only effective if called before [*gpioInitialise*]. + +. . +DMAchannel: 0-14 +. . + +The default setting is to use channel 14. +D*/ + + +/*F*/ +int gpioCfgDMAchannels( + unsigned primaryChannel, unsigned secondaryChannel); +/*D +Configures pigpio to use the specified DMA channels. + +This function is only effective if called before [*gpioInitialise*]. + +. . + primaryChannel: 0-14 +secondaryChannel: 0-14 +. . + +The default setting is to use channel 14 for the primary channel and +channel 6 for the secondary channel. + +The secondary channel is only used for the transmission of waves. + +If possible use one of channels 0 to 6 for the secondary channel +(a full channel). + +A full channel only requires one DMA control block regardless of the +length of a pulse delay. Channels 7 to 14 (lite channels) require +one DMA control block for each 16383 microseconds of delay. I.e. +a 10 second pulse delay requires one control block on a full channel +and 611 control blocks on a lite channel. +D*/ + + +/*F*/ +int gpioCfgPermissions(uint64_t updateMask); +/*D +Configures pigpio to only allow updates (writes or mode changes) for the +GPIO specified by the mask. + +This function is only effective if called before [*gpioInitialise*]. + +. . +updateMask: bit (1<=0 +arg2: >=0 +argx: extra (byte) arguments +argc: number of extra arguments +. . + +Returns >= 0 if OK, less than 0 indicates a user defined error. +D*/ + + +/*F*/ +int gpioCustom2(unsigned arg1, char *argx, unsigned argc, + char *retBuf, unsigned retMax); +/*D +This function is available for user customisation. + +It differs from gpioCustom1 in that it returns an array of bytes +rather than just an integer. + +The returned value is an integer indicating the number of returned bytes. +. . + arg1: >=0 + argx: extra (byte) arguments + argc: number of extra arguments +retBuf: buffer for returned bytes +retMax: maximum number of bytes to return +. . + +Returns >= 0 if OK, less than 0 indicates a user defined error. + +The number of returned bytes must be retMax or less. +D*/ + + +/*F*/ +int rawWaveAddSPI( + rawSPI_t *spi, + unsigned offset, + unsigned spiSS, + char *buf, + unsigned spiTxBits, + unsigned spiBitFirst, + unsigned spiBitLast, + unsigned spiBits); +/*D +This function adds a waveform representing SPI data to the +existing waveform (if any). + +. . + spi: a pointer to a spi object + offset: microseconds from the start of the waveform + spiSS: the slave select GPIO + buf: the bits to transmit, most significant bit first + spiTxBits: the number of bits to write +spiBitFirst: the first bit to read + spiBitLast: the last bit to read + spiBits: the number of bits to transfer +. . + +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_BAD_USER_GPIO, PI_BAD_SER_OFFSET, or PI_TOO_MANY_PULSES. + +Not intended for general use. +D*/ + +/*F*/ +int rawWaveAddGeneric(unsigned numPulses, rawWave_t *pulses); +/*D +This function adds a number of pulses to the current waveform. + +. . +numPulses: the number of pulses + pulses: the array containing the pulses +. . + +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_TOO_MANY_PULSES. + +The advantage of this function over gpioWaveAddGeneric is that it +allows the setting of the flags field. + +The pulses are interleaved in time order within the existing waveform +(if any). + +Merging allows the waveform to be built in parts, that is the settings +for GPIO#1 can be added, and then GPIO#2 etc. + +If the added waveform is intended to start after or within the existing +waveform then the first pulse should consist of a delay. + +Not intended for general use. +D*/ + +/*F*/ +unsigned rawWaveCB(void); +/*D +Returns the number of the cb being currently output. + +Not intended for general use. +D*/ + +/*F*/ +rawCbs_t *rawWaveCBAdr(int cbNum); +/*D +Return the (Linux) address of contol block cbNum. + +. . +cbNum: the cb of interest +. . + +Not intended for general use. +D*/ + +/*F*/ +uint32_t rawWaveGetOOL(int pos); +/*D +Gets the OOL parameter stored at pos. + +. . +pos: the position of interest. +. . + +Not intended for general use. +D*/ + + +/*F*/ +void rawWaveSetOOL(int pos, uint32_t lVal); +/*D +Sets the OOL parameter stored at pos to value. + +. . + pos: the position of interest +lVal: the value to write +. . + +Not intended for general use. +D*/ + +/*F*/ +uint32_t rawWaveGetOut(int pos); +/*D +Gets the wave output parameter stored at pos. + +DEPRECATED: use rawWaveGetOOL instead. + +. . +pos: the position of interest. +. . + +Not intended for general use. +D*/ + + +/*F*/ +void rawWaveSetOut(int pos, uint32_t lVal); +/*D +Sets the wave output parameter stored at pos to value. + +DEPRECATED: use rawWaveSetOOL instead. + +. . + pos: the position of interest +lVal: the value to write +. . + +Not intended for general use. +D*/ + +/*F*/ +uint32_t rawWaveGetIn(int pos); +/*D +Gets the wave input value parameter stored at pos. + +DEPRECATED: use rawWaveGetOOL instead. + +. . +pos: the position of interest +. . + +Not intended for general use. +D*/ + + +/*F*/ +void rawWaveSetIn(int pos, uint32_t lVal); +/*D +Sets the wave input value stored at pos to value. + +DEPRECATED: use rawWaveSetOOL instead. + +. . + pos: the position of interest +lVal: the value to write +. . + +Not intended for general use. +D*/ + +/*F*/ +rawWaveInfo_t rawWaveInfo(int wave_id); +/*D +Gets details about the wave with id wave_id. + +. . +wave_id: the wave of interest +. . + +Not intended for general use. +D*/ + +/*F*/ +int getBitInBytes(int bitPos, char *buf, int numBits); +/*D +Returns the value of the bit bitPos bits from the start of buf. Returns +0 if bitPos is greater than or equal to numBits. + +. . + bitPos: bit index from the start of buf + buf: array of bits +numBits: number of valid bits in buf +. . + +D*/ + +/*F*/ +void putBitInBytes(int bitPos, char *buf, int bit); +/*D +Sets the bit bitPos bits from the start of buf to bit. + +. . +bitPos: bit index from the start of buf + buf: array of bits + bit: 0-1, value to set +. . + +D*/ + +/*F*/ +double time_time(void); +/*D +Return the current time in seconds since the Epoch. +D*/ + + +/*F*/ +void time_sleep(double seconds); +/*D +Delay execution for a given number of seconds + +. . +seconds: the number of seconds to sleep +. . +D*/ + + +/*F*/ +void rawDumpWave(void); +/*D +Used to print a readable version of the current waveform to stderr. + +Not intended for general use. +D*/ + + +/*F*/ +void rawDumpScript(unsigned script_id); +/*D +Used to print a readable version of a script to stderr. + +. . +script_id: >=0, a script_id returned by [*gpioStoreScript*] +. . + +Not intended for general use. +D*/ + + +#ifdef __cplusplus +} +#endif + +/*PARAMS + +active :: 0-1000000 + +The number of microseconds level changes are reported for once +a noise filter has been triggered (by [*steady*] microseconds of +a stable level). + +arg1:: + +An unsigned argument passed to a user customised function. Its +meaning is defined by the customiser. + +arg2:: + +An unsigned argument passed to a user customised function. Its +meaning is defined by the customiser. + +argc:: +The count of bytes passed to a user customised function. + +*argx:: +A pointer to an array of bytes passed to a user customised function. +Its meaning and content is defined by the customiser. + +baud:: +The speed of serial communication (I2C, SPI, serial link, waves) in +bits per second. + +bit:: +A value of 0 or 1. + +bitPos:: +A bit position within a byte or word. The least significant bit is +position 0. + +bits:: +A value used to select GPIO. If bit n of bits is set then GPIO n is +selected. + +A convenient way to set bit n is to or in (1<=0 + +The number of times a GPIO is swiched on and off per second. This +can be set per GPIO and may be as little as 5Hz or as much as +40KHz. The GPIO will be on for a proportion of the time as defined +by its dutycycle. + +gpio:: + +A Broadcom numbered GPIO, in the range 0-53. + +There are 54 General Purpose Input Outputs (GPIO) named GPIO0 through +GPIO53. + +They are split into two banks. Bank 1 consists of GPIO0 through +GPIO31. Bank 2 consists of GPIO32 through GPIO53. + +All the GPIO which are safe for the user to read and write are in +bank 1. Not all GPIO in bank 1 are safe though. Type 1 boards +have 17 safe GPIO. Type 2 boards have 21. Type 3 boards have 26. + +See [*gpioHardwareRevision*]. + +The user GPIO are marked with an X in the following table. + +. . + 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 +Type 1 X X - - X - - X X X X X - - X X +Type 2 - - X X X - - X X X X X - - X X +Type 3 X X X X X X X X X X X X X X + + 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 +Type 1 - X X - - X X X X X - - - - - - +Type 2 - X X - - - X X X X - X X X X X +Type 3 X X X X X X X X X X X X - - - - +. . + +gpioAlertFunc_t:: +. . +typedef void (*gpioAlertFunc_t) (int gpio, int level, uint32_t tick); +. . + +gpioAlertFuncEx_t:: +. . +typedef void (*gpioAlertFuncEx_t) + (int gpio, int level, uint32_t tick, void *userdata); +. . + +gpioCfg*:: + +These functions are only effective if called before [*gpioInitialise*]. + +[*gpioCfgBufferSize*] +[*gpioCfgClock*] +[*gpioCfgDMAchannel*] +[*gpioCfgDMAchannels*] +[*gpioCfgPermissions*] +[*gpioCfgInterfaces*] +[*gpioCfgSocketPort*] +[*gpioCfgMemAlloc*] + +gpioGetSamplesFunc_t:: +. . +typedef void (*gpioGetSamplesFunc_t) + (const gpioSample_t *samples, int numSamples); +. . + +gpioGetSamplesFuncEx_t:: +. . +typedef void (*gpioGetSamplesFuncEx_t) + (const gpioSample_t *samples, int numSamples, void *userdata); +. . + +gpioISRFunc_t:: +. . +typedef void (*gpioISRFunc_t) + (int gpio, int level, uint32_t tick); +. . + +gpioISRFuncEx_t:: +. . +typedef void (*gpioISRFuncEx_t) + (int gpio, int level, uint32_t tick, void *userdata); +. . + +gpioPulse_t:: +. . +typedef struct +{ + uint32_t gpioOn; + uint32_t gpioOff; + uint32_t usDelay; +} gpioPulse_t; +. . + +gpioSample_t:: +. . +typedef struct +{ + uint32_t tick; + uint32_t level; +} gpioSample_t; +. . + +gpioSignalFunc_t:: +. . +typedef void (*gpioSignalFunc_t) (int signum); +. . + +gpioSignalFuncEx_t:: +. . +typedef void (*gpioSignalFuncEx_t) (int signum, void *userdata); +. . + +gpioThreadFunc_t:: +. . +typedef void *(gpioThreadFunc_t) (void *); +. . + +gpioTimerFunc_t:: +. . +typedef void (*gpioTimerFunc_t) (void); +. . + +gpioTimerFuncEx_t:: +. . +typedef void (*gpioTimerFuncEx_t) (void *userdata); +. . + +gpioWaveAdd*:: + +One of + +[*gpioWaveAddNew*] +[*gpioWaveAddGeneric*] +[*gpioWaveAddSerial*] + +handle::>=0 + +A number referencing an object opened by one of [*fileOpen*], +[*gpioNotifyOpen*], [*i2cOpen*], [*serOpen*], [*spiOpen*]. + +i2cAddr:: 0-0x7F +The address of a device on the I2C bus. + +i2cBus::>=0 + +An I2C bus number. + +i2cFlags::0 + +Flags which modify an I2C open command. None are currently defined. + +i2cReg:: 0-255 + +A register of an I2C device. + +ifFlags::0-3 +. . +PI_DISABLE_FIFO_IF 1 +PI_DISABLE_SOCK_IF 2 +. . + +*inBuf:: +A buffer used to pass data to a function. + +inLen:: +The number of bytes of data in a buffer. + +int:: +A whole number, negative or positive. + +int32_t:: +A 32-bit signed value. + +invert:: +A flag used to set normal or inverted bit bang serial data level logic. + +level:: +The level of a GPIO. Low or High. + +. . +PI_OFF 0 +PI_ON 1 + +PI_CLEAR 0 +PI_SET 1 + +PI_LOW 0 +PI_HIGH 1 +. . + +There is one exception. If a watchdog expires on a GPIO the level will be +reported as PI_TIMEOUT. See [*gpioSetWatchdog*]. + +. . +PI_TIMEOUT 2 +. . + + +lVal::0-4294967295 (Hex 0x0-0xFFFFFFFF, Octal 0-37777777777) + +A 32-bit word value. + +memAllocMode:: 0-2 + +The DMA memory allocation mode. + +. . +PI_MEM_ALLOC_AUTO 0 +PI_MEM_ALLOC_PAGEMAP 1 +PI_MEM_ALLOC_MAILBOX 2 +. . + +*micros:: + +A value representing microseconds. + +micros:: + +A value representing microseconds. + +millis:: + +A value representing milliseconds. + +MISO:: +The GPIO used for the MISO signal when bit banging SPI. + +mode:: + +1. The operational mode of a GPIO, normally INPUT or OUTPUT. + +. . +PI_INPUT 0 +PI_OUTPUT 1 +PI_ALT0 4 +PI_ALT1 5 +PI_ALT2 6 +PI_ALT3 7 +PI_ALT4 3 +PI_ALT5 2 +. . + +2. A file open mode. + +. . +PI_FILE_READ 1 +PI_FILE_WRITE 2 +PI_FILE_RW 3 +. . + +The following values can be or'd into the mode. + +. . +PI_FILE_APPEND 4 +PI_FILE_CREATE 8 +PI_FILE_TRUNC 16 +. . + +MOSI:: +The GPIO used for the MOSI signal when bit banging SPI. + +numBits:: + +The number of bits stored in a buffer. + +numBytes:: +The number of bytes used to store characters in a string. Depending +on the number of bits per character there may be 1, 2, or 4 bytes +per character. + +numPar:: 0-10 +The number of parameters passed to a script. + +numPulses:: +The number of pulses to be added to a waveform. + +numSegs:: +The number of segments in a combined I2C transaction. + +numSockAddr:: +The number of network addresses allowed to use the socket interface. + +0 means all addresses allowed. + +offset:: +The associated data starts this number of microseconds from the start of +the waveform. + +*outBuf:: +A buffer used to return data from a function. + +outLen:: +The size in bytes of an output buffer. + +pad:: 0-2 +A set of GPIO which share common drivers. + +Pad @ GPIO +0 @ 0-27 +1 @ 28-45 +2 @ 46-53 + +padStrength:: 1-16 +The mA which may be drawn from each GPIO whilst still guaranteeing the +high and low levels. + +*param:: +An array of script parameters. + +pi_i2c_msg_t:: +. . +typedef struct +{ + uint16_t addr; // slave address + uint16_t flags; + uint16_t len; // msg length + uint8_t *buf; // pointer to msg data +} pi_i2c_msg_t; +. . + +port:: 1024-32000 +The port used to bind to the pigpio socket. Defaults to 8888. + +pos:: +The position of an item. + +primaryChannel:: 0-14 +The DMA channel used to time the sampling of GPIO and to time servo and +PWM pulses. + +*pth:: + +A thread identifier, returned by [*gpioStartThread*]. + +pthread_t:: + +A thread identifier. + +pud::0-2 + +The setting of the pull up/down resistor for a GPIO, which may be off, +pull-up, or pull-down. +. . +PI_PUD_OFF 0 +PI_PUD_DOWN 1 +PI_PUD_UP 2 +. . + +pulseLen:: + +1-100, the length of a trigger pulse in microseconds. + +*pulses:: + +An array of pulses to be added to a waveform. + +pulsewidth::0, 500-2500 +. . +PI_SERVO_OFF 0 +PI_MIN_SERVO_PULSEWIDTH 500 +PI_MAX_SERVO_PULSEWIDTH 2500 +. . + +PWMduty::0-1000000 (1M) +The hardware PWM dutycycle. + +. . +PI_HW_PWM_RANGE 1000000 +. . + +PWMfreq::5-250K +The hardware PWM frequency. + +. . +PI_HW_PWM_MIN_FREQ 1 +PI_HW_PWM_MAX_FREQ 125000000 +. . + +range::25-40000 +. . +PI_MIN_DUTYCYCLE_RANGE 25 +PI_MAX_DUTYCYCLE_RANGE 40000 +. . + +rawCbs_t:: +. . +typedef struct // linux/arch/arm/mach-bcm2708/include/mach/dma.h +{ + unsigned long info; + unsigned long src; + unsigned long dst; + unsigned long length; + unsigned long stride; + unsigned long next; + unsigned long pad[2]; +} rawCbs_t; +. . + +rawSPI_t:: +. . +typedef struct +{ + int clk; // GPIO for clock + int mosi; // GPIO for MOSI + int miso; // GPIO for MISO + int ss_pol; // slave select off state + int ss_us; // delay after slave select + int clk_pol; // clock off state + int clk_pha; // clock phase + int clk_us; // clock micros +} rawSPI_t; +. . + +rawWave_t:: +. . +typedef struct +{ + uint32_t gpioOn; + uint32_t gpioOff; + uint32_t usDelay; + uint32_t flags; +} rawWave_t; +. . + +rawWaveInfo_t:: +. . +typedef struct +{ + uint16_t botCB; // first CB used by wave + uint16_t topCB; // last CB used by wave + uint16_t botOOL; // last OOL used by wave + uint16_t topOOL; // first OOL used by wave + uint16_t deleted; + uint16_t numCB; + uint16_t numBOOL; + uint16_t numTOOL; +} rawWaveInfo_t; +. . + +*retBuf:: + +A buffer to hold a number of bytes returned to a used customised function, + +retMax:: + +The maximum number of bytes a user customised function should return. + +*rxBuf:: + +A pointer to a buffer to receive data. + +SCL:: +The user GPIO to use for the clock when bit banging I2C. + +SCLK:: +The GPIO used for the SCLK signal when bit banging SPI. + +*script:: +A pointer to the text of a script. + +script_id:: +An id of a stored script as returned by [*gpioStoreScript*]. + +*scriptName:: +The name of a [*shell*] script to be executed. The script must be present in +/opt/pigpio/cgi and must have execute permission. + +*scriptString:: +The string to be passed to a [*shell*] script to be executed. + +SDA:: +The user GPIO to use for data when bit banging I2C. + +secondaryChannel:: 0-6 + +The DMA channel used to time output waveforms. + +*seconds:: + +A pointer to a uint32_t to store the second component of +a returned time. + +seconds:: +The number of seconds. + +seekFrom:: + +. . +PI_FROM_START 0 +PI_FROM_CURRENT 1 +PI_FROM_END 2 +. . + +seekOffset:: +The number of bytes to move forward (positive) or backwards (negative) +from the seek position (start, current, or end of file). + +*segs:: +An array of segments which make up a combined I2C transaction. + +serFlags:: +Flags which modify a serial open command. None are currently defined. + +*sertty:: +The name of a serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0, /dev/tty1. + +setting:: +A value used to set a flag, 0 for false, non-zero for true. + +signum::0-63 +. . +PI_MIN_SIGNUM 0 +PI_MAX_SIGNUM 63 +. . + +size_t:: + +A standard type used to indicate the size of an object in bytes. + +*sockAddr:: +An array of network addresses allowed to use the socket interface encoded +as 32 bit numbers. + +E.g. address 192.168.1.66 would be encoded as 0x4201a8c0. + +*spi:: +A pointer to a [*rawSPI_t*] structure. + +spiBitFirst:: +GPIO reads are made from spiBitFirst to spiBitLast. + +spiBitLast:: + +GPIO reads are made from spiBitFirst to spiBitLast. + +spiBits:: +The number of bits to transfer in a raw SPI transaction. + +spiChan:: +A SPI channel, 0-2. + +spiFlags:: +See [*spiOpen*] and [*bbSPIOpen*]. + +spiSS:: +The SPI slave select GPIO in a raw SPI transaction. + +spiTxBits:: +The number of bits to transfer dring a raw SPI transaction + +steady :: 0-300000 + +The number of microseconds level changes must be stable for +before reporting the level changed ([*gpioGlitchFilter*]) or triggering +the active part of a noise filter ([*gpioNoiseFilter*]). + +stop_bits::2-8 +The number of (half) stop bits to be used when adding serial data +to a waveform. + +. . +PI_MIN_WAVE_HALFSTOPBITS 2 +PI_MAX_WAVE_HALFSTOPBITS 8 +. . + +*str:: +An array of characters. + +timeout:: +A GPIO level change timeout in milliseconds. + +[*gpioSetWatchdog*] +. . +PI_MIN_WDOG_TIMEOUT 0 +PI_MAX_WDOG_TIMEOUT 60000 +. . + +[*gpioSetISRFunc*] and [*gpioSetISRFuncEx*] +. . +<=0 cancel timeout +>0 timeout after specified milliseconds +. . + +timer:: +. . +PI_MIN_TIMER 0 +PI_MAX_TIMER 9 +. . + +timetype:: +. . +PI_TIME_RELATIVE 0 +PI_TIME_ABSOLUTE 1 +. . + +*txBuf:: + +An array of bytes to transmit. + +uint32_t::0-0-4,294,967,295 (Hex 0x0-0xFFFFFFFF) + +A 32-bit unsigned value. + +uint64_t::0-(2^64)-1 + +A 64-bit unsigned value. + +unsigned:: + +A whole number >= 0. + +updateMask:: + +A 64 bit mask indicating which GPIO may be written to by the user. + +If GPIO#n may be written then bit (1< 3 +#define PI_BAD_CHANNEL -27 // DMA channel not 0-14 +#define PI_BAD_PRIM_CHANNEL -27 // DMA primary channel not 0-14 +#define PI_BAD_SOCKET_PORT -28 // socket port not 1024-32000 +#define PI_BAD_FIFO_COMMAND -29 // unrecognized fifo command +#define PI_BAD_SECO_CHANNEL -30 // DMA secondary channel not 0-6 +#define PI_NOT_INITIALISED -31 // function called before gpioInitialise +#define PI_INITIALISED -32 // function called after gpioInitialise +#define PI_BAD_WAVE_MODE -33 // waveform mode not 0-3 +#define PI_BAD_CFG_INTERNAL -34 // bad parameter in gpioCfgInternals call +#define PI_BAD_WAVE_BAUD -35 // baud rate not 50-250K(RX)/50-1M(TX) +#define PI_TOO_MANY_PULSES -36 // waveform has too many pulses +#define PI_TOO_MANY_CHARS -37 // waveform has too many chars +#define PI_NOT_SERIAL_GPIO -38 // no bit bang serial read on GPIO +#define PI_BAD_SERIAL_STRUC -39 // bad (null) serial structure parameter +#define PI_BAD_SERIAL_BUF -40 // bad (null) serial buf parameter +#define PI_NOT_PERMITTED -41 // GPIO operation not permitted +#define PI_SOME_PERMITTED -42 // one or more GPIO not permitted +#define PI_BAD_WVSC_COMMND -43 // bad WVSC subcommand +#define PI_BAD_WVSM_COMMND -44 // bad WVSM subcommand +#define PI_BAD_WVSP_COMMND -45 // bad WVSP subcommand +#define PI_BAD_PULSELEN -46 // trigger pulse length not 1-100 +#define PI_BAD_SCRIPT -47 // invalid script +#define PI_BAD_SCRIPT_ID -48 // unknown script id +#define PI_BAD_SER_OFFSET -49 // add serial data offset > 30 minutes +#define PI_GPIO_IN_USE -50 // GPIO already in use +#define PI_BAD_SERIAL_COUNT -51 // must read at least a byte at a time +#define PI_BAD_PARAM_NUM -52 // script parameter id not 0-9 +#define PI_DUP_TAG -53 // script has duplicate tag +#define PI_TOO_MANY_TAGS -54 // script has too many tags +#define PI_BAD_SCRIPT_CMD -55 // illegal script command +#define PI_BAD_VAR_NUM -56 // script variable id not 0-149 +#define PI_NO_SCRIPT_ROOM -57 // no more room for scripts +#define PI_NO_MEMORY -58 // can't allocate temporary memory +#define PI_SOCK_READ_FAILED -59 // socket read failed +#define PI_SOCK_WRIT_FAILED -60 // socket write failed +#define PI_TOO_MANY_PARAM -61 // too many script parameters (> 10) +#define PI_NOT_HALTED -62 // DEPRECATED +#define PI_SCRIPT_NOT_READY -62 // script initialising +#define PI_BAD_TAG -63 // script has unresolved tag +#define PI_BAD_MICS_DELAY -64 // bad MICS delay (too large) +#define PI_BAD_MILS_DELAY -65 // bad MILS delay (too large) +#define PI_BAD_WAVE_ID -66 // non existent wave id +#define PI_TOO_MANY_CBS -67 // No more CBs for waveform +#define PI_TOO_MANY_OOL -68 // No more OOL for waveform +#define PI_EMPTY_WAVEFORM -69 // attempt to create an empty waveform +#define PI_NO_WAVEFORM_ID -70 // no more waveforms +#define PI_I2C_OPEN_FAILED -71 // can't open I2C device +#define PI_SER_OPEN_FAILED -72 // can't open serial device +#define PI_SPI_OPEN_FAILED -73 // can't open SPI device +#define PI_BAD_I2C_BUS -74 // bad I2C bus +#define PI_BAD_I2C_ADDR -75 // bad I2C address +#define PI_BAD_SPI_CHANNEL -76 // bad SPI channel +#define PI_BAD_FLAGS -77 // bad i2c/spi/ser open flags +#define PI_BAD_SPI_SPEED -78 // bad SPI speed +#define PI_BAD_SER_DEVICE -79 // bad serial device name +#define PI_BAD_SER_SPEED -80 // bad serial baud rate +#define PI_BAD_PARAM -81 // bad i2c/spi/ser parameter +#define PI_I2C_WRITE_FAILED -82 // i2c write failed +#define PI_I2C_READ_FAILED -83 // i2c read failed +#define PI_BAD_SPI_COUNT -84 // bad SPI count +#define PI_SER_WRITE_FAILED -85 // ser write failed +#define PI_SER_READ_FAILED -86 // ser read failed +#define PI_SER_READ_NO_DATA -87 // ser read no data available +#define PI_UNKNOWN_COMMAND -88 // unknown command +#define PI_SPI_XFER_FAILED -89 // spi xfer/read/write failed +#define PI_BAD_POINTER -90 // bad (NULL) pointer +#define PI_NO_AUX_SPI -91 // no auxiliary SPI on Pi A or B +#define PI_NOT_PWM_GPIO -92 // GPIO is not in use for PWM +#define PI_NOT_SERVO_GPIO -93 // GPIO is not in use for servo pulses +#define PI_NOT_HCLK_GPIO -94 // GPIO has no hardware clock +#define PI_NOT_HPWM_GPIO -95 // GPIO has no hardware PWM +#define PI_BAD_HPWM_FREQ -96 // hardware PWM frequency not 1-125M +#define PI_BAD_HPWM_DUTY -97 // hardware PWM dutycycle not 0-1M +#define PI_BAD_HCLK_FREQ -98 // hardware clock frequency not 4689-250M +#define PI_BAD_HCLK_PASS -99 // need password to use hardware clock 1 +#define PI_HPWM_ILLEGAL -100 // illegal, PWM in use for main clock +#define PI_BAD_DATABITS -101 // serial data bits not 1-32 +#define PI_BAD_STOPBITS -102 // serial (half) stop bits not 2-8 +#define PI_MSG_TOOBIG -103 // socket/pipe message too big +#define PI_BAD_MALLOC_MODE -104 // bad memory allocation mode +#define PI_TOO_MANY_SEGS -105 // too many I2C transaction segments +#define PI_BAD_I2C_SEG -106 // an I2C transaction segment failed +#define PI_BAD_SMBUS_CMD -107 // SMBus command not supported by driver +#define PI_NOT_I2C_GPIO -108 // no bit bang I2C in progress on GPIO +#define PI_BAD_I2C_WLEN -109 // bad I2C write length +#define PI_BAD_I2C_RLEN -110 // bad I2C read length +#define PI_BAD_I2C_CMD -111 // bad I2C command +#define PI_BAD_I2C_BAUD -112 // bad I2C baud rate, not 50-500k +#define PI_CHAIN_LOOP_CNT -113 // bad chain loop count +#define PI_BAD_CHAIN_LOOP -114 // empty chain loop +#define PI_CHAIN_COUNTER -115 // too many chain counters +#define PI_BAD_CHAIN_CMD -116 // bad chain command +#define PI_BAD_CHAIN_DELAY -117 // bad chain delay micros +#define PI_CHAIN_NESTING -118 // chain counters nested too deeply +#define PI_CHAIN_TOO_BIG -119 // chain is too long +#define PI_DEPRECATED -120 // deprecated function removed +#define PI_BAD_SER_INVERT -121 // bit bang serial invert not 0 or 1 +#define PI_BAD_EDGE -122 // bad ISR edge value, not 0-2 +#define PI_BAD_ISR_INIT -123 // bad ISR initialisation +#define PI_BAD_FOREVER -124 // loop forever must be last command +#define PI_BAD_FILTER -125 // bad filter parameter +#define PI_BAD_PAD -126 // bad pad number +#define PI_BAD_STRENGTH -127 // bad pad drive strength +#define PI_FIL_OPEN_FAILED -128 // file open failed +#define PI_BAD_FILE_MODE -129 // bad file mode +#define PI_BAD_FILE_FLAG -130 // bad file flag +#define PI_BAD_FILE_READ -131 // bad file read +#define PI_BAD_FILE_WRITE -132 // bad file write +#define PI_FILE_NOT_ROPEN -133 // file not open for read +#define PI_FILE_NOT_WOPEN -134 // file not open for write +#define PI_BAD_FILE_SEEK -135 // bad file seek +#define PI_NO_FILE_MATCH -136 // no files match pattern +#define PI_NO_FILE_ACCESS -137 // no permission to access file +#define PI_FILE_IS_A_DIR -138 // file is a directory +#define PI_BAD_SHELL_STATUS -139 // bad shell return status +#define PI_BAD_SCRIPT_NAME -140 // bad script name +#define PI_BAD_SPI_BAUD -141 // bad SPI baud rate, not 50-500k +#define PI_NOT_SPI_GPIO -142 // no bit bang SPI in progress on GPIO + +#define PI_PIGIF_ERR_0 -2000 +#define PI_PIGIF_ERR_99 -2099 + +#define PI_CUSTOM_ERR_0 -3000 +#define PI_CUSTOM_ERR_999 -3999 + +/*DEF_E*/ + +/*DEF_S Defaults*/ + +#define PI_DEFAULT_BUFFER_MILLIS 120 +#define PI_DEFAULT_CLK_MICROS 5 +#define PI_DEFAULT_CLK_PERIPHERAL PI_CLOCK_PCM +#define PI_DEFAULT_IF_FLAGS 0 +#define PI_DEFAULT_DMA_CHANNEL 14 +#define PI_DEFAULT_DMA_PRIMARY_CHANNEL 14 +#define PI_DEFAULT_DMA_SECONDARY_CHANNEL 6 +#define PI_DEFAULT_SOCKET_PORT 8888 +#define PI_DEFAULT_SOCKET_PORT_STR "8888" +#define PI_DEFAULT_SOCKET_ADDR_STR "127.0.0.1" +#define PI_DEFAULT_UPDATE_MASK_UNKNOWN 0xFFFFFFFF +#define PI_DEFAULT_UPDATE_MASK_B1 0x03E7CF93 +#define PI_DEFAULT_UPDATE_MASK_A_B2 0xFBC7CF9C +#define PI_DEFAULT_UPDATE_MASK_APLUS_BPLUS 0x0080480FFFFFFCLL +#define PI_DEFAULT_UPDATE_MASK_ZERO 0x0080000FFFFFFCLL +#define PI_DEFAULT_UPDATE_MASK_PI2B 0x0080480FFFFFFCLL +#define PI_DEFAULT_UPDATE_MASK_PI3B 0x0000000FFFFFFCLL +#define PI_DEFAULT_UPDATE_MASK_COMPUTE 0x00FFFFFFFFFFFFLL +#define PI_DEFAULT_MEM_ALLOC_MODE PI_MEM_ALLOC_AUTO + +#define PI_DEFAULT_CFG_INTERNALS 0 + +/*DEF_E*/ + +#endif + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpio.o b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpio.o new file mode 100644 index 0000000..b5871c3 Binary files /dev/null and b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpio.o differ diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpio.py b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpio.py new file mode 100644 index 0000000..b0962d5 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpio.py @@ -0,0 +1,5023 @@ +""" +pigpio is a Python module for the Raspberry which talks to +the pigpio daemon to allow control of the general purpose +input outputs (GPIO). + +[http://abyz.co.uk/rpi/pigpio/python.html] + +*Features* + +o the pigpio Python module can run on Windows, Macs, or Linux + +o controls one or more Pi's + +o hardware timed PWM on any of GPIO 0-31 + +o hardware timed servo pulses on any of GPIO 0-31 + +o callbacks when any of GPIO 0-31 change state + +o creating and transmitting precisely timed waveforms + +o reading/writing GPIO and setting their modes + +o wrappers for I2C, SPI, and serial links + +o creating and running scripts on the pigpio daemon + +*GPIO* + +ALL GPIO are identified by their Broadcom number. + +*Notes* + +Transmitted waveforms are accurate to a microsecond. + +Callback level changes are time-stamped and will be +accurate to within a few microseconds. + +*Settings* + +A number of settings are determined when the pigpio daemon is started. + +o the sample rate (1, 2, 4, 5, 8, or 10 us, default 5 us). + +o the set of GPIO which may be updated (generally written to). The + default set is those available on the Pi board revision. + +o the available PWM frequencies (see [*set_PWM_frequency*]). + +*Exceptions* + +By default a fatal exception is raised if you pass an invalid +argument to a pigpio function. + +If you wish to handle the returned status yourself you should set +pigpio.exceptions to False. + +You may prefer to check the returned status in only a few parts +of your code. In that case do the following. + +... +pigpio.exceptions = False + +# Code where you want to test the error status. + +pigpio.exceptions = True +... + +*Usage* + +This module uses the services of the C pigpio library. pigpio +must be running on the Pi(s) whose GPIO are to be manipulated. + +The normal way to start pigpio is as a daemon (during system +start). + +sudo pigpiod + +Your Python program must import pigpio and create one or more +instances of the pigpio.pi class. This class gives access to +a specified Pi's GPIO. + +... +pi1 = pigpio.pi() # pi1 accesses the local Pi's GPIO +pi2 = pigpio.pi('tom') # pi2 accesses tom's GPIO +pi3 = pigpio.pi('dick') # pi3 accesses dick's GPIO + +pi1.write(4, 0) # set local Pi's GPIO 4 low +pi2.write(4, 1) # set tom's GPIO 4 to high +pi3.read(4) # get level of dick's GPIO 4 +... + +The later example code snippets assume that pi is an instance of +the pigpio.pi class. + +OVERVIEW + +Essential + +pigpio.pi Initialise Pi connection +stop Stop a Pi connection + +Beginner + +set_mode Set a GPIO mode +get_mode Get a GPIO mode +set_pull_up_down Set/clear GPIO pull up/down resistor + +read Read a GPIO +write Write a GPIO + +set_PWM_dutycycle Start/stop PWM pulses on a GPIO +get_PWM_dutycycle Get PWM dutycycle set on a GPIO + +set_servo_pulsewidth Start/Stop servo pulses on a GPIO +get_servo_pulsewidth Get servo pulsewidth set on a GPIO + +callback Create GPIO level change callback +wait_for_edge Wait for GPIO level change + +Intermediate + +gpio_trigger Send a trigger pulse to a GPIO + +set_watchdog Set a watchdog on a GPIO + +set_PWM_range Configure PWM range of a GPIO +get_PWM_range Get configured PWM range of a GPIO + +set_PWM_frequency Set PWM frequency of a GPIO +get_PWM_frequency Get PWM frequency of a GPIO + +read_bank_1 Read all bank 1 GPIO +read_bank_2 Read all bank 2 GPIO + +clear_bank_1 Clear selected GPIO in bank 1 +clear_bank_2 Clear selected GPIO in bank 2 + +set_bank_1 Set selected GPIO in bank 1 +set_bank_2 Set selected GPIO in bank 2 + +Advanced + +get_PWM_real_range Get underlying PWM range for a GPIO + +notify_open Request a notification handle +notify_begin Start notifications for selected GPIO +notify_pause Pause notifications +notify_close Close a notification + +bb_serial_read_open Open a GPIO for bit bang serial reads +bb_serial_read Read bit bang serial data from a GPIO +bb_serial_read_close Close a GPIO for bit bang serial reads +bb_serial_invert Invert serial logic (1 invert, 0 normal) + +hardware_clock Start hardware clock on supported GPIO +hardware_PWM Start hardware PWM on supported GPIO + +set_glitch_filter Set a glitch filter on a GPIO +set_noise_filter Set a noise filter on a GPIO + +get_pad_strength Gets a pads drive strength +set_pad_strength Sets a pads drive strength + +shell Executes a shell command + +Scripts + +store_script Store a script +run_script Run a stored script +script_status Get script status and parameters +stop_script Stop a running script +delete_script Delete a stored script + +Waves + +wave_clear Deletes all waveforms + +wave_add_new Starts a new waveform +wave_add_generic Adds a series of pulses to the waveform +wave_add_serial Adds serial data to the waveform + +wave_create Creates a waveform from added data +wave_delete Deletes a waveform + +wave_send_once Transmits a waveform once +wave_send_repeat Transmits a waveform repeatedly +wave_send_using_mode Transmits a waveform in the chosen mode + +wave_chain Transmits a chain of waveforms + +wave_tx_at Returns the current transmitting waveform +wave_tx_busy Checks to see if a waveform has ended +wave_tx_stop Aborts the current waveform + +wave_get_micros Length in microseconds of the current waveform +wave_get_max_micros Absolute maximum allowed micros +wave_get_pulses Length in pulses of the current waveform +wave_get_max_pulses Absolute maximum allowed pulses +wave_get_cbs Length in cbs of the current waveform +wave_get_max_cbs Absolute maximum allowed cbs + +I2C + +i2c_open Opens an I2C device +i2c_close Closes an I2C device + +i2c_write_quick SMBus write quick +i2c_write_byte SMBus write byte +i2c_read_byte SMBus read byte +i2c_write_byte_data SMBus write byte data +i2c_write_word_data SMBus write word data +i2c_read_byte_data SMBus read byte data +i2c_read_word_data SMBus read word data +i2c_process_call SMBus process call +i2c_write_block_data SMBus write block data +i2c_read_block_data SMBus read block data +i2c_block_process_call SMBus block process call + +i2c_read_i2c_block_data SMBus read I2C block data +i2c_write_i2c_block_data SMBus write I2C block data + +i2c_read_device Reads the raw I2C device +i2c_write_device Writes the raw I2C device + +i2c_zip Performs multiple I2C transactions + +bb_i2c_open Opens GPIO for bit banging I2C +bb_i2c_close Closes GPIO for bit banging I2C +bb_i2c_zip Performs multiple bit banged I2C transactions + +SPI + +spi_open Opens a SPI device +spi_close Closes a SPI device + +spi_read Reads bytes from a SPI device +spi_write Writes bytes to a SPI device +spi_xfer Transfers bytes with a SPI device + +bb_spi_open Opens GPIO for bit banging SPI +bb_spi_close Closes GPIO for bit banging SPI +bb_spi_xfer Transfers bytes with bit banging SPI + +Serial + +serial_open Opens a serial device +serial_close Closes a serial device + +serial_read Reads bytes from a serial device +serial_read_byte Reads a byte from a serial device + +serial_write Writes bytes to a serial device +serial_write_byte Writes a byte to a serial device + +serial_data_available Returns number of bytes ready to be read + +Files + +file_open Opens a file +file_close Closes a file +file_read Reads bytes from a file +file_write Writes bytes to a file +file_seek Seeks to a position within a file +file_list List files which match a pattern + +Custom + +custom_1 User custom function 1 +custom_2 User custom function 2 + +Utility + +get_current_tick Get current tick (microseconds) + +get_hardware_revision Get hardware revision +get_pigpio_version Get the pigpio version + +pigpio.error_text Gets error text from error number +pigpio.tickDiff Returns difference between two ticks +""" + +import sys +import socket +import struct +import time +import threading +import os +import atexit + +VERSION = "1.33" + +exceptions = True + +# GPIO levels + +OFF = 0 +LOW = 0 +CLEAR = 0 + +ON = 1 +HIGH = 1 +SET = 1 + +TIMEOUT = 2 + +# GPIO edges + +RISING_EDGE = 0 +FALLING_EDGE = 1 +EITHER_EDGE = 2 + +# GPIO modes + +INPUT = 0 +OUTPUT = 1 +ALT0 = 4 +ALT1 = 5 +ALT2 = 6 +ALT3 = 7 +ALT4 = 3 +ALT5 = 2 + +# GPIO Pull Up Down + +PUD_OFF = 0 +PUD_DOWN = 1 +PUD_UP = 2 + +# script run status + +PI_SCRIPT_INITING=0 +PI_SCRIPT_HALTED =1 +PI_SCRIPT_RUNNING=2 +PI_SCRIPT_WAITING=3 +PI_SCRIPT_FAILED =4 + +# notification flags + +NTFY_FLAGS_ALIVE = (1 << 6) +NTFY_FLAGS_WDOG = (1 << 5) +NTFY_FLAGS_GPIO = 31 + +# wave modes + +WAVE_MODE_ONE_SHOT =0 +WAVE_MODE_REPEAT =1 +WAVE_MODE_ONE_SHOT_SYNC=2 +WAVE_MODE_REPEAT_SYNC =3 + +WAVE_NOT_FOUND = 9998 # Transmitted wave not found. +NO_TX_WAVE = 9999 # No wave being transmitted. + +FILE_READ=1 +FILE_WRITE=2 +FILE_RW=3 + +FILE_APPEND=4 +FILE_CREATE=8 +FILE_TRUNC=16 + +FROM_START=0 +FROM_CURRENT=1 +FROM_END=2 + +SPI_MODE_0 = 0 +SPI_MODE_1 = 1 +SPI_MODE_2 = 2 +SPI_MODE_3 = 3 + +SPI_CPHA = 1 << 0 +SPI_CPOL = 1 << 1 + +SPI_CS_HIGH_ACTIVE = 1 << 2 + +SPI_TX_LSBFIRST = 1 << 14 +SPI_RX_LSBFIRST = 1 << 15 + +# pigpio command numbers + +_PI_CMD_MODES= 0 +_PI_CMD_MODEG= 1 +_PI_CMD_PUD= 2 +_PI_CMD_READ= 3 +_PI_CMD_WRITE= 4 +_PI_CMD_PWM= 5 +_PI_CMD_PRS= 6 +_PI_CMD_PFS= 7 +_PI_CMD_SERVO= 8 +_PI_CMD_WDOG= 9 +_PI_CMD_BR1= 10 +_PI_CMD_BR2= 11 +_PI_CMD_BC1= 12 +_PI_CMD_BC2= 13 +_PI_CMD_BS1= 14 +_PI_CMD_BS2= 15 +_PI_CMD_TICK= 16 +_PI_CMD_HWVER=17 + +_PI_CMD_NO= 18 +_PI_CMD_NB= 19 +_PI_CMD_NP= 20 +_PI_CMD_NC= 21 + +_PI_CMD_PRG= 22 +_PI_CMD_PFG= 23 +_PI_CMD_PRRG= 24 +_PI_CMD_HELP= 25 +_PI_CMD_PIGPV=26 + +_PI_CMD_WVCLR=27 +_PI_CMD_WVAG= 28 +_PI_CMD_WVAS= 29 +_PI_CMD_WVGO= 30 +_PI_CMD_WVGOR=31 +_PI_CMD_WVBSY=32 +_PI_CMD_WVHLT=33 +_PI_CMD_WVSM= 34 +_PI_CMD_WVSP= 35 +_PI_CMD_WVSC= 36 + +_PI_CMD_TRIG= 37 + +_PI_CMD_PROC= 38 +_PI_CMD_PROCD=39 +_PI_CMD_PROCR=40 +_PI_CMD_PROCS=41 + +_PI_CMD_SLRO= 42 +_PI_CMD_SLR= 43 +_PI_CMD_SLRC= 44 + +_PI_CMD_PROCP=45 +_PI_CMD_MICRO=46 +_PI_CMD_MILLI=47 +_PI_CMD_PARSE=48 + +_PI_CMD_WVCRE=49 +_PI_CMD_WVDEL=50 +_PI_CMD_WVTX =51 +_PI_CMD_WVTXR=52 +_PI_CMD_WVNEW=53 + +_PI_CMD_I2CO =54 +_PI_CMD_I2CC =55 +_PI_CMD_I2CRD=56 +_PI_CMD_I2CWD=57 +_PI_CMD_I2CWQ=58 +_PI_CMD_I2CRS=59 +_PI_CMD_I2CWS=60 +_PI_CMD_I2CRB=61 +_PI_CMD_I2CWB=62 +_PI_CMD_I2CRW=63 +_PI_CMD_I2CWW=64 +_PI_CMD_I2CRK=65 +_PI_CMD_I2CWK=66 +_PI_CMD_I2CRI=67 +_PI_CMD_I2CWI=68 +_PI_CMD_I2CPC=69 +_PI_CMD_I2CPK=70 + +_PI_CMD_SPIO =71 +_PI_CMD_SPIC =72 +_PI_CMD_SPIR =73 +_PI_CMD_SPIW =74 +_PI_CMD_SPIX =75 + +_PI_CMD_SERO =76 +_PI_CMD_SERC =77 +_PI_CMD_SERRB=78 +_PI_CMD_SERWB=79 +_PI_CMD_SERR =80 +_PI_CMD_SERW =81 +_PI_CMD_SERDA=82 + +_PI_CMD_GDC =83 +_PI_CMD_GPW =84 + +_PI_CMD_HC =85 +_PI_CMD_HP =86 + +_PI_CMD_CF1 =87 +_PI_CMD_CF2 =88 + +_PI_CMD_NOIB =99 + +_PI_CMD_BI2CC=89 +_PI_CMD_BI2CO=90 +_PI_CMD_BI2CZ=91 + +_PI_CMD_I2CZ =92 + +_PI_CMD_WVCHA=93 + +_PI_CMD_SLRI =94 + +_PI_CMD_CGI =95 +_PI_CMD_CSI =96 + +_PI_CMD_FG =97 +_PI_CMD_FN =98 + +_PI_CMD_WVTXM=100 +_PI_CMD_WVTAT=101 + +_PI_CMD_PADS =102 +_PI_CMD_PADG =103 + +_PI_CMD_FO =104 +_PI_CMD_FC =105 +_PI_CMD_FR =106 +_PI_CMD_FW =107 +_PI_CMD_FS =108 +_PI_CMD_FL =109 +_PI_CMD_SHELL=110 + +_PI_CMD_BSPIC=111 +_PI_CMD_BSPIO=112 +_PI_CMD_BSPIX=113 + +# pigpio error numbers + +_PI_INIT_FAILED =-1 +PI_BAD_USER_GPIO =-2 +PI_BAD_GPIO =-3 +PI_BAD_MODE =-4 +PI_BAD_LEVEL =-5 +PI_BAD_PUD =-6 +PI_BAD_PULSEWIDTH =-7 +PI_BAD_DUTYCYCLE =-8 +_PI_BAD_TIMER =-9 +_PI_BAD_MS =-10 +_PI_BAD_TIMETYPE =-11 +_PI_BAD_SECONDS =-12 +_PI_BAD_MICROS =-13 +_PI_TIMER_FAILED =-14 +PI_BAD_WDOG_TIMEOUT =-15 +_PI_NO_ALERT_FUNC =-16 +_PI_BAD_CLK_PERIPH =-17 +_PI_BAD_CLK_SOURCE =-18 +_PI_BAD_CLK_MICROS =-19 +_PI_BAD_BUF_MILLIS =-20 +PI_BAD_DUTYRANGE =-21 +_PI_BAD_SIGNUM =-22 +_PI_BAD_PATHNAME =-23 +PI_NO_HANDLE =-24 +PI_BAD_HANDLE =-25 +_PI_BAD_IF_FLAGS =-26 +_PI_BAD_CHANNEL =-27 +_PI_BAD_PRIM_CHANNEL=-27 +_PI_BAD_SOCKET_PORT =-28 +_PI_BAD_FIFO_COMMAND=-29 +_PI_BAD_SECO_CHANNEL=-30 +_PI_NOT_INITIALISED =-31 +_PI_INITIALISED =-32 +_PI_BAD_WAVE_MODE =-33 +_PI_BAD_CFG_INTERNAL=-34 +PI_BAD_WAVE_BAUD =-35 +PI_TOO_MANY_PULSES =-36 +PI_TOO_MANY_CHARS =-37 +PI_NOT_SERIAL_GPIO =-38 +_PI_BAD_SERIAL_STRUC=-39 +_PI_BAD_SERIAL_BUF =-40 +PI_NOT_PERMITTED =-41 +PI_SOME_PERMITTED =-42 +PI_BAD_WVSC_COMMND =-43 +PI_BAD_WVSM_COMMND =-44 +PI_BAD_WVSP_COMMND =-45 +PI_BAD_PULSELEN =-46 +PI_BAD_SCRIPT =-47 +PI_BAD_SCRIPT_ID =-48 +PI_BAD_SER_OFFSET =-49 +PI_GPIO_IN_USE =-50 +PI_BAD_SERIAL_COUNT =-51 +PI_BAD_PARAM_NUM =-52 +PI_DUP_TAG =-53 +PI_TOO_MANY_TAGS =-54 +PI_BAD_SCRIPT_CMD =-55 +PI_BAD_VAR_NUM =-56 +PI_NO_SCRIPT_ROOM =-57 +PI_NO_MEMORY =-58 +PI_SOCK_READ_FAILED =-59 +PI_SOCK_WRIT_FAILED =-60 +PI_TOO_MANY_PARAM =-61 +PI_SCRIPT_NOT_READY =-62 +PI_BAD_TAG =-63 +PI_BAD_MICS_DELAY =-64 +PI_BAD_MILS_DELAY =-65 +PI_BAD_WAVE_ID =-66 +PI_TOO_MANY_CBS =-67 +PI_TOO_MANY_OOL =-68 +PI_EMPTY_WAVEFORM =-69 +PI_NO_WAVEFORM_ID =-70 +PI_I2C_OPEN_FAILED =-71 +PI_SER_OPEN_FAILED =-72 +PI_SPI_OPEN_FAILED =-73 +PI_BAD_I2C_BUS =-74 +PI_BAD_I2C_ADDR =-75 +PI_BAD_SPI_CHANNEL =-76 +PI_BAD_FLAGS =-77 +PI_BAD_SPI_SPEED =-78 +PI_BAD_SER_DEVICE =-79 +PI_BAD_SER_SPEED =-80 +PI_BAD_PARAM =-81 +PI_I2C_WRITE_FAILED =-82 +PI_I2C_READ_FAILED =-83 +PI_BAD_SPI_COUNT =-84 +PI_SER_WRITE_FAILED =-85 +PI_SER_READ_FAILED =-86 +PI_SER_READ_NO_DATA =-87 +PI_UNKNOWN_COMMAND =-88 +PI_SPI_XFER_FAILED =-89 +_PI_BAD_POINTER =-90 +PI_NO_AUX_SPI =-91 +PI_NOT_PWM_GPIO =-92 +PI_NOT_SERVO_GPIO =-93 +PI_NOT_HCLK_GPIO =-94 +PI_NOT_HPWM_GPIO =-95 +PI_BAD_HPWM_FREQ =-96 +PI_BAD_HPWM_DUTY =-97 +PI_BAD_HCLK_FREQ =-98 +PI_BAD_HCLK_PASS =-99 +PI_HPWM_ILLEGAL =-100 +PI_BAD_DATABITS =-101 +PI_BAD_STOPBITS =-102 +PI_MSG_TOOBIG =-103 +PI_BAD_MALLOC_MODE =-104 +_PI_TOO_MANY_SEGS =-105 +_PI_BAD_I2C_SEG =-106 +PI_BAD_SMBUS_CMD =-107 +PI_NOT_I2C_GPIO =-108 +PI_BAD_I2C_WLEN =-109 +PI_BAD_I2C_RLEN =-110 +PI_BAD_I2C_CMD =-111 +PI_BAD_I2C_BAUD =-112 +PI_CHAIN_LOOP_CNT =-113 +PI_BAD_CHAIN_LOOP =-114 +PI_CHAIN_COUNTER =-115 +PI_BAD_CHAIN_CMD =-116 +PI_BAD_CHAIN_DELAY =-117 +PI_CHAIN_NESTING =-118 +PI_CHAIN_TOO_BIG =-119 +PI_DEPRECATED =-120 +PI_BAD_SER_INVERT =-121 +_PI_BAD_EDGE =-122 +_PI_BAD_ISR_INIT =-123 +PI_BAD_FOREVER =-124 +PI_BAD_FILTER =-125 +PI_BAD_PAD =-126 +PI_BAD_STRENGTH =-127 +PI_FIL_OPEN_FAILED =-128 +PI_BAD_FILE_MODE =-129 +PI_BAD_FILE_FLAG =-130 +PI_BAD_FILE_READ =-131 +PI_BAD_FILE_WRITE =-132 +PI_FILE_NOT_ROPEN =-133 +PI_FILE_NOT_WOPEN =-134 +PI_BAD_FILE_SEEK =-135 +PI_NO_FILE_MATCH =-136 +PI_NO_FILE_ACCESS =-137 +PI_FILE_IS_A_DIR =-138 +PI_BAD_SHELL_STATUS =-139 +PI_BAD_SCRIPT_NAME =-140 +PI_BAD_SPI_BAUD =-141 +PI_NOT_SPI_GPIO =-142 + +# pigpio error text + +_errors=[ + [_PI_INIT_FAILED , "pigpio initialisation failed"], + [PI_BAD_USER_GPIO , "GPIO not 0-31"], + [PI_BAD_GPIO , "GPIO not 0-53"], + [PI_BAD_MODE , "mode not 0-7"], + [PI_BAD_LEVEL , "level not 0-1"], + [PI_BAD_PUD , "pud not 0-2"], + [PI_BAD_PULSEWIDTH , "pulsewidth not 0 or 500-2500"], + [PI_BAD_DUTYCYCLE , "dutycycle not 0-range (default 255)"], + [_PI_BAD_TIMER , "timer not 0-9"], + [_PI_BAD_MS , "ms not 10-60000"], + [_PI_BAD_TIMETYPE , "timetype not 0-1"], + [_PI_BAD_SECONDS , "seconds < 0"], + [_PI_BAD_MICROS , "micros not 0-999999"], + [_PI_TIMER_FAILED , "gpioSetTimerFunc failed"], + [PI_BAD_WDOG_TIMEOUT , "timeout not 0-60000"], + [_PI_NO_ALERT_FUNC , "DEPRECATED"], + [_PI_BAD_CLK_PERIPH , "clock peripheral not 0-1"], + [_PI_BAD_CLK_SOURCE , "DEPRECATED"], + [_PI_BAD_CLK_MICROS , "clock micros not 1, 2, 4, 5, 8, or 10"], + [_PI_BAD_BUF_MILLIS , "buf millis not 100-10000"], + [PI_BAD_DUTYRANGE , "dutycycle range not 25-40000"], + [_PI_BAD_SIGNUM , "signum not 0-63"], + [_PI_BAD_PATHNAME , "can't open pathname"], + [PI_NO_HANDLE , "no handle available"], + [PI_BAD_HANDLE , "unknown handle"], + [_PI_BAD_IF_FLAGS , "ifFlags > 3"], + [_PI_BAD_CHANNEL , "DMA channel not 0-14"], + [_PI_BAD_SOCKET_PORT , "socket port not 1024-30000"], + [_PI_BAD_FIFO_COMMAND , "unknown fifo command"], + [_PI_BAD_SECO_CHANNEL , "DMA secondary channel not 0-14"], + [_PI_NOT_INITIALISED , "function called before gpioInitialise"], + [_PI_INITIALISED , "function called after gpioInitialise"], + [_PI_BAD_WAVE_MODE , "waveform mode not 0-1"], + [_PI_BAD_CFG_INTERNAL , "bad parameter in gpioCfgInternals call"], + [PI_BAD_WAVE_BAUD , "baud rate not 50-250000(RX)/1000000(TX)"], + [PI_TOO_MANY_PULSES , "waveform has too many pulses"], + [PI_TOO_MANY_CHARS , "waveform has too many chars"], + [PI_NOT_SERIAL_GPIO , "no bit bang serial read in progress on GPIO"], + [PI_NOT_PERMITTED , "no permission to update GPIO"], + [PI_SOME_PERMITTED , "no permission to update one or more GPIO"], + [PI_BAD_WVSC_COMMND , "bad WVSC subcommand"], + [PI_BAD_WVSM_COMMND , "bad WVSM subcommand"], + [PI_BAD_WVSP_COMMND , "bad WVSP subcommand"], + [PI_BAD_PULSELEN , "trigger pulse length not 1-100"], + [PI_BAD_SCRIPT , "invalid script"], + [PI_BAD_SCRIPT_ID , "unknown script id"], + [PI_BAD_SER_OFFSET , "add serial data offset > 30 minute"], + [PI_GPIO_IN_USE , "GPIO already in use"], + [PI_BAD_SERIAL_COUNT , "must read at least a byte at a time"], + [PI_BAD_PARAM_NUM , "script parameter id not 0-9"], + [PI_DUP_TAG , "script has duplicate tag"], + [PI_TOO_MANY_TAGS , "script has too many tags"], + [PI_BAD_SCRIPT_CMD , "illegal script command"], + [PI_BAD_VAR_NUM , "script variable id not 0-149"], + [PI_NO_SCRIPT_ROOM , "no more room for scripts"], + [PI_NO_MEMORY , "can't allocate temporary memory"], + [PI_SOCK_READ_FAILED , "socket read failed"], + [PI_SOCK_WRIT_FAILED , "socket write failed"], + [PI_TOO_MANY_PARAM , "too many script parameters (> 10)"], + [PI_SCRIPT_NOT_READY , "script initialising"], + [PI_BAD_TAG , "script has unresolved tag"], + [PI_BAD_MICS_DELAY , "bad MICS delay (too large)"], + [PI_BAD_MILS_DELAY , "bad MILS delay (too large)"], + [PI_BAD_WAVE_ID , "non existent wave id"], + [PI_TOO_MANY_CBS , "No more CBs for waveform"], + [PI_TOO_MANY_OOL , "No more OOL for waveform"], + [PI_EMPTY_WAVEFORM , "attempt to create an empty waveform"], + [PI_NO_WAVEFORM_ID , "No more waveform ids"], + [PI_I2C_OPEN_FAILED , "can't open I2C device"], + [PI_SER_OPEN_FAILED , "can't open serial device"], + [PI_SPI_OPEN_FAILED , "can't open SPI device"], + [PI_BAD_I2C_BUS , "bad I2C bus"], + [PI_BAD_I2C_ADDR , "bad I2C address"], + [PI_BAD_SPI_CHANNEL , "bad SPI channel"], + [PI_BAD_FLAGS , "bad i2c/spi/ser open flags"], + [PI_BAD_SPI_SPEED , "bad SPI speed"], + [PI_BAD_SER_DEVICE , "bad serial device name"], + [PI_BAD_SER_SPEED , "bad serial baud rate"], + [PI_BAD_PARAM , "bad i2c/spi/ser parameter"], + [PI_I2C_WRITE_FAILED , "I2C write failed"], + [PI_I2C_READ_FAILED , "I2C read failed"], + [PI_BAD_SPI_COUNT , "bad SPI count"], + [PI_SER_WRITE_FAILED , "ser write failed"], + [PI_SER_READ_FAILED , "ser read failed"], + [PI_SER_READ_NO_DATA , "ser read no data available"], + [PI_UNKNOWN_COMMAND , "unknown command"], + [PI_SPI_XFER_FAILED , "SPI xfer/read/write failed"], + [_PI_BAD_POINTER , "bad (NULL) pointer"], + [PI_NO_AUX_SPI , "no auxiliary SPI on Pi A or B"], + [PI_NOT_PWM_GPIO , "GPIO is not in use for PWM"], + [PI_NOT_SERVO_GPIO , "GPIO is not in use for servo pulses"], + [PI_NOT_HCLK_GPIO , "GPIO has no hardware clock"], + [PI_NOT_HPWM_GPIO , "GPIO has no hardware PWM"], + [PI_BAD_HPWM_FREQ , "hardware PWM frequency not 1-125M"], + [PI_BAD_HPWM_DUTY , "hardware PWM dutycycle not 0-1M"], + [PI_BAD_HCLK_FREQ , "hardware clock frequency not 4689-250M"], + [PI_BAD_HCLK_PASS , "need password to use hardware clock 1"], + [PI_HPWM_ILLEGAL , "illegal, PWM in use for main clock"], + [PI_BAD_DATABITS , "serial data bits not 1-32"], + [PI_BAD_STOPBITS , "serial (half) stop bits not 2-8"], + [PI_MSG_TOOBIG , "socket/pipe message too big"], + [PI_BAD_MALLOC_MODE , "bad memory allocation mode"], + [_PI_TOO_MANY_SEGS , "too many I2C transaction segments"], + [_PI_BAD_I2C_SEG , "an I2C transaction segment failed"], + [PI_BAD_SMBUS_CMD , "SMBus command not supported"], + [PI_NOT_I2C_GPIO , "no bit bang I2C in progress on GPIO"], + [PI_BAD_I2C_WLEN , "bad I2C write length"], + [PI_BAD_I2C_RLEN , "bad I2C read length"], + [PI_BAD_I2C_CMD , "bad I2C command"], + [PI_BAD_I2C_BAUD , "bad I2C baud rate, not 50-500k"], + [PI_CHAIN_LOOP_CNT , "bad chain loop count"], + [PI_BAD_CHAIN_LOOP , "empty chain loop"], + [PI_CHAIN_COUNTER , "too many chain counters"], + [PI_BAD_CHAIN_CMD , "bad chain command"], + [PI_BAD_CHAIN_DELAY , "bad chain delay micros"], + [PI_CHAIN_NESTING , "chain counters nested too deeply"], + [PI_CHAIN_TOO_BIG , "chain is too long"], + [PI_DEPRECATED , "deprecated function removed"], + [PI_BAD_SER_INVERT , "bit bang serial invert not 0 or 1"], + [_PI_BAD_EDGE , "bad ISR edge value, not 0-2"], + [_PI_BAD_ISR_INIT , "bad ISR initialisation"], + [PI_BAD_FOREVER , "loop forever must be last chain command"], + [PI_BAD_FILTER , "bad filter parameter"], + [PI_BAD_PAD , "bad pad number"], + [PI_BAD_STRENGTH , "bad pad drive strength"], + [PI_FIL_OPEN_FAILED , "file open failed"], + [PI_BAD_FILE_MODE , "bad file mode"], + [PI_BAD_FILE_FLAG , "bad file flag"], + [PI_BAD_FILE_READ , "bad file read"], + [PI_BAD_FILE_WRITE , "bad file write"], + [PI_FILE_NOT_ROPEN , "file not open for read"], + [PI_FILE_NOT_WOPEN , "file not open for write"], + [PI_BAD_FILE_SEEK , "bad file seek"], + [PI_NO_FILE_MATCH , "no files match pattern"], + [PI_NO_FILE_ACCESS , "no permission to access file"], + [PI_FILE_IS_A_DIR , "file is a directory"], + [PI_BAD_SHELL_STATUS , "bad shell return status"], + [PI_BAD_SCRIPT_NAME , "bad script name"], + [PI_BAD_SPI_BAUD , "bad SPI baud rate, not 50-500k"], + [PI_NOT_SPI_GPIO , "no bit bang SPI in progress on GPIO"], +] + +except_a = "%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n{}" + +except_z = "%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%" + +except1 = """ +Did you start the pigpio daemon? E.g. sudo pigpiod + +Did you specify the correct Pi host/port in the environment +variables PIGPIO_ADDR/PIGPIO_PORT? +E.g. export PIGPIO_ADDR=soft, export PIGPIO_PORT=8888 + +Did you specify the correct Pi host/port in the +pigpio.pi() function? E.g. pigpio.pi('soft', 8888)""" + +except2 = """ +Do you have permission to access the pigpio daemon? +Perhaps it was started with sudo pigpiod -nlocalhost""" + +class _socklock: + """ + A class to store socket and lock. + """ + def __init__(self): + self.s = None + self.l = threading.Lock() + +class error(Exception): + """pigpio module exception""" + def __init__(self, value): + self.value = value + def __str__(self): + return repr(self.value) + +class pulse: + """ + A class to store pulse information. + """ + + def __init__(self, gpio_on, gpio_off, delay): + """ + Initialises a pulse. + + gpio_on:= the GPIO to switch on at the start of the pulse. + gpio_off:= the GPIO to switch off at the start of the pulse. + delay:= the delay in microseconds before the next pulse. + + """ + self.gpio_on = gpio_on + self.gpio_off = gpio_off + self.delay = delay + +def error_text(errnum): + """ + Returns a text description of a pigpio error. + + errnum:= <0, the error number + + ... + print(pigpio.error_text(-5)) + level not 0-1 + ... + """ + for e in _errors: + if e[0] == errnum: + return e[1] + return "unknown error ({})".format(errnum) + +def tickDiff(t1, t2): + """ + Returns the microsecond difference between two ticks. + + t1:= the earlier tick + t2:= the later tick + + ... + print(pigpio.tickDiff(4294967272, 12)) + 36 + ... + """ + tDiff = t2 - t1 + if tDiff < 0: + tDiff += (1 << 32) + return tDiff + +# A couple of hacks to cope with different string handling +# between various Python versions +# 3 != 2.7.8 != 2.7.3 + +if sys.hexversion < 0x03000000: + def _b(x): + return x +else: + def _b(x): + return x.encode('latin-1') + +if sys.hexversion < 0x02070800: + def _str(x): + return buffer(x) +else: + def _str(x): + return x + +def u2i(uint32): + """ + Converts a 32 bit unsigned number to signed. + + uint32:= an unsigned 32 bit number + + ... + print(u2i(4294967272)) + -24 + print(u2i(37)) + 37 + ... + """ + mask = (2 ** 32) - 1 + if uint32 & (1 << 31): + v = uint32 | ~mask + else: + v = uint32 & mask + return v + +def _u2i(uint32): + """ + Converts a 32 bit unsigned number to signed. If the number + is negative it indicates an error. On error a pigpio + exception will be raised if exceptions is True. + """ + v = u2i(uint32) + if v < 0: + if exceptions: + raise error(error_text(v)) + return v + +def _pigpio_command(sl, cmd, p1, p2, rl=True): + """ + Runs a pigpio socket command. + + sl:= command socket and lock. + cmd:= the command to be executed. + p1:= command parameter 1 (if applicable). + p2:= command parameter 2 (if applicable). + """ + sl.l.acquire() + sl.s.send(struct.pack('IIII', cmd, p1, p2, 0)) + dummy, res = struct.unpack('12sI', sl.s.recv(16)) + if rl: sl.l.release() + return res + +def _pigpio_command_ext(sl, cmd, p1, p2, p3, extents, rl=True): + """ + Runs an extended pigpio socket command. + + sl:= command socket and lock. + cmd:= the command to be executed. + p1:= command parameter 1 (if applicable). + p2:= command parameter 2 (if applicable). + p3:= total size in bytes of following extents + extents:= additional data blocks + """ + ext = bytearray(struct.pack('IIII', cmd, p1, p2, p3)) + for x in extents: + if type(x) == type(""): + ext.extend(_b(x)) + else: + ext.extend(x) + sl.l.acquire() + sl.s.sendall(ext) + dummy, res = struct.unpack('12sI', sl.s.recv(16)) + if rl: sl.l.release() + return res + +class _callback_ADT: + """An ADT class to hold callback information.""" + + def __init__(self, gpio, edge, func): + """ + Initialises a callback ADT. + + gpio:= Broadcom GPIO number. + edge:= EITHER_EDGE, RISING_EDGE, or FALLING_EDGE. + func:= a user function taking three arguments (GPIO, level, tick). + """ + self.gpio = gpio + self.edge = edge + self.func = func + self.bit = 1<=0 Hz + + Returns the numerically closest frequency if OK, otherwise + PI_BAD_USER_GPIO or PI_NOT_PERMITTED. + + If PWM is currently active on the GPIO it will be switched + off and then back on at the new frequency. + + Each GPIO can be independently set to one of 18 different + PWM frequencies. + + The selectable frequencies depend upon the sample rate which + may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). The + sample rate is set when the pigpio daemon is started. + + The frequencies for each sample rate are: + + . . + Hertz + + 1: 40000 20000 10000 8000 5000 4000 2500 2000 1600 + 1250 1000 800 500 400 250 200 100 50 + + 2: 20000 10000 5000 4000 2500 2000 1250 1000 800 + 625 500 400 250 200 125 100 50 25 + + 4: 10000 5000 2500 2000 1250 1000 625 500 400 + 313 250 200 125 100 63 50 25 13 + sample + rate + (us) 5: 8000 4000 2000 1600 1000 800 500 400 320 + 250 200 160 100 80 50 40 20 10 + + 8: 5000 2500 1250 1000 625 500 313 250 200 + 156 125 100 63 50 31 25 13 6 + + 10: 4000 2000 1000 800 500 400 250 200 160 + 125 100 80 50 40 25 20 10 5 + . . + + ... + pi.set_PWM_frequency(4,0) + print(pi.get_PWM_frequency(4)) + 10 + + pi.set_PWM_frequency(4,100000) + print(pi.get_PWM_frequency(4)) + 8000 + ... + """ + return _u2i( + _pigpio_command(self.sl, _PI_CMD_PFS, user_gpio, frequency)) + + def get_PWM_frequency(self, user_gpio): + """ + Returns the frequency of PWM being used on the GPIO. + + user_gpio:= 0-31. + + Returns the frequency (in Hz) used for the GPIO. + + For normal PWM the frequency will be that defined for the GPIO + by [*set_PWM_frequency*]. + + If a hardware clock is active on the GPIO the reported frequency + will be that set by [*hardware_clock*]. + + If hardware PWM is active on the GPIO the reported frequency + will be that set by [*hardware_PWM*]. + + ... + pi.set_PWM_frequency(4,0) + print(pi.get_PWM_frequency(4)) + 10 + + pi.set_PWM_frequency(4, 800) + print(pi.get_PWM_frequency(4)) + 800 + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_PFG, user_gpio, 0)) + + def set_servo_pulsewidth(self, user_gpio, pulsewidth): + """ + Starts (500-2500) or stops (0) servo pulses on the GPIO. + + user_gpio:= 0-31. + pulsewidth:= 0 (off), + 500 (most anti-clockwise) - 2500 (most clockwise). + + The selected pulsewidth will continue to be transmitted until + changed by a subsequent call to set_servo_pulsewidth. + + The pulsewidths supported by servos varies and should probably + be determined by experiment. A value of 1500 should always be + safe and represents the mid-point of rotation. + + You can DAMAGE a servo if you command it to move beyond its + limits. + + ... + pi.set_servo_pulsewidth(17, 0) # off + pi.set_servo_pulsewidth(17, 1000) # safe anti-clockwise + pi.set_servo_pulsewidth(17, 1500) # centre + pi.set_servo_pulsewidth(17, 2000) # safe clockwise + ... + """ + return _u2i(_pigpio_command( + self.sl, _PI_CMD_SERVO, user_gpio, int(pulsewidth))) + + def get_servo_pulsewidth(self, user_gpio): + """ + Returns the servo pulsewidth being used on the GPIO. + + user_gpio:= 0-31. + + Returns the servo pulsewidth. + + ... + pi.set_servo_pulsewidth(4, 525) + print(pi.get_servo_pulsewidth(4)) + 525 + + pi.set_servo_pulsewidth(4, 2130) + print(pi.get_servo_pulsewidth(4)) + 2130 + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_GPW, user_gpio, 0)) + + def notify_open(self): + """ + Returns a notification handle (>=0). + + A notification is a method for being notified of GPIO state + changes via a pipe. + + Pipes are only accessible from the local machine so this + function serves no purpose if you are using Python from a + remote machine. The in-built (socket) notifications + provided by [*callback*] should be used instead. + + Notifications for handle x will be available at the pipe + named /dev/pigpiox (where x is the handle number). + + E.g. if the function returns 15 then the notifications must be + read from /dev/pigpio15. + + Notifications have the following structure. + + . . + H seqno + H flags + I tick + I level + . . + + seqno: starts at 0 each time the handle is opened and then + increments by one for each report. + + flags: two flags are defined, PI_NTFY_FLAGS_WDOG and + PI_NTFY_FLAGS_ALIVE. + + PI_NTFY_FLAGS_WDOG, if bit 5 is set then bits 0-4 of the + flags indicate a GPIO which has had a watchdog timeout. + + PI_NTFY_FLAGS_ALIVE, if bit 6 is set this indicates a keep + alive signal on the pipe/socket and is sent once a minute + in the absence of other notification activity. + + tick: the number of microseconds since system boot. It wraps + around after 1h12m. + + level: indicates the level of each GPIO. If bit 1<= 0: + pi.notify_begin(h, 1234) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_NO, 0, 0)) + + def notify_begin(self, handle, bits): + """ + Starts notifications on a handle. + + handle:= >=0 (as returned by a prior call to [*notify_open*]) + bits:= a 32 bit mask indicating the GPIO to be notified. + + The notification sends state changes for each GPIO whose + corresponding bit in bits is set. + + The following code starts notifications for GPIO 1, 4, + 6, 7, and 10 (1234 = 0x04D2 = 0b0000010011010010). + + ... + h = pi.notify_open() + if h >= 0: + pi.notify_begin(h, 1234) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_NB, handle, bits)) + + def notify_pause(self, handle): + """ + Pauses notifications on a handle. + + handle:= >=0 (as returned by a prior call to [*notify_open*]) + + Notifications for the handle are suspended until + [*notify_begin*] is called again. + + ... + h = pi.notify_open() + if h >= 0: + pi.notify_begin(h, 1234) + ... + pi.notify_pause(h) + ... + pi.notify_begin(h, 1234) + ... + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_NB, handle, 0)) + + def notify_close(self, handle): + """ + Stops notifications on a handle and releases the handle for reuse. + + handle:= >=0 (as returned by a prior call to [*notify_open*]) + + ... + h = pi.notify_open() + if h >= 0: + pi.notify_begin(h, 1234) + ... + pi.notify_close(h) + ... + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_NC, handle, 0)) + + def set_watchdog(self, user_gpio, wdog_timeout): + """ + Sets a watchdog timeout for a GPIO. + + user_gpio:= 0-31. + wdog_timeout:= 0-60000. + + The watchdog is nominally in milliseconds. + + Only one watchdog may be registered per GPIO. + + The watchdog may be cancelled by setting timeout to 0. + + If no level change has been detected for the GPIO for timeout + milliseconds any notification for the GPIO has a report written + to the fifo with the flags set to indicate a watchdog timeout. + + The callback class interprets the flags and will + call registered callbacks for the GPIO with level TIMEOUT. + + ... + pi.set_watchdog(23, 1000) # 1000 ms watchdog on GPIO 23 + pi.set_watchdog(23, 0) # cancel watchdog on GPIO 23 + ... + """ + return _u2i(_pigpio_command( + self.sl, _PI_CMD_WDOG, user_gpio, int(wdog_timeout))) + + def read_bank_1(self): + """ + Returns the levels of the bank 1 GPIO (GPIO 0-31). + + The returned 32 bit integer has a bit set if the corresponding + GPIO is high. GPIO n has bit value (1<=0) if OK, otherwise PI_EMPTY_WAVEFORM, + PI_TOO_MANY_CBS, PI_TOO_MANY_OOL, or PI_NO_WAVEFORM_ID. + + The data provided by the [*wave_add_**] functions is consumed by + this function. + + As many waveforms may be created as there is space available. + The wave id is passed to [*wave_send_**] to specify the waveform + to transmit. + + Normal usage would be + + Step 1. [*wave_clear*] to clear all waveforms and added data. + + Step 2. [*wave_add_**] calls to supply the waveform data. + + Step 3. [*wave_create*] to create the waveform and get a unique id + + Repeat steps 2 and 3 as needed. + + Step 4. [*wave_send_**] with the id of the waveform to transmit. + + A waveform comprises one or more pulses. + + A pulse specifies + + 1) the GPIO to be switched on at the start of the pulse. + 2) the GPIO to be switched off at the start of the pulse. + 3) the delay in microseconds before the next pulse. + + Any or all the fields can be zero. It doesn't make any sense + to set all the fields to zero (the pulse will be ignored). + + When a waveform is started each pulse is executed in order with + the specified delay between the pulse and the next. + + ... + wid = pi.wave_create() + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_WVCRE, 0, 0)) + + def wave_delete(self, wave_id): + """ + This function deletes the waveform with id wave_id. + + wave_id:= >=0 (as returned by a prior call to [*wave_create*]). + + Wave ids are allocated in order, 0, 1, 2, etc. + + ... + pi.wave_delete(6) # delete waveform with id 6 + + pi.wave_delete(0) # delete waveform with id 0 + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_WVDEL, wave_id, 0)) + + def wave_tx_start(self): # DEPRECATED + """ + This function is deprecated and has been removed. + + Use [*wave_create*]/[*wave_send_**] instead. + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_WVGO, 0, 0)) + + def wave_tx_repeat(self): # DEPRECATED + """ + This function is deprecated and has beeen removed. + + Use [*wave_create*]/[*wave_send_**] instead. + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_WVGOR, 0, 0)) + + def wave_send_once(self, wave_id): + """ + Transmits the waveform with id wave_id. The waveform is sent + once. + + NOTE: Any hardware PWM started by [*hardware_PWM*] will + be cancelled. + + wave_id:= >=0 (as returned by a prior call to [*wave_create*]). + + Returns the number of DMA control blocks used in the waveform. + + ... + cbs = pi.wave_send_once(wid) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTX, wave_id, 0)) + + def wave_send_repeat(self, wave_id): + """ + Transmits the waveform with id wave_id. The waveform repeats + until wave_tx_stop is called or another call to [*wave_send_**] + is made. + + NOTE: Any hardware PWM started by [*hardware_PWM*] will + be cancelled. + + wave_id:= >=0 (as returned by a prior call to [*wave_create*]). + + Returns the number of DMA control blocks used in the waveform. + + ... + cbs = pi.wave_send_repeat(wid) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTXR, wave_id, 0)) + + def wave_send_using_mode(self, wave_id, mode): + """ + Transmits the waveform with id wave_id using mode mode. + + wave_id:= >=0 (as returned by a prior call to [*wave_create*]). + mode:= WAVE_MODE_ONE_SHOT, WAVE_MODE_REPEAT, + WAVE_MODE_ONE_SHOT_SYNC, or WAVE_MODE_REPEAT_SYNC. + + WAVE_MODE_ONE_SHOT: same as [*wave_send_once*]. + + WAVE_MODE_REPEAT same as [*wave_send_repeat*]. + + WAVE_MODE_ONE_SHOT_SYNC same as [*wave_send_once*] but tries + to sync with the previous waveform. + + WAVE_MODE_REPEAT_SYNC same as [*wave_send_repeat*] but tries + to sync with the previous waveform. + + WARNING: bad things may happen if you delete the previous + waveform before it has been synced to the new waveform. + + NOTE: Any hardware PWM started by [*hardware_PWM*] will + be cancelled. + + wave_id:= >=0 (as returned by a prior call to [*wave_create*]). + + Returns the number of DMA control blocks used in the waveform. + + ... + cbs = pi.wave_send_using_mode(wid, WAVE_MODE_REPEAT_SYNC) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTXM, wave_id, mode)) + + def wave_tx_at(self): + """ + Returns the id of the waveform currently being + transmitted. + + Returns the waveform id or one of the following special + values: + + WAVE_NOT_FOUND (9998) - transmitted wave not found. + NO_TX_WAVE (9999) - no wave being transmitted. + + ... + wid = pi.wave_tx_at() + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_WVTAT, 0, 0)) + + def wave_tx_busy(self): + """ + Returns 1 if a waveform is currently being transmitted, + otherwise 0. + + ... + pi.wave_send_once(0) # send first waveform + + while pi.wave_tx_busy(): # wait for waveform to be sent + time.sleep(0.1) + + pi.wave_send_once(1) # send next waveform + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_WVBSY, 0, 0)) + + def wave_tx_stop(self): + """ + Stops the transmission of the current waveform. + + This function is intended to stop a waveform started with + wave_send_repeat. + + ... + pi.wave_send_repeat(3) + + time.sleep(5) + + pi.wave_tx_stop() + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_WVHLT, 0, 0)) + + def wave_chain(self, data): + """ + This function transmits a chain of waveforms. + + NOTE: Any hardware PWM started by [*hardware_PWM*] + will be cancelled. + + The waves to be transmitted are specified by the contents + of data which contains an ordered list of [*wave_id*]s + and optional command codes and related data. + + Returns 0 if OK, otherwise PI_CHAIN_NESTING, + PI_CHAIN_LOOP_CNT, PI_BAD_CHAIN_LOOP, PI_BAD_CHAIN_CMD, + PI_CHAIN_COUNTER, PI_BAD_CHAIN_DELAY, PI_CHAIN_TOO_BIG, + or PI_BAD_WAVE_ID. + + Each wave is transmitted in the order specified. A wave + may occur multiple times per chain. + + A blocks of waves may be transmitted multiple times by + using the loop commands. The block is bracketed by loop + start and end commands. Loops may be nested. + + Delays between waves may be added with the delay command. + + The following command codes are supported: + + Name @ Cmd & Data @ Meaning + Loop Start @ 255 0 @ Identify start of a wave block + Loop Repeat @ 255 1 x y @ loop x + y*256 times + Delay @ 255 2 x y @ delay x + y*256 microseconds + Loop Forever @ 255 3 @ loop forever + + If present Loop Forever must be the last entry in the chain. + + The code is currently dimensioned to support a chain with + roughly 600 entries and 20 loop counters. + + ... + #!/usr/bin/env python + + import time + import pigpio + + WAVES=5 + GPIO=4 + + wid=[0]*WAVES + + pi = pigpio.pi() # Connect to local Pi. + + pi.set_mode(GPIO, pigpio.OUTPUT); + + for i in range(WAVES): + pi.wave_add_generic([ + pigpio.pulse(1<=0) for the device at the I2C bus address. + + i2c_bus:= >=0. + i2c_address:= 0-0x7F. + i2c_flags:= 0, no flags are currently defined. + + Normally you would only use the [*i2c_**] functions if + you are or will be connecting to the Pi over a network. If + you will always run on the local Pi use the standard SMBus + module instead. + + Physically buses 0 and 1 are available on the Pi. Higher + numbered buses will be available if a kernel supported bus + multiplexor is being used. + + For the SMBus commands the low level transactions are shown + at the end of the function description. The following + abbreviations are used. + + . . + S (1 bit) : Start bit + P (1 bit) : Stop bit + Rd/Wr (1 bit) : Read/Write bit. Rd equals 1, Wr equals 0. + A, NA (1 bit) : Accept and not accept bit. + Addr (7 bits): I2C 7 bit address. + reg (8 bits): Command byte, which often selects a register. + Data (8 bits): A data byte. + Count (8 bits): A byte defining the length of a block operation. + + [..]: Data sent by the device. + . . + + ... + h = pi.i2c_open(1, 0x53) # open device at address 0x53 on bus 1 + ... + """ + # I p1 i2c_bus + # I p2 i2c_addr + # I p3 4 + ## extension ## + # I i2c_flags + extents = [struct.pack("I", i2c_flags)] + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_I2CO, i2c_bus, i2c_address, 4, extents)) + + def i2c_close(self, handle): + """ + Closes the I2C device associated with handle. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + + ... + pi.i2c_close(h) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CC, handle, 0)) + + def i2c_write_quick(self, handle, bit): + """ + Sends a single bit to the device associated with handle. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + bit:= 0 or 1, the value to write. + + SMBus 2.0 5.5.1 - Quick command. + . . + S Addr bit [A] P + . . + + ... + pi.i2c_write_quick(0, 1) # send 1 to device 0 + pi.i2c_write_quick(3, 0) # send 0 to device 3 + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CWQ, handle, bit)) + + def i2c_write_byte(self, handle, byte_val): + """ + Sends a single byte to the device associated with handle. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + byte_val:= 0-255, the value to write. + + SMBus 2.0 5.5.2 - Send byte. + . . + S Addr Wr [A] byte_val [A] P + . . + + ... + pi.i2c_write_byte(1, 17) # send byte 17 to device 1 + pi.i2c_write_byte(2, 0x23) # send byte 0x23 to device 2 + ... + """ + return _u2i( + _pigpio_command(self.sl, _PI_CMD_I2CWS, handle, byte_val)) + + def i2c_read_byte(self, handle): + """ + Reads a single byte from the device associated with handle. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + + SMBus 2.0 5.5.3 - Receive byte. + . . + S Addr Rd [A] [Data] NA P + . . + + ... + b = pi.i2c_read_byte(2) # read a byte from device 2 + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CRS, handle, 0)) + + def i2c_write_byte_data(self, handle, reg, byte_val): + """ + Writes a single byte to the specified register of the device + associated with handle. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + reg:= >=0, the device register. + byte_val:= 0-255, the value to write. + + SMBus 2.0 5.5.4 - Write byte. + . . + S Addr Wr [A] reg [A] byte_val [A] P + . . + + ... + # send byte 0xC5 to reg 2 of device 1 + pi.i2c_write_byte_data(1, 2, 0xC5) + + # send byte 9 to reg 4 of device 2 + pi.i2c_write_byte_data(2, 4, 9) + ... + """ + # I p1 handle + # I p2 reg + # I p3 4 + ## extension ## + # I byte_val + extents = [struct.pack("I", byte_val)] + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_I2CWB, handle, reg, 4, extents)) + + def i2c_write_word_data(self, handle, reg, word_val): + """ + Writes a single 16 bit word to the specified register of the + device associated with handle. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + reg:= >=0, the device register. + word_val:= 0-65535, the value to write. + + SMBus 2.0 5.5.4 - Write word. + . . + S Addr Wr [A] reg [A] word_val_Low [A] word_val_High [A] P + . . + + ... + # send word 0xA0C5 to reg 5 of device 4 + pi.i2c_write_word_data(4, 5, 0xA0C5) + + # send word 2 to reg 2 of device 5 + pi.i2c_write_word_data(5, 2, 23) + ... + """ + # I p1 handle + # I p2 reg + # I p3 4 + ## extension ## + # I word_val + extents = [struct.pack("I", word_val)] + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_I2CWW, handle, reg, 4, extents)) + + def i2c_read_byte_data(self, handle, reg): + """ + Reads a single byte from the specified register of the device + associated with handle. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + reg:= >=0, the device register. + + SMBus 2.0 5.5.5 - Read byte. + . . + S Addr Wr [A] reg [A] S Addr Rd [A] [Data] NA P + . . + + ... + # read byte from reg 17 of device 2 + b = pi.i2c_read_byte_data(2, 17) + + # read byte from reg 1 of device 0 + b = pi.i2c_read_byte_data(0, 1) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CRB, handle, reg)) + + def i2c_read_word_data(self, handle, reg): + """ + Reads a single 16 bit word from the specified register of the + device associated with handle. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + reg:= >=0, the device register. + + SMBus 2.0 5.5.5 - Read word. + . . + S Addr Wr [A] reg [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P + . . + + ... + # read word from reg 2 of device 3 + w = pi.i2c_read_word_data(3, 2) + + # read word from reg 7 of device 2 + w = pi.i2c_read_word_data(2, 7) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_I2CRW, handle, reg)) + + def i2c_process_call(self, handle, reg, word_val): + """ + Writes 16 bits of data to the specified register of the device + associated with handle and reads 16 bits of data in return. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + reg:= >=0, the device register. + word_val:= 0-65535, the value to write. + + SMBus 2.0 5.5.6 - Process call. + . . + S Addr Wr [A] reg [A] word_val_Low [A] word_val_High [A] + S Addr Rd [A] [DataLow] A [DataHigh] NA P + . . + + ... + r = pi.i2c_process_call(h, 4, 0x1231) + r = pi.i2c_process_call(h, 6, 0) + ... + """ + # I p1 handle + # I p2 reg + # I p3 4 + ## extension ## + # I word_val + extents = [struct.pack("I", word_val)] + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_I2CPC, handle, reg, 4, extents)) + + def i2c_write_block_data(self, handle, reg, data): + """ + Writes up to 32 bytes to the specified register of the device + associated with handle. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + reg:= >=0, the device register. + data:= the bytes to write. + + SMBus 2.0 5.5.7 - Block write. + . . + S Addr Wr [A] reg [A] len(data) [A] data0 [A] data1 [A] ... [A] + datan [A] P + . . + + ... + pi.i2c_write_block_data(4, 5, b'hello') + + pi.i2c_write_block_data(4, 5, "data bytes") + + pi.i2c_write_block_data(5, 0, b'\\x00\\x01\\x22') + + pi.i2c_write_block_data(6, 2, [0, 1, 0x22]) + ... + """ + # I p1 handle + # I p2 reg + # I p3 len + ## extension ## + # s len data bytes + if len(data): + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_I2CWK, handle, reg, len(data), [data])) + else: + return 0 + + def i2c_read_block_data(self, handle, reg): + """ + Reads a block of up to 32 bytes from the specified register of + the device associated with handle. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + reg:= >=0, the device register. + + SMBus 2.0 5.5.7 - Block read. + . . + S Addr Wr [A] reg [A] + S Addr Rd [A] [Count] A [Data] A [Data] A ... A [Data] NA P + . . + + The amount of returned data is set by the device. + + The returned value is a tuple of the number of bytes read and a + bytearray containing the bytes. If there was an error the + number of bytes read will be less than zero (and will contain + the error code). + + ... + (b, d) = pi.i2c_read_block_data(h, 10) + if b >= 0: + # process data + else: + # process read failure + ... + """ + # Don't raise exception. Must release lock. + bytes = u2i(_pigpio_command(self.sl, _PI_CMD_I2CRK, handle, reg, False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + def i2c_block_process_call(self, handle, reg, data): + """ + Writes data bytes to the specified register of the device + associated with handle and reads a device specified number + of bytes of data in return. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + reg:= >=0, the device register. + data:= the bytes to write. + + The SMBus 2.0 documentation states that a minimum of 1 byte may + be sent and a minimum of 1 byte may be received. The total + number of bytes sent/received must be 32 or less. + + SMBus 2.0 5.5.8 - Block write-block read. + . . + S Addr Wr [A] reg [A] len(data) [A] data0 [A] ... datan [A] + S Addr Rd [A] [Count] A [Data] ... A P + . . + + The returned value is a tuple of the number of bytes read and a + bytearray containing the bytes. If there was an error the + number of bytes read will be less than zero (and will contain + the error code). + + ... + (b, d) = pi.i2c_block_process_call(h, 10, b'\\x02\\x05\\x00') + + (b, d) = pi.i2c_block_process_call(h, 10, b'abcdr') + + (b, d) = pi.i2c_block_process_call(h, 10, "abracad") + + (b, d) = pi.i2c_block_process_call(h, 10, [2, 5, 16]) + ... + """ + # I p1 handle + # I p2 reg + # I p3 len + ## extension ## + # s len data bytes + + # Don't raise exception. Must release lock. + bytes = u2i(_pigpio_command_ext( + self.sl, _PI_CMD_I2CPK, handle, reg, len(data), [data], False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + def i2c_write_i2c_block_data(self, handle, reg, data): + """ + Writes data bytes to the specified register of the device + associated with handle . 1-32 bytes may be written. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + reg:= >=0, the device register. + data:= the bytes to write. + + . . + S Addr Wr [A] reg [A] data0 [A] data1 [A] ... [A] datan [NA] P + . . + + ... + pi.i2c_write_i2c_block_data(4, 5, 'hello') + + pi.i2c_write_i2c_block_data(4, 5, b'hello') + + pi.i2c_write_i2c_block_data(5, 0, b'\\x00\\x01\\x22') + + pi.i2c_write_i2c_block_data(6, 2, [0, 1, 0x22]) + ... + """ + # I p1 handle + # I p2 reg + # I p3 len + ## extension ## + # s len data bytes + if len(data): + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_I2CWI, handle, reg, len(data), [data])) + else: + return 0 + + def i2c_read_i2c_block_data(self, handle, reg, count): + """ + Reads count bytes from the specified register of the device + associated with handle . The count may be 1-32. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + reg:= >=0, the device register. + count:= >0, the number of bytes to read. + + . . + S Addr Wr [A] reg [A] + S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P + . . + + The returned value is a tuple of the number of bytes read and a + bytearray containing the bytes. If there was an error the + number of bytes read will be less than zero (and will contain + the error code). + + ... + (b, d) = pi.i2c_read_i2c_block_data(h, 4, 32) + if b >= 0: + # process data + else: + # process read failure + ... + """ + # I p1 handle + # I p2 reg + # I p3 4 + ## extension ## + # I count + extents = [struct.pack("I", count)] + + # Don't raise exception. Must release lock. + bytes = u2i(_pigpio_command_ext( + self.sl, _PI_CMD_I2CRI, handle, reg, 4, extents, False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + def i2c_read_device(self, handle, count): + """ + Returns count bytes read from the raw device associated + with handle. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + count:= >0, the number of bytes to read. + + . . + S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P + . . + + The returned value is a tuple of the number of bytes read and a + bytearray containing the bytes. If there was an error the + number of bytes read will be less than zero (and will contain + the error code). + + ... + (count, data) = pi.i2c_read_device(h, 12) + ... + """ + # Don't raise exception. Must release lock. + bytes = u2i( + _pigpio_command(self.sl, _PI_CMD_I2CRD, handle, count, False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + def i2c_write_device(self, handle, data): + """ + Writes the data bytes to the raw device associated with handle. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + data:= the bytes to write. + + . . + S Addr Wr [A] data0 [A] data1 [A] ... [A] datan [A] P + . . + + ... + pi.i2c_write_device(h, b"\\x12\\x34\\xA8") + + pi.i2c_write_device(h, b"help") + + pi.i2c_write_device(h, 'help') + + pi.i2c_write_device(h, [23, 56, 231]) + ... + """ + # I p1 handle + # I p2 0 + # I p3 len + ## extension ## + # s len data bytes + if len(data): + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_I2CWD, handle, 0, len(data), [data])) + else: + return 0 + + + def i2c_zip(self, handle, data): + """ + This function executes a sequence of I2C operations. The + operations to be performed are specified by the contents of data + which contains the concatenated command codes and associated data. + + handle:= >=0 (as returned by a prior call to [*i2c_open*]). + data:= the concatenated I2C commands, see below + + The returned value is a tuple of the number of bytes read and a + bytearray containing the bytes. If there was an error the + number of bytes read will be less than zero (and will contain + the error code). + + ... + (count, data) = pi.i2c_zip(h, [4, 0x53, 7, 1, 0x32, 6, 6, 0]) + ... + + The following command codes are supported: + + Name @ Cmd & Data @ Meaning + End @ 0 @ No more commands + Escape @ 1 @ Next P is two bytes + On @ 2 @ Switch combined flag on + Off @ 3 @ Switch combined flag off + Address @ 4 P @ Set I2C address to P + Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8) + Read @ 6 P @ Read P bytes of data + Write @ 7 P ... @ Write P bytes of data + + The address, read, and write commands take a parameter P. + Normally P is one byte (0-255). If the command is preceded by + the Escape command then P is two bytes (0-65535, least significant + byte first). + + The address defaults to that associated with the handle. + The flags default to 0. The address and flags maintain their + previous value until updated. + + Any read I2C data is concatenated in the returned bytearray. + + ... + Set address 0x53, write 0x32, read 6 bytes + Set address 0x1E, write 0x03, read 6 bytes + Set address 0x68, write 0x1B, read 8 bytes + End + + 0x04 0x53 0x07 0x01 0x32 0x06 0x06 + 0x04 0x1E 0x07 0x01 0x03 0x06 0x06 + 0x04 0x68 0x07 0x01 0x1B 0x06 0x08 + 0x00 + ... + """ + # I p1 handle + # I p2 0 + # I p3 len + ## extension ## + # s len data bytes + + # Don't raise exception. Must release lock. + bytes = u2i(_pigpio_command_ext( + self.sl, _PI_CMD_I2CZ, handle, 0, len(data), [data], False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + + def bb_spi_open(self, CS, MISO, MOSI, SCLK, baud=100000, spi_flags=0): + """ + This function selects a set of GPIO for bit banging SPI at a + specified baud rate. + + CS := 0-31 + MISO := 0-31 + MOSI := 0-31 + SCLK := 0-31 + baud := 50-250000 + spiFlags := see below + + spiFlags consists of the least significant 22 bits. + + . . + 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 + 0 0 0 0 0 0 R T 0 0 0 0 0 0 0 0 0 0 0 p m m + . . + + mm defines the SPI mode, defaults to 0 + + . . + Mode CPOL CPHA + 0 0 0 + 1 0 1 + 2 1 0 + 3 1 1 + . . + + The following constants may be used to set the mode: + + . . + pigpio.SPI_MODE_0 + pigpio.SPI_MODE_1 + pigpio.SPI_MODE_2 + pigpio.SPI_MODE_3 + . . + + Alternatively pigpio.SPI_CPOL and/or pigpio.SPI_CPHA + may be used. + + p is 0 if CS is active low (default) and 1 for active high. + pigpio.SPI_CS_HIGH_ACTIVE may be used to set this flag. + + T is 1 if the least significant bit is transmitted on MOSI first, + the default (0) shifts the most significant bit out first. + pigpio.SPI_TX_LSBFIRST may be used to set this flag. + + R is 1 if the least significant bit is received on MISO first, + the default (0) receives the most significant bit first. + pigpio.SPI_RX_LSBFIRST may be used to set this flag. + + The other bits in spiFlags should be set to zero. + + Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_SPI_BAUD, or + PI_GPIO_IN_USE. + + If more than one device is connected to the SPI bus (defined by + SCLK, MOSI, and MISO) each must have its own CS. + + ... + bb_spi_open(10, MISO, MOSI, SCLK, 10000, 0); // device 1 + bb_spi_open(11, MISO, MOSI, SCLK, 20000, 3); // device 2 + ... + """ + # I p1 CS + # I p2 0 + # I p3 20 + ## extension ## + # I MISO + # I MOSI + # I SCLK + # I baud + # I spi_flags + + extents = [struct.pack("IIIII", MISO, MOSI, SCLK, baud, spi_flags)] + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_BSPIO, CS, 0, 20, extents)) + + + def bb_spi_close(self, CS): + """ + This function stops bit banging SPI on a set of GPIO + opened with [*bb_spi_open*]. + + CS:= 0-31, the CS GPIO used in a prior call to [*bb_spi_open*] + + Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SPI_GPIO. + + ... + pi.bb_spi_close(CS) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_BSPIC, CS, 0)) + + + def bb_spi_xfer(self, CS, data): + """ + This function executes a bit banged SPI transfer. + + CS:= 0-31 (as used in a prior call to [*bb_spi_open*]) + data:= data to be sent + + The returned value is a tuple of the number of bytes read and a + bytearray containing the bytes. If there was an error the + number of bytes read will be less than zero (and will contain + the error code). + + ... + #!/usr/bin/env python + + import pigpio + + CE0=5 + CE1=6 + MISO=13 + MOSI=19 + SCLK=12 + + pi = pigpio.pi() + if not pi.connected: + exit() + + pi.bb_spi_open(CE0, MISO, MOSI, SCLK, 10000, 0) # MCP4251 DAC + pi.bb_spi_open(CE1, MISO, MOSI, SCLK, 20000, 3) # MCP3008 ADC + + for i in range(256): + + count, data = pi.bb_spi_xfer(CE0, [0, i]) # Set DAC value + + if count == 2: + + count, data = pi.bb_spi_xfer(CE0, [12, 0]) # Read back DAC + + if count == 2: + + set_val = data[1] + + count, data = pi.bb_spi_xfer(CE1, [1, 128, 0]) # Read ADC + + if count == 3: + + read_val = ((data[1]&3)<<8) | data[2] + + print("{} {}".format(set_val, read_val)) + + pi.bb_spi_close(CE0) + pi.bb_spi_close(CE1) + + pi.stop() + ... + """ + # I p1 CS + # I p2 0 + # I p3 len + ## extension ## + # s len data bytes + + # Don't raise exception. Must release lock. + bytes = u2i(_pigpio_command_ext( + self.sl, _PI_CMD_BSPIX, CS, 0, len(data), [data], False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + + def bb_i2c_open(self, SDA, SCL, baud=100000): + """ + This function selects a pair of GPIO for bit banging I2C at a + specified baud rate. + + Bit banging I2C allows for certain operations which are not possible + with the standard I2C driver. + + o baud rates as low as 50 + o repeated starts + o clock stretching + o I2C on any pair of spare GPIO + + SDA:= 0-31 + SCL:= 0-31 + baud:= 50-500000 + + Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_I2C_BAUD, or + PI_GPIO_IN_USE. + + NOTE: + + The GPIO used for SDA and SCL must have pull-ups to 3V3 connected. + As a guide the hardware pull-ups on pins 3 and 5 are 1k8 in value. + + ... + h = pi.bb_i2c_open(4, 5, 50000) # bit bang on GPIO 4/5 at 50kbps + ... + """ + # I p1 SDA + # I p2 SCL + # I p3 4 + ## extension ## + # I baud + extents = [struct.pack("I", baud)] + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_BI2CO, SDA, SCL, 4, extents)) + + + def bb_i2c_close(self, SDA): + """ + This function stops bit banging I2C on a pair of GPIO + previously opened with [*bb_i2c_open*]. + + SDA:= 0-31, the SDA GPIO used in a prior call to [*bb_i2c_open*] + + Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_I2C_GPIO. + + ... + pi.bb_i2c_close(SDA) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_BI2CC, SDA, 0)) + + + def bb_i2c_zip(self, SDA, data): + """ + This function executes a sequence of bit banged I2C operations. + The operations to be performed are specified by the contents + of data which contains the concatenated command codes and + associated data. + + SDA:= 0-31 (as used in a prior call to [*bb_i2c_open*]) + data:= the concatenated I2C commands, see below + + The returned value is a tuple of the number of bytes read and a + bytearray containing the bytes. If there was an error the + number of bytes read will be less than zero (and will contain + the error code). + + ... + (count, data) = pi.bb_i2c_zip( + h, [4, 0x53, 2, 7, 1, 0x32, 2, 6, 6, 3, 0]) + ... + + The following command codes are supported: + + Name @ Cmd & Data @ Meaning + End @ 0 @ No more commands + Escape @ 1 @ Next P is two bytes + Start @ 2 @ Start condition + Stop @ 3 @ Stop condition + Address @ 4 P @ Set I2C address to P + Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8) + Read @ 6 P @ Read P bytes of data + Write @ 7 P ... @ Write P bytes of data + + The address, read, and write commands take a parameter P. + Normally P is one byte (0-255). If the command is preceded by + the Escape command then P is two bytes (0-65535, least significant + byte first). + + The address and flags default to 0. The address and flags maintain + their previous value until updated. + + No flags are currently defined. + + Any read I2C data is concatenated in the returned bytearray. + + ... + Set address 0x53 + start, write 0x32, (re)start, read 6 bytes, stop + Set address 0x1E + start, write 0x03, (re)start, read 6 bytes, stop + Set address 0x68 + start, write 0x1B, (re)start, read 8 bytes, stop + End + + 0x04 0x53 + 0x02 0x07 0x01 0x32 0x02 0x06 0x06 0x03 + + 0x04 0x1E + 0x02 0x07 0x01 0x03 0x02 0x06 0x06 0x03 + + 0x04 0x68 + 0x02 0x07 0x01 0x1B 0x02 0x06 0x08 0x03 + + 0x00 + ... + """ + # I p1 SDA + # I p2 0 + # I p3 len + ## extension ## + # s len data bytes + + # Don't raise exception. Must release lock. + bytes = u2i(_pigpio_command_ext( + self.sl, _PI_CMD_BI2CZ, SDA, 0, len(data), [data], False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + def spi_open(self, spi_channel, baud, spi_flags=0): + """ + Returns a handle for the SPI device on channel. Data will be + transferred at baud bits per second. The flags may be used to + modify the default behaviour of 4-wire operation, mode 0, + active low chip select. + + An auxiliary SPI device is available on all models but the + A and B and may be selected by setting the A bit in the + flags. The auxiliary device has 3 chip selects and a + selectable word size in bits. + + spi_channel:= 0-1 (0-2 for the auxiliary SPI device). + baud:= 32K-125M (values above 30M are unlikely to work). + spi_flags:= see below. + + Normally you would only use the [*spi_**] functions if + you are or will be connecting to the Pi over a network. If + you will always run on the local Pi use the standard SPI + module instead. + + spi_flags consists of the least significant 22 bits. + + . . + 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 + b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m + . . + + mm defines the SPI mode. + + WARNING: modes 1 and 3 do not appear to work on + the auxiliary device. + + . . + Mode POL PHA + 0 0 0 + 1 0 1 + 2 1 0 + 3 1 1 + . . + + px is 0 if CEx is active low (default) and 1 for active high. + + ux is 0 if the CEx GPIO is reserved for SPI (default) + and 1 otherwise. + + A is 0 for the standard SPI device, 1 for the auxiliary SPI. + + W is 0 if the device is not 3-wire, 1 if the device is 3-wire. + Standard SPI device only. + + nnnn defines the number of bytes (0-15) to write before + switching the MOSI line to MISO to read data. This field + is ignored if W is not set. Standard SPI device only. + + T is 1 if the least significant bit is transmitted on MOSI + first, the default (0) shifts the most significant bit out + first. Auxiliary SPI device only. + + R is 1 if the least significant bit is received on MISO + first, the default (0) receives the most significant bit + first. Auxiliary SPI device only. + + bbbbbb defines the word size in bits (0-32). The default (0) + sets 8 bits per word. Auxiliary SPI device only. + + The [*spi_read*], [*spi_write*], and [*spi_xfer*] functions + transfer data packed into 1, 2, or 4 bytes according to + the word size in bits. + + For bits 1-8 there will be one byte per character. + For bits 9-16 there will be two bytes per character. + For bits 17-32 there will be four bytes per character. + + E.g. 32 12-bit words will be transferred in 64 bytes. + + The other bits in flags should be set to zero. + + ... + # open SPI device on channel 1 in mode 3 at 50000 bits per second + + h = pi.spi_open(1, 50000, 3) + ... + """ + # I p1 spi_channel + # I p2 baud + # I p3 4 + ## extension ## + # I spi_flags + extents = [struct.pack("I", spi_flags)] + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_SPIO, spi_channel, baud, 4, extents)) + + def spi_close(self, handle): + """ + Closes the SPI device associated with handle. + + handle:= >=0 (as returned by a prior call to [*spi_open*]). + + ... + pi.spi_close(h) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_SPIC, handle, 0)) + + def spi_read(self, handle, count): + """ + Reads count bytes from the SPI device associated with handle. + + handle:= >=0 (as returned by a prior call to [*spi_open*]). + count:= >0, the number of bytes to read. + + The returned value is a tuple of the number of bytes read and a + bytearray containing the bytes. If there was an error the + number of bytes read will be less than zero (and will contain + the error code). + + ... + (b, d) = pi.spi_read(h, 60) # read 60 bytes from device h + if b == 60: + # process read data + else: + # error path + ... + """ + # Don't raise exception. Must release lock. + bytes = u2i(_pigpio_command( + self.sl, _PI_CMD_SPIR, handle, count, False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + def spi_write(self, handle, data): + """ + Writes the data bytes to the SPI device associated with handle. + + handle:= >=0 (as returned by a prior call to [*spi_open*]). + data:= the bytes to write. + + ... + pi.spi_write(0, b'\\x02\\xc0\\x80') # write 3 bytes to device 0 + + pi.spi_write(0, b'defgh') # write 5 bytes to device 0 + + pi.spi_write(0, "def") # write 3 bytes to device 0 + + pi.spi_write(1, [2, 192, 128]) # write 3 bytes to device 1 + ... + """ + # I p1 handle + # I p2 0 + # I p3 len + ## extension ## + # s len data bytes + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_SPIW, handle, 0, len(data), [data])) + + def spi_xfer(self, handle, data): + """ + Writes the data bytes to the SPI device associated with handle, + returning the data bytes read from the device. + + handle:= >=0 (as returned by a prior call to [*spi_open*]). + data:= the bytes to write. + + The returned value is a tuple of the number of bytes read and a + bytearray containing the bytes. If there was an error the + number of bytes read will be less than zero (and will contain + the error code). + + ... + (count, rx_data) = pi.spi_xfer(h, b'\\x01\\x80\\x00') + + (count, rx_data) = pi.spi_xfer(h, [1, 128, 0]) + + (count, rx_data) = pi.spi_xfer(h, b"hello") + + (count, rx_data) = pi.spi_xfer(h, "hello") + ... + """ + # I p1 handle + # I p2 0 + # I p3 len + ## extension ## + # s len data bytes + + # Don't raise exception. Must release lock. + bytes = u2i(_pigpio_command_ext( + self.sl, _PI_CMD_SPIX, handle, 0, len(data), [data], False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + def serial_open(self, tty, baud, ser_flags=0): + """ + Returns a handle for the serial tty device opened + at baud bits per second. The device name must start + with /dev/tty or /dev/serial. + + tty:= the serial device to open. + baud:= baud rate in bits per second, see below. + ser_flags:= 0, no flags are currently defined. + + Normally you would only use the [*serial_**] functions if + you are or will be connecting to the Pi over a network. If + you will always run on the local Pi use the standard serial + module instead. + + The baud rate must be one of 50, 75, 110, 134, 150, + 200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200, + 38400, 57600, 115200, or 230400. + + ... + h1 = pi.serial_open("/dev/ttyAMA0", 300) + + h2 = pi.serial_open("/dev/ttyUSB1", 19200, 0) + + h3 = pi.serial_open("/dev/serial0", 9600) + ... + """ + # I p1 baud + # I p2 ser_flags + # I p3 len + ## extension ## + # s len data bytes + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_SERO, baud, ser_flags, len(tty), [tty])) + + def serial_close(self, handle): + """ + Closes the serial device associated with handle. + + handle:= >=0 (as returned by a prior call to [*serial_open*]). + + ... + pi.serial_close(h1) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_SERC, handle, 0)) + + def serial_read_byte(self, handle): + """ + Returns a single byte from the device associated with handle. + + handle:= >=0 (as returned by a prior call to [*serial_open*]). + + ... + b = pi.serial_read_byte(h1) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_SERRB, handle, 0)) + + def serial_write_byte(self, handle, byte_val): + """ + Writes a single byte to the device associated with handle. + + handle:= >=0 (as returned by a prior call to [*serial_open*]). + byte_val:= 0-255, the value to write. + + ... + pi.serial_write_byte(h1, 23) + + pi.serial_write_byte(h1, ord('Z')) + ... + """ + return _u2i( + _pigpio_command(self.sl, _PI_CMD_SERWB, handle, byte_val)) + + def serial_read(self, handle, count): + """ + Reads up to count bytes from the device associated with handle. + + handle:= >=0 (as returned by a prior call to [*serial_open*]). + count:= >0, the number of bytes to read. + + The returned value is a tuple of the number of bytes read and a + bytearray containing the bytes. If there was an error the + number of bytes read will be less than zero (and will contain + the error code). + + ... + (b, d) = pi.serial_read(h2, 100) + if b > 0: + # process read data + ... + """ + # Don't raise exception. Must release lock. + bytes = u2i( + _pigpio_command(self.sl, _PI_CMD_SERR, handle, count, False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + def serial_write(self, handle, data): + """ + Writes the data bytes to the device associated with handle. + + handle:= >=0 (as returned by a prior call to [*serial_open*]). + data:= the bytes to write. + + ... + pi.serial_write(h1, b'\\x02\\x03\\x04') + + pi.serial_write(h2, b'help') + + pi.serial_write(h2, "hello") + + pi.serial_write(h1, [2, 3, 4]) + ... + """ + # I p1 handle + # I p2 0 + # I p3 len + ## extension ## + # s len data bytes + + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_SERW, handle, 0, len(data), [data])) + + def serial_data_available(self, handle): + """ + Returns the number of bytes available to be read from the + device associated with handle. + + handle:= >=0 (as returned by a prior call to [*serial_open*]). + + ... + rdy = pi.serial_data_available(h1) + + if rdy > 0: + (b, d) = pi.serial_read(h1, rdy) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_SERDA, handle, 0)) + + def gpio_trigger(self, user_gpio, pulse_len=10, level=1): + """ + Send a trigger pulse to a GPIO. The GPIO is set to + level for pulse_len microseconds and then reset to not level. + + user_gpio:= 0-31 + pulse_len:= 1-100 + level:= 0-1 + + ... + pi.gpio_trigger(23, 10, 1) + ... + """ + # pigpio message format + + # I p1 user_gpio + # I p2 pulse_len + # I p3 4 + ## extension ## + # I level + extents = [struct.pack("I", level)] + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_TRIG, user_gpio, pulse_len, 4, extents)) + + def set_glitch_filter(self, user_gpio, steady): + """ + Sets a glitch filter on a GPIO. + + Level changes on the GPIO are not reported unless the level + has been stable for at least [*steady*] microseconds. The + level is then reported. Level changes of less than [*steady*] + microseconds are ignored. + + user_gpio:= 0-31 + steady:= 0-300000 + + Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. + + Note, each (stable) edge will be timestamped [*steady*] + microseconds after it was first detected. + + ... + pi.set_glitch_filter(23, 100) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_FG, user_gpio, steady)) + + def set_noise_filter(self, user_gpio, steady, active): + """ + Sets a noise filter on a GPIO. + + Level changes on the GPIO are ignored until a level which has + been stable for [*steady*] microseconds is detected. Level + changes on the GPIO are then reported for [*active*] + microseconds after which the process repeats. + + user_gpio:= 0-31 + steady:= 0-300000 + active:= 0-1000000 + + Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. + + Note, level changes before and after the active period may + be reported. Your software must be designed to cope with + such reports. + + ... + pi.set_noise_filter(23, 1000, 5000) + ... + """ + # pigpio message format + + # I p1 user_gpio + # I p2 steady + # I p3 4 + ## extension ## + # I active + extents = [struct.pack("I", active)] + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_FN, user_gpio, steady, 4, extents)) + + def store_script(self, script): + """ + Store a script for later execution. + + See [[http://abyz.co.uk/rpi/pigpio/pigs.html#Scripts]] for + details. + + script:= the script text as a series of bytes. + + Returns a >=0 script id if OK. + + ... + sid = pi.store_script( + b'tag 0 w 22 1 mils 100 w 22 0 mils 100 dcr p0 jp 0') + ... + """ + # I p1 0 + # I p2 0 + # I p3 len + ## extension ## + # s len data bytes + if len(script): + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_PROC, 0, 0, len(script), [script])) + else: + return 0 + + def run_script(self, script_id, params=None): + """ + Runs a stored script. + + script_id:= id of stored script. + params:= up to 10 parameters required by the script. + + ... + s = pi.run_script(sid, [par1, par2]) + + s = pi.run_script(sid) + + s = pi.run_script(sid, [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]) + ... + """ + # I p1 script id + # I p2 0 + # I p3 params * 4 (0-10 params) + ## (optional) extension ## + # I[] params + if params is not None: + ext = bytearray() + for p in params: + ext.extend(struct.pack("I", p)) + nump = len(params) + extents = [ext] + else: + nump = 0 + extents = [] + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_PROCR, script_id, 0, nump*4, extents)) + + def script_status(self, script_id): + """ + Returns the run status of a stored script as well as the + current values of parameters 0 to 9. + + script_id:= id of stored script. + + The run status may be + + . . + PI_SCRIPT_INITING + PI_SCRIPT_HALTED + PI_SCRIPT_RUNNING + PI_SCRIPT_WAITING + PI_SCRIPT_FAILED + . . + + The return value is a tuple of run status and a list of + the 10 parameters. On error the run status will be negative + and the parameter list will be empty. + + ... + (s, pars) = pi.script_status(sid) + ... + """ + # Don't raise exception. Must release lock. + bytes = u2i( + _pigpio_command(self.sl, _PI_CMD_PROCP, script_id, 0, False)) + if bytes > 0: + data = self._rxbuf(bytes) + pars = struct.unpack('11i', _str(data)) + status = pars[0] + params = pars[1:] + else: + status = bytes + params = () + self.sl.l.release() + return status, params + + def stop_script(self, script_id): + """ + Stops a running script. + + script_id:= id of stored script. + + ... + status = pi.stop_script(sid) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_PROCS, script_id, 0)) + + def delete_script(self, script_id): + """ + Deletes a stored script. + + script_id:= id of stored script. + + ... + status = pi.delete_script(sid) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_PROCD, script_id, 0)) + + def bb_serial_read_open(self, user_gpio, baud, bb_bits=8): + """ + Opens a GPIO for bit bang reading of serial data. + + user_gpio:= 0-31, the GPIO to use. + baud:= 50-250000, the baud rate. + bb_bits:= 1-32, the number of bits per word, default 8. + + The serial data is held in a cyclic buffer and is read using + [*bb_serial_read*]. + + It is the caller's responsibility to read data from the cyclic + buffer in a timely fashion. + + ... + status = pi.bb_serial_read_open(4, 19200) + status = pi.bb_serial_read_open(17, 9600) + ... + """ + # pigpio message format + + # I p1 user_gpio + # I p2 baud + # I p3 4 + ## extension ## + # I bb_bits + extents = [struct.pack("I", bb_bits)] + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_SLRO, user_gpio, baud, 4, extents)) + + def bb_serial_read(self, user_gpio): + """ + Returns data from the bit bang serial cyclic buffer. + + user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*]) + + The returned value is a tuple of the number of bytes read and a + bytearray containing the bytes. If there was an error the + number of bytes read will be less than zero (and will contain + the error code). + + The bytes returned for each character depend upon the number of + data bits [*bb_bits*] specified in the [*bb_serial_read_open*] + command. + + For [*bb_bits*] 1-8 there will be one byte per character. + For [*bb_bits*] 9-16 there will be two bytes per character. + For [*bb_bits*] 17-32 there will be four bytes per character. + + ... + (count, data) = pi.bb_serial_read(4) + ... + """ + # Don't raise exception. Must release lock. + bytes = u2i( + _pigpio_command(self.sl, _PI_CMD_SLR, user_gpio, 10000, False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + + def bb_serial_read_close(self, user_gpio): + """ + Closes a GPIO for bit bang reading of serial data. + + user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*]) + + ... + status = pi.bb_serial_read_close(17) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_SLRC, user_gpio, 0)) + + def bb_serial_invert(self, user_gpio, invert): + """ + Invert serial logic. + + user_gpio:= 0-31 (opened in a prior call to [*bb_serial_read_open*]) + invert:= 0-1 (1 invert, 0 normal) + + ... + status = pi.bb_serial_invert(17, 1) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_SLRI, user_gpio, invert)) + + + def custom_1(self, arg1=0, arg2=0, argx=[]): + """ + Calls a pigpio function customised by the user. + + arg1:= >=0, default 0. + arg2:= >=0, default 0. + argx:= extra arguments (each 0-255), default empty. + + The returned value is an integer which by convention + should be >=0 for OK and <0 for error. + + ... + value = pi.custom_1() + + value = pi.custom_1(23) + + value = pi.custom_1(0, 55) + + value = pi.custom_1(23, 56, [1, 5, 7]) + + value = pi.custom_1(23, 56, b"hello") + + value = pi.custom_1(23, 56, "hello") + ... + """ + # I p1 arg1 + # I p2 arg2 + # I p3 len + ## extension ## + # s len argx bytes + + return u2i(_pigpio_command_ext( + self.sl, _PI_CMD_CF1, arg1, arg2, len(argx), [argx])) + + def custom_2(self, arg1=0, argx=[], retMax=8192): + """ + Calls a pigpio function customised by the user. + + arg1:= >=0, default 0. + argx:= extra arguments (each 0-255), default empty. + retMax:= >=0, maximum number of bytes to return, default 8192. + + The returned value is a tuple of the number of bytes + returned and a bytearray containing the bytes. If + there was an error the number of bytes read will be + less than zero (and will contain the error code). + + ... + (count, data) = pi.custom_2() + + (count, data) = pi.custom_2(23) + + (count, data) = pi.custom_2(23, [1, 5, 7]) + + (count, data) = pi.custom_2(23, b"hello") + + (count, data) = pi.custom_2(23, "hello", 128) + ... + """ + # I p1 arg1 + # I p2 retMax + # I p3 len + ## extension ## + # s len argx bytes + + # Don't raise exception. Must release lock. + bytes = u2i(_pigpio_command_ext( + self.sl, _PI_CMD_CF2, arg1, retMax, len(argx), [argx], False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + def get_pad_strength(self, pad): + """ + This function returns the pad drive strength in mA. + + pad:= 0-2, the pad to get. + + Returns the pad drive strength if OK, otherwise PI_BAD_PAD. + + Pad @ GPIO + 0 @ 0-27 + 1 @ 28-45 + 2 @ 46-53 + + ... + strength = pi.get_pad_strength(0) # Get pad 0 strength. + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_PADG, pad, 0)) + + def set_pad_strength(self, pad, pad_strength): + """ + This function sets the pad drive strength in mA. + + + pad:= 0-2, the pad to set. + pad_strength:= 1-16 mA. + + Returns 0 if OK, otherwise PI_BAD_PAD, or PI_BAD_STRENGTH. + + Pad @ GPIO + 0 @ 0-27 + 1 @ 28-45 + 2 @ 46-53 + + ... + pi.set_pad_strength(2, 14) # Set pad 2 to 14 mA. + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_PADS, pad, pad_strength)) + + + def file_open(self, file_name, file_mode): + """ + This function returns a handle to a file opened in a specified mode. + + file_name:= the file to open. + file_mode:= the file open mode. + + Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, PI_NO_FILE_ACCESS, + PI_BAD_FILE_MODE, PI_FILE_OPEN_FAILED, or PI_FILE_IS_A_DIR. + + ... + h = pi.file_open("/home/pi/shared/dir_3/file.txt", + pigpio.FILE_WRITE | pigpio.FILE_CREATE) + + pi.file_write(h, "Hello world") + + pi.file_close(h) + ... + + File + + A file may only be opened if permission is granted by an entry in + /opt/pigpio/access. This is intended to allow remote access to files + in a more or less controlled manner. + + Each entry in /opt/pigpio/access takes the form of a file path + which may contain wildcards followed by a single letter permission. + The permission may be R for read, W for write, U for read/write, + and N for no access. + + Where more than one entry matches a file the most specific rule + applies. If no entry matches a file then access is denied. + + Suppose /opt/pigpio/access contains the following entries + + . . + /home/* n + /home/pi/shared/dir_1/* w + /home/pi/shared/dir_2/* r + /home/pi/shared/dir_3/* u + /home/pi/shared/dir_1/file.txt n + . . + + Files may be written in directory dir_1 with the exception + of file.txt. + + Files may be read in directory dir_2. + + Files may be read and written in directory dir_3. + + If a directory allows read, write, or read/write access then files + may be created in that directory. + + In an attempt to prevent risky permissions the following paths are + ignored in /opt/pigpio/access. + + . . + a path containing .. + a path containing only wildcards (*?) + a path containing less than two non-wildcard parts + . . + + Mode + + The mode may have the following values. + + Constant @ Value @ Meaning + FILE_READ @ 1 @ open file for reading + FILE_WRITE @ 2 @ open file for writing + FILE_RW @ 3 @ open file for reading and writing + + The following values may be or'd into the mode. + + Name @ Value @ Meaning + FILE_APPEND @ 4 @ All writes append data to the end of the file + FILE_CREATE @ 8 @ The file is created if it doesn't exist + FILE_TRUNC @ 16 @ The file is truncated + + Newly created files are owned by root with permissions owner + read and write. + + ... + #!/usr/bin/env python + + import pigpio + + pi = pigpio.pi() + + if not pi.connected: + exit() + + # Assumes /opt/pigpio/access contains the following line. + # /ram/*.c r + + handle = pi.file_open("/ram/pigpio.c", pigpio.FILE_READ) + + done = False + + while not done: + c, d = pi.file_read(handle, 60000) + if c > 0: + print(d) + else: + done = True + + pi.file_close(handle) + + pi.stop() + ... + """ + # I p1 file_mode + # I p2 0 + # I p3 len + ## extension ## + # s len data bytes + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_FO, file_mode, 0, len(file_name), [file_name])) + + def file_close(self, handle): + """ + Closes the file associated with handle. + + handle:= >=0 (as returned by a prior call to [*file_open*]). + + ... + pi.file_close(handle) + ... + """ + return _u2i(_pigpio_command(self.sl, _PI_CMD_FC, handle, 0)) + + def file_read(self, handle, count): + """ + Reads up to count bytes from the file associated with handle. + + handle:= >=0 (as returned by a prior call to [*file_open*]). + count:= >0, the number of bytes to read. + + The returned value is a tuple of the number of bytes read and a + bytearray containing the bytes. If there was an error the + number of bytes read will be less than zero (and will contain + the error code). + + ... + (b, d) = pi.file_read(h2, 100) + if b > 0: + # process read data + ... + """ + # Don't raise exception. Must release lock. + bytes = u2i( + _pigpio_command(self.sl, _PI_CMD_FR, handle, count, False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + def file_write(self, handle, data): + """ + Writes the data bytes to the file associated with handle. + + handle:= >=0 (as returned by a prior call to [*file_open*]). + data:= the bytes to write. + + ... + pi.file_write(h1, b'\\x02\\x03\\x04') + + pi.file_write(h2, b'help') + + pi.file_write(h2, "hello") + + pi.file_write(h1, [2, 3, 4]) + ... + """ + # I p1 handle + # I p2 0 + # I p3 len + ## extension ## + # s len data bytes + + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_FW, handle, 0, len(data), [data])) + + def file_seek(self, handle, seek_offset, seek_from): + """ + Seeks to a position relative to the start, current position, + or end of the file. Returns the new position. + + handle:= >=0 (as returned by a prior call to [*file_open*]). + seek_offset:= byte offset. + seek_from:= FROM_START, FROM_CURRENT, or FROM_END. + + ... + new_pos = pi.file_seek(h, 100, pigpio.FROM_START) + + cur_pos = pi.file_seek(h, 0, pigpio.FROM_CURRENT) + + file_size = pi.file_seek(h, 0, pigpio.FROM_END) + ... + """ + # I p1 handle + # I p2 seek_offset + # I p3 4 + ## extension ## + # I seek_from + extents = [struct.pack("I", seek_from)] + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_FS, handle, seek_offset, 4, extents)) + + def file_list(self, fpattern): + """ + Returns a list of files which match a pattern. + + fpattern:= file pattern to match. + + Returns the number of returned bytes if OK, otherwise + PI_NO_FILE_ACCESS, or PI_NO_FILE_MATCH. + + The pattern must match an entry in /opt/pigpio/access. The + pattern may contain wildcards. See [*file_open*]. + + NOTE + + The returned value is not the number of files, it is the number + of bytes in the buffer. The file names are separated by newline + characters. + + ... + #!/usr/bin/env python + + import pigpio + + pi = pigpio.pi() + + if not pi.connected: + exit() + + # Assumes /opt/pigpio/access contains the following line. + # /ram/*.c r + + c, d = pi.file_list("/ram/p*.c") + if c > 0: + print(d) + + pi.stop() + ... + """ + # I p1 60000 + # I p2 0 + # I p3 len + ## extension ## + # s len data bytes + + # Don't raise exception. Must release lock. + bytes = u2i(_pigpio_command_ext( + self.sl, _PI_CMD_FL, 60000, 0, len(fpattern), [fpattern], False)) + if bytes > 0: + data = self._rxbuf(bytes) + else: + data = "" + self.sl.l.release() + return bytes, data + + def shell(self, shellscr, pstring=""): + """ + This function uses the system call to execute a shell script + with the given string as its parameter. + + shellscr:= the name of the script, only alphanumerics, + '-' and '_' are allowed in the name + pstring := the parameter string to pass to the script + + The exit status of the system call is returned if OK, + otherwise PI_BAD_SHELL_STATUS. + + [*shellscr*] must exist in /opt/pigpio/cgi and must be executable. + + The returned exit status is normally 256 times that set by + the shell script exit function. If the script can't be + found 32512 will be returned. + + The following table gives some example returned statuses. + + Script exit status @ Returned system call status + 1 @ 256 + 5 @ 1280 + 10 @ 2560 + 200 @ 51200 + script not found @ 32512 + + ... + // pass two parameters, hello and world + status = pi.shell("scr1", "hello world"); + + // pass three parameters, hello, string with spaces, and world + status = pi.shell("scr1", "hello 'string with spaces' world"); + + // pass one parameter, hello string with spaces world + status = pi.shell("scr1", "\\"hello string with spaces world\\""); + ... + """ + # I p1 len(shellscr) + # I p2 0 + # I p3 len(shellscr)+len(pstring)+1 + ## extension ## + # s len data bytes + + ls = len(shellscr) + lp = len(pstring) + return _u2i(_pigpio_command_ext( + self.sl, _PI_CMD_SHELL, ls, 0, ls+lp+1, [shellscr+'\x00'+pstring])) + + def callback(self, user_gpio, edge=RISING_EDGE, func=None): + """ + Calls a user supplied function (a callback) whenever the + specified GPIO edge is detected. + + user_gpio:= 0-31. + edge:= EITHER_EDGE, RISING_EDGE (default), or FALLING_EDGE. + func:= user supplied callback function. + + The user supplied callback receives three parameters, the GPIO, + the level, and the tick. + + If a user callback is not specified a default tally callback is + provided which simply counts edges. The count may be retrieved + by calling the tally function. The count may be reset to zero + by calling the reset_tally function. + + The callback may be cancelled by calling the cancel function. + + A GPIO may have multiple callbacks (although I can't think of + a reason to do so). + + ... + def cbf(gpio, level, tick): + print(gpio, level, tick) + + cb1 = pi.callback(22, pigpio.EITHER_EDGE, cbf) + + cb2 = pi.callback(4, pigpio.EITHER_EDGE) + + cb3 = pi.callback(17) + + print(cb3.tally()) + + cb3.reset_tally() + + cb1.cancel() # To cancel callback cb1. + ... + """ + return _callback(self._notify, user_gpio, edge, func) + + def wait_for_edge(self, user_gpio, edge=RISING_EDGE, wait_timeout=60.0): + """ + Wait for an edge event on a GPIO. + + user_gpio:= 0-31. + edge:= EITHER_EDGE, RISING_EDGE (default), or + FALLING_EDGE. + wait_timeout:= >=0.0 (default 60.0). + + The function returns when the edge is detected or after + the number of seconds specified by timeout has expired. + + Do not use this function for precise timing purposes, + the edge is only checked 20 times a second. Whenever + you need to know the accurate time of GPIO events use + a [*callback*] function. + + The function returns True if the edge is detected, + otherwise False. + + ... + if pi.wait_for_edge(23): + print("Rising edge detected") + else: + print("wait for edge timed out") + + if pi.wait_for_edge(23, pigpio.FALLING_EDGE, 5.0): + print("Falling edge detected") + else: + print("wait for falling edge timed out") + ... + """ + a = _wait_for_edge(self._notify, user_gpio, edge, wait_timeout) + return a.trigger + + def __init__(self, + host = os.getenv("PIGPIO_ADDR", ''), + port = os.getenv("PIGPIO_PORT", 8888)): + """ + Grants access to a Pi's GPIO. + + host:= the host name of the Pi on which the pigpio daemon is + running. The default is localhost unless overridden by + the PIGPIO_ADDR environment variable. + + port:= the port number on which the pigpio daemon is listening. + The default is 8888 unless overridden by the PIGPIO_PORT + environment variable. The pigpio daemon must have been + started with the same port number. + + This connects to the pigpio daemon and reserves resources + to be used for sending commands and receiving notifications. + + An instance attribute [*connected*] may be used to check the + success of the connection. If the connection is established + successfully [*connected*] will be True, otherwise False. + + ... + pi = pigio.pi() # use defaults + pi = pigpio.pi('mypi') # specify host, default port + pi = pigpio.pi('mypi', 7777) # specify host and port + + pi = pigpio.pi() # exit script if no connection + if not pi.connected: + exit() + ... + """ + self.connected = True + + self.sl = _socklock() + self._notify = None + + port = int(port) + + self._host = host + self._port = port + + self.sl.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.sl.s.settimeout(None) + + # Disable the Nagle algorithm. + self.sl.s.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1) + + try: + self.sl.s.connect((host, port)) + self._notify = _callback_thread(self.sl, host, port) + + except socket.error: + exception = 1 + + except struct.error: + exception = 2 + + else: + exception = 0 + atexit.register(self.stop) + + if exception != 0: + + self.connected = False + + if self.sl.s is not None: + self.sl.s = None + + if host == '': + h = "localhost" + else: + h = host + + s = "Can't connect to pigpio at {}({})".format(str(h), str(port)) + + print(except_a.format(s)) + if exception == 1: + print(except1) + else: + print(except2) + print(except_z) + + def stop(self): + """Release pigpio resources. + + ... + pi.stop() + ... + """ + + self.connected = False + + if self._notify is not None: + self._notify.stop() + self._notify = None + + if self.sl.s is not None: + self.sl.s.close() + self.sl.s = None + +def xref(): + """ + active: 0-1000000 + The number of microseconds level changes are reported for once + a noise filter has been triggered (by [*steady*] microseconds of + a stable level). + + + arg1: + An unsigned argument passed to a user customised function. Its + meaning is defined by the customiser. + + arg2: + An unsigned argument passed to a user customised function. Its + meaning is defined by the customiser. + + argx: + An array of bytes passed to a user customised function. + Its meaning and content is defined by the customiser. + + baud: + The speed of serial communication (I2C, SPI, serial link, waves) + in bits per second. + + bb_bits: 1-32 + The number of data bits to be used when adding serial data to a + waveform. + + bb_stop: 2-8 + The number of (half) stop bits to be used when adding serial data + to a waveform. + + bit: 0-1 + A value of 0 or 1. + + bits: 32 bit number + A mask used to select GPIO to be operated on. If bit n is set + then GPIO n is selected. A convenient way of setting bit n is to + bit or in the value (1<=1 + The length of a pulse in microseconds. + + dutycycle: 0-range_ + A number between 0 and range_. + + The dutycycle sets the proportion of time on versus time off during each + PWM cycle. + + Dutycycle @ On time + 0 @ Off + range_ * 0.25 @ 25% On + range_ * 0.50 @ 50% On + range_ * 0.75 @ 75% On + range_ @ Fully On + + edge: 0-2 + EITHER_EDGE = 2 + FALLING_EDGE = 1 + RISING_EDGE = 0 + + errnum: <0 + + . . + PI_BAD_USER_GPIO = -2 + PI_BAD_GPIO = -3 + PI_BAD_MODE = -4 + PI_BAD_LEVEL = -5 + PI_BAD_PUD = -6 + PI_BAD_PULSEWIDTH = -7 + PI_BAD_DUTYCYCLE = -8 + PI_BAD_WDOG_TIMEOUT = -15 + PI_BAD_DUTYRANGE = -21 + PI_NO_HANDLE = -24 + PI_BAD_HANDLE = -25 + PI_BAD_WAVE_BAUD = -35 + PI_TOO_MANY_PULSES = -36 + PI_TOO_MANY_CHARS = -37 + PI_NOT_SERIAL_GPIO = -38 + PI_NOT_PERMITTED = -41 + PI_SOME_PERMITTED = -42 + PI_BAD_WVSC_COMMND = -43 + PI_BAD_WVSM_COMMND = -44 + PI_BAD_WVSP_COMMND = -45 + PI_BAD_PULSELEN = -46 + PI_BAD_SCRIPT = -47 + PI_BAD_SCRIPT_ID = -48 + PI_BAD_SER_OFFSET = -49 + PI_GPIO_IN_USE = -50 + PI_BAD_SERIAL_COUNT = -51 + PI_BAD_PARAM_NUM = -52 + PI_DUP_TAG = -53 + PI_TOO_MANY_TAGS = -54 + PI_BAD_SCRIPT_CMD = -55 + PI_BAD_VAR_NUM = -56 + PI_NO_SCRIPT_ROOM = -57 + PI_NO_MEMORY = -58 + PI_SOCK_READ_FAILED = -59 + PI_SOCK_WRIT_FAILED = -60 + PI_TOO_MANY_PARAM = -61 + PI_SCRIPT_NOT_READY = -62 + PI_BAD_TAG = -63 + PI_BAD_MICS_DELAY = -64 + PI_BAD_MILS_DELAY = -65 + PI_BAD_WAVE_ID = -66 + PI_TOO_MANY_CBS = -67 + PI_TOO_MANY_OOL = -68 + PI_EMPTY_WAVEFORM = -69 + PI_NO_WAVEFORM_ID = -70 + PI_I2C_OPEN_FAILED = -71 + PI_SER_OPEN_FAILED = -72 + PI_SPI_OPEN_FAILED = -73 + PI_BAD_I2C_BUS = -74 + PI_BAD_I2C_ADDR = -75 + PI_BAD_SPI_CHANNEL = -76 + PI_BAD_FLAGS = -77 + PI_BAD_SPI_SPEED = -78 + PI_BAD_SER_DEVICE = -79 + PI_BAD_SER_SPEED = -80 + PI_BAD_PARAM = -81 + PI_I2C_WRITE_FAILED = -82 + PI_I2C_READ_FAILED = -83 + PI_BAD_SPI_COUNT = -84 + PI_SER_WRITE_FAILED = -85 + PI_SER_READ_FAILED = -86 + PI_SER_READ_NO_DATA = -87 + PI_UNKNOWN_COMMAND = -88 + PI_SPI_XFER_FAILED = -89 + PI_NO_AUX_SPI = -91 + PI_NOT_PWM_GPIO = -92 + PI_NOT_SERVO_GPIO = -93 + PI_NOT_HCLK_GPIO = -94 + PI_NOT_HPWM_GPIO = -95 + PI_BAD_HPWM_FREQ = -96 + PI_BAD_HPWM_DUTY = -97 + PI_BAD_HCLK_FREQ = -98 + PI_BAD_HCLK_PASS = -99 + PI_HPWM_ILLEGAL = -100 + PI_BAD_DATABITS = -101 + PI_BAD_STOPBITS = -102 + PI_MSG_TOOBIG = -103 + PI_BAD_MALLOC_MODE = -104 + PI_BAD_SMBUS_CMD = -107 + PI_NOT_I2C_GPIO = -108 + PI_BAD_I2C_WLEN = -109 + PI_BAD_I2C_RLEN = -110 + PI_BAD_I2C_CMD = -111 + PI_BAD_I2C_BAUD = -112 + PI_CHAIN_LOOP_CNT = -113 + PI_BAD_CHAIN_LOOP = -114 + PI_CHAIN_COUNTER = -115 + PI_BAD_CHAIN_CMD = -116 + PI_BAD_CHAIN_DELAY = -117 + PI_CHAIN_NESTING = -118 + PI_CHAIN_TOO_BIG = -119 + PI_DEPRECATED = -120 + PI_BAD_SER_INVERT = -121 + PI_BAD_FOREVER = -124 + PI_BAD_FILTER = -125 + PI_BAD_PAD = -126 + PI_BAD_STRENGTH = -127 + PI_FIL_OPEN_FAILED = -128 + PI_BAD_FILE_MODE = -129 + PI_BAD_FILE_FLAG = -130 + PI_BAD_FILE_READ = -131 + PI_BAD_FILE_WRITE = -132 + PI_FILE_NOT_ROPEN = -133 + PI_FILE_NOT_WOPEN = -134 + PI_BAD_FILE_SEEK = -135 + PI_NO_FILE_MATCH = -136 + PI_NO_FILE_ACCESS = -137 + PI_FILE_IS_A_DIR = -138 + PI_BAD_SHELL_STATUS = -139 + PI_BAD_SCRIPT_NAME = -140 + . . + + file_mode: + The mode may have the following values. + + . . + FILE_READ 1 + FILE_WRITE 2 + FILE_RW 3 + . . + + The following values can be or'd into the file open mode. + + . . + FILE_APPEND 4 + FILE_CREATE 8 + FILE_TRUNC 16 + . . + + file_name: + A full file path. To be accessible the path must match + an entry in /opt/pigpio/access. + + fpattern: + A file path which may contain wildcards. To be accessible the path + must match an entry in /opt/pigpio/access. + + frequency: 0-40000 + Defines the frequency to be used for PWM on a GPIO. + The closest permitted frequency will be used. + + func: + A user supplied callback function. + + gpio: 0-53 + A Broadcom numbered GPIO. All the user GPIO are in the range 0-31. + + There are 54 General Purpose Input Outputs (GPIO) named GPIO0 + through GPIO53. + + They are split into two banks. Bank 1 consists of GPIO0 + through GPIO31. Bank 2 consists of GPIO32 through GPIO53. + + All the GPIO which are safe for the user to read and write are in + bank 1. Not all GPIO in bank 1 are safe though. Type 1 boards + have 17 safe GPIO. Type 2 boards have 21. Type 3 boards have 26. + + See [*get_hardware_revision*]. + + The user GPIO are marked with an X in the following table. + + . . + 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 + Type 1 X X - - X - - X X X X X - - X X + Type 2 - - X X X - - X X X X X - - X X + Type 3 X X X X X X X X X X X X X X + + 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 + Type 1 - X X - - X X X X X - - - - - - + Type 2 - X X - - - X X X X - X X X X X + Type 3 X X X X X X X X X X X X - - - - + . . + + gpio_off: + A mask used to select GPIO to be operated on. See [*bits*]. + + This mask selects the GPIO to be switched off at the start + of a pulse. + + gpio_on: + A mask used to select GPIO to be operated on. See [*bits*]. + + This mask selects the GPIO to be switched on at the start + of a pulse. + + handle: >=0 + A number referencing an object opened by one of [*file_open*], + [*i2c_open*], [*notify_open*], [*serial_open*], [*spi_open*]. + + host: + The name or IP address of the Pi running the pigpio daemon. + + i2c_*: + One of the i2c_ functions. + + i2c_address: 0-0x7F + The address of a device on the I2C bus. + + i2c_bus: >=0 + An I2C bus number. + + i2c_flags: 0 + No I2C flags are currently defined. + + invert: 0-1 + A flag used to set normal or inverted bit bang serial data + level logic. + + level: 0-1 (2) + CLEAR = 0 + HIGH = 1 + LOW = 0 + OFF = 0 + ON = 1 + SET = 1 + TIMEOUT = 2 # only returned for a watchdog timeout + + MISO: + The GPIO used for the MISO signal when bit banging SPI. + + mode: + + 1.The operational mode of a GPIO, normally INPUT or OUTPUT. + + ALT0 = 4 + ALT1 = 5 + ALT2 = 6 + ALT3 = 7 + ALT4 = 3 + ALT5 = 2 + INPUT = 0 + OUTPUT = 1 + + 2. The mode of waveform transmission. + + WAVE_MODE_ONE_SHOT = 0 + WAVE_MODE_REPEAT = 1 + WAVE_MODE_ONE_SHOT_SYNC = 2 + WAVE_MODE_REPEAT_SYNC = 3 + + MOSI: + The GPIO used for the MOSI signal when bit banging SPI. + + offset: >=0 + The offset wave data starts from the beginning of the waveform + being currently defined. + + pad: 0-2 + A set of GPIO which share common drivers. + + Pad @ GPIO + 0 @ 0-27 + 1 @ 28-45 + 2 @ 46-53 + + pad_strength: 1-16 + The mA which may be drawn from each GPIO whilst still guaranteeing the + high and low levels. + + params: 32 bit number + When scripts are started they can receive up to 10 parameters + to define their operation. + + port: + The port used by the pigpio daemon, defaults to 8888. + + pstring: + The string to be passed to a [*shell*] script to be executed. + + pud: 0-2 + PUD_DOWN = 1 + PUD_OFF = 0 + PUD_UP = 2 + + pulse_len: 1-100 + The length of the trigger pulse in microseconds. + + pulses: + A list of class pulse objects defining the characteristics of a + waveform. + + pulsewidth: + The servo pulsewidth in microseconds. 0 switches pulses off. + + PWMduty: 0-1000000 (1M) + The hardware PWM dutycycle. + + PWMfreq: 1-125000000 (125M) + The hardware PWM frequency. + + range_: 25-40000 + Defines the limits for the [*dutycycle*] parameter. + + range_ defaults to 255. + + reg: 0-255 + An I2C device register. The usable registers depend on the + actual device. + + retMax: >=0 + The maximum number of bytes a user customised function + should return, default 8192. + + SCL: + The user GPIO to use for the clock when bit banging I2C. + + SCLK:: + The GPIO used for the SCLK signal when bit banging SPI. + + script: + The text of a script to store on the pigpio daemon. + + script_id: >=0 + A number referencing a script created by [*store_script*]. + + SDA: + The user GPIO to use for data when bit banging I2C. + + seek_from: 0-2 + Direction to seek for [*file_seek*]. + + FROM_START=0 + FROM_CURRENT=1 + FROM_END=2 + + seek_offset: + The number of bytes to move forward (positive) or backwards + (negative) from the seek position (start, current, or end of file). + + ser_flags: 32 bit + No serial flags are currently defined. + + serial_*: + One of the serial_ functions. + + shellscr: + The name of a shell script. The script must exist + in /opt/pigpio/cgi and must be executable. + + spi_*: + One of the spi_ functions. + + spi_channel: 0-2 + A SPI channel. + + spi_flags: 32 bit + See [*spi_open*]. + + steady: 0-300000 + + The number of microseconds level changes must be stable for + before reporting the level changed ([*set_glitch_filter*]) + or triggering the active part of a noise filter + ([*set_noise_filter*]). + + t1: + A tick (earlier). + + t2: + A tick (later). + + tty: + A Pi serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0 + + uint32: + An unsigned 32 bit number. + + user_gpio: 0-31 + A Broadcom numbered GPIO. + + All the user GPIO are in the range 0-31. + + Not all the GPIO within this range are usable, some are reserved + for system use. + + See [*gpio*]. + + wait_timeout: 0.0 - + The number of seconds to wait in [*wait_for_edge*] before timing out. + + wave_add_*: + One of [*wave_add_new*] , [*wave_add_generic*], [*wave_add_serial*]. + + wave_id: >=0 + A number referencing a wave created by [*wave_create*]. + + wave_send_*: + One of [*wave_send_once*], [*wave_send_repeat*]. + + wdog_timeout: 0-60000 + Defines a GPIO watchdog timeout in milliseconds. If no level + change is detected on the GPIO for timeout millisecond a watchdog + timeout report is issued (with level TIMEOUT). + + word_val: 0-65535 + A whole number. + """ + pass + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod.1 b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod.1 new file mode 100644 index 0000000..188f352 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod.1 @@ -0,0 +1,263 @@ + +." Process this file with +." groff -man -Tascii pigpiod.1 +." +.TH pigpiod 1 2012-2015 Linux "pigpio archive" +.SH NAME +pigpiod - A utility to start the pigpio library as a daemon. + +.SH SYNOPSIS + +sudo pigpiod [OPTION]... +.SH DESCRIPTION + + +.ad l + +.nh +pigpiod is a utility which launches the pigpio library as a daemon. +.br + +.br +Once launched the pigpio library runs in the background accepting commands from the pipe and socket interfaces. +.br + +.br +The pigpiod utility requires sudo privileges to launch the library but thereafter the pipe and socket commands may be issued by normal users. +.br + +.br +pigpiod accepts the following configuration options +.br + +.br +.SH OPTIONS + +.IP "\fB-a value\fP" +DMA memory allocation mode. +0=AUTO, 1=PMAP, 2=MBOX. +Default AUTO +. +.IP "\fB-b value\fP" +GPIO sample buffer size in milliseconds. +100-10000. +Default 120 +. +.IP "\fB-c value\fP" +Library internal settings. +. +Default 0 +. +.IP "\fB-d value\fP" +Primary DMA channel. +0-14. +Default 14 +. +.IP "\fB-e value\fP" +Secondary DMA channel. +0-14. +Default 6. Preferably use one of DMA channels 0 to 6 for the secondary channel +. +.IP "\fB-f\fP" +Disable fifo interface. +. +Default enabled +. +.IP "\fB-k\fP" +Disable local and remote socket interface. +. +Default enabled +. +.IP "\fB-l\fP" +Disable remote socket interface. +. +Default enabled +. +.IP "\fB-n IP address\fP" +Allow IP address to use the socket interface. +Name (e.g. paul) or dotted quad (e.g. 192.168.1.66). +If the -n option is not used all addresses are allowed (unless overridden by the -k or -l options). Multiple -n options are allowed. If -k has been used -n has no effect. If -l has been used only -n localhost has any effect +. +.IP "\fB-p value\fP" +Socket port. +1024-32000. +Default 8888 +. +.IP "\fB-s value\fP" +Sample rate. +1, 2, 4, 5, 8, or 10 microseconds. +Default 5 +. +.IP "\fB-t value\fP" +Clock peripheral. +0=PWM 1=PCM. +Default PCM. pigpio uses one or both of PCM and PWM. If PCM is used then PWM is available for audio. If PWM is used then PCM is available for audio. If waves or hardware PWM are used neither PWM nor PCM will be available for audio. +. +.IP "\fB-v -V\fP" +Display pigpio version and exit. +. + +. +.IP "\fB-x mask\fP" +GPIO which may be updated. +A 54 bit mask with (1< +*/ + +/* +This version is for pigpio version 56+ +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pigpio.h" + +/* +This program starts the pigpio library as a daemon. +*/ + +static unsigned bufferSizeMilliseconds = PI_DEFAULT_BUFFER_MILLIS; +static unsigned clockMicros = PI_DEFAULT_CLK_MICROS; +static unsigned clockPeripheral = PI_DEFAULT_CLK_PERIPHERAL; +static unsigned ifFlags = PI_DEFAULT_IF_FLAGS; +static unsigned DMAprimaryChannel = PI_DEFAULT_DMA_PRIMARY_CHANNEL; +static unsigned DMAsecondaryChannel = PI_DEFAULT_DMA_SECONDARY_CHANNEL; +static unsigned socketPort = PI_DEFAULT_SOCKET_PORT; +static unsigned memAllocMode = PI_DEFAULT_MEM_ALLOC_MODE; +static uint64_t updateMask = -1; + +static uint32_t cfgInternals = PI_DEFAULT_CFG_INTERNALS; + +static int updateMaskSet = 0; + +static FILE * errFifo; + +static uint32_t sockNetAddr[MAX_CONNECT_ADDRESSES]; + +static int numSockNetAddr = 0; + +void fatal(char *fmt, ...) +{ + char buf[128]; + va_list ap; + + va_start(ap, fmt); + vsnprintf(buf, sizeof(buf), fmt, ap); + va_end(ap); + + fprintf(stderr, "%s\n", buf); + + fflush(stderr); + + exit(EXIT_FAILURE); +} + +void usage() +{ + fprintf(stderr, "\n" \ + "pigpio V%d\n" \ + "Usage: sudo pigpiod [OPTION] ...\n" \ + " -a value, DMA mode, 0=AUTO, 1=PMAP, 2=MBOX, default AUTO\n" \ + " -b value, sample buffer size in ms, default 120\n" \ + " -c value, library internal settings, default 0\n" \ + " -d value, primary DMA channel, 0-14, default 14\n" \ + " -e value, secondary DMA channel, 0-14, default 6\n" \ + " -f, disable fifo interface, default enabled\n" \ + " -k, disable socket interface, default enabled\n" \ + " -l, localhost socket only default local+remote\n" \ + " -n IP addr, allow address, name or dotted, default allow all\n" \ + " -p value, socket port, 1024-32000, default 8888\n" \ + " -s value, sample rate, 1, 2, 4, 5, 8, or 10, default 5\n" \ + " -t value, clock peripheral, 0=PWM 1=PCM, default PCM\n" \ + " -v, -V, display pigpio version and exit\n" \ + " -x mask, GPIO which may be updated, default board GPIO\n" \ + "EXAMPLE\n" \ + "sudo pigpiod -s 2 -b 200 -f\n" \ + " Set a sample rate of 2 microseconds with a 200 millisecond\n" \ + " buffer. Disable the fifo interface.\n" \ + "\n", PIGPIO_VERSION); +} + +static uint64_t getNum(char *str, int *err) +{ + uint64_t val; + char *endptr; + + *err = 0; + val = strtoll(str, &endptr, 0); + if (*endptr) {*err = 1; val = -1;} + return val; +} + +static uint32_t checkAddr(char *addrStr) +{ + int err; + struct addrinfo hints, *res; + struct sockaddr_in *sin; + const char *portStr; + uint32_t addr; + + portStr = getenv(PI_ENVPORT); + + if (!portStr) portStr = PI_DEFAULT_SOCKET_PORT_STR; + + memset (&hints, 0, sizeof (hints)); + + hints.ai_family = AF_INET; + hints.ai_socktype = SOCK_STREAM; + hints.ai_flags |= AI_CANONNAME; + + err = getaddrinfo(addrStr, portStr, &hints, &res); + + if (err) return 0; + + sin = (struct sockaddr_in *)res->ai_addr; + addr = sin->sin_addr.s_addr; + + freeaddrinfo(res); + + return addr; +} + +static void initOpts(int argc, char *argv[]) +{ + int opt, err, i; + uint32_t addr; + int64_t mask; + + while ((opt = getopt(argc, argv, "a:b:c:d:e:fkln:p:s:t:x:vV")) != -1) + { + switch (opt) + { + case 'a': + i = getNum(optarg, &err); + if ((i >= PI_MEM_ALLOC_AUTO) && (i <= PI_MEM_ALLOC_MAILBOX)) + memAllocMode = i; + else fatal("invalid -a option (%d)", i); + break; + + case 'b': + i = getNum(optarg, &err); + if ((i >= PI_BUF_MILLIS_MIN) && (i <= PI_BUF_MILLIS_MAX)) + bufferSizeMilliseconds = i; + else fatal("invalid -b option (%d)", i); + break; + + case 'c': + i = getNum(optarg, &err); + if ((i >= 0) && (i < PI_CFG_ILLEGAL_VAL)) + cfgInternals = i; + else fatal("invalid -c option (%x)", i); + break; + + case 'd': + i = getNum(optarg, &err); + if ((i >= PI_MIN_DMA_CHANNEL) && (i <= PI_MAX_DMA_CHANNEL)) + DMAprimaryChannel = i; + else fatal("invalid -d option (%d)", i); + break; + + case 'e': + i = getNum(optarg, &err); + if ((i >= PI_MIN_DMA_CHANNEL) && (i <= PI_MAX_DMA_CHANNEL)) + DMAsecondaryChannel = i; + else fatal("invalid -e option (%d)", i); + break; + + case 'f': + ifFlags |= PI_DISABLE_FIFO_IF; + break; + + case 'k': + ifFlags |= PI_DISABLE_SOCK_IF; + break; + + case 'l': + ifFlags |= PI_LOCALHOST_SOCK_IF; + break; + + case 'n': + addr = checkAddr(optarg); + if (addr && (numSockNetAddr= PI_MIN_SOCKET_PORT) && (i <= PI_MAX_SOCKET_PORT)) + socketPort = i; + else fatal("invalid -p option (%d)", i); + break; + + case 's': + i = getNum(optarg, &err); + + switch(i) + { + case 1: + case 2: + case 4: + case 5: + case 8: + case 10: + clockMicros = i; + break; + + default: + fatal("invalid -s option (%d)", i); + break; + } + break; + + case 't': + i = getNum(optarg, &err); + if ((i >= PI_CLOCK_PWM) && (i <= PI_CLOCK_PCM)) + clockPeripheral = i; + else fatal("invalid -t option (%d)", i); + break; + + case 'v': + case 'V': + printf("%d\n", PIGPIO_VERSION); + exit(EXIT_SUCCESS); + break; + + case 'x': + mask = getNum(optarg, &err); + if (!err) + { + updateMask = mask; + updateMaskSet = 1; + } + else fatal("invalid -x option (%s)", optarg); + break; + + default: /* '?' */ + usage(); + exit(EXIT_FAILURE); + } + } +} + +void terminate(int signum) +{ + /* only registered for SIGHUP/SIGTERM */ + + gpioTerminate(); + + fprintf(errFifo, "SIGHUP/SIGTERM received\n"); + + fflush(NULL); + + fclose(errFifo); + + unlink(PI_ERRFIFO); + + exit(0); +} + + +int main(int argc, char **argv) +{ + pid_t pid; + int flags; + + /* Fork off the parent process */ + + pid = fork(); + + if (pid < 0) { exit(EXIT_FAILURE); } + + /* If we got a good PID, then we can exit the parent process. */ + + if (pid > 0) { exit(EXIT_SUCCESS); } + + /* Change the file mode mask */ + + umask(0); + + /* Open any logs here */ + + /* NONE */ + + /* Create a new SID for the child process */ + + if (setsid() < 0) fatal("setsid failed (%m)"); + + /* Change the current working directory */ + + if ((chdir("/")) < 0) fatal("chdir failed (%m)"); + + /* check command line parameters */ + + initOpts(argc, argv); + + /* Close out the standard file descriptors */ + + fclose(stdin); + fclose(stdout); + + /* configure library */ + + gpioCfgBufferSize(bufferSizeMilliseconds); + + gpioCfgClock(clockMicros, clockPeripheral, 0); + + gpioCfgInterfaces(ifFlags); + + gpioCfgDMAchannels(DMAprimaryChannel, DMAsecondaryChannel); + + gpioCfgSocketPort(socketPort); + + gpioCfgMemAlloc(memAllocMode); + + if (updateMaskSet) gpioCfgPermissions(updateMask); + + gpioCfgNetAddr(numSockNetAddr, sockNetAddr); + + gpioCfgSetInternals(cfgInternals); + + /* start library */ + + if (gpioInitialise()< 0) fatal("Can't initialise pigpio library"); + + /* create pipe for error reporting */ + + unlink(PI_ERRFIFO); + + mkfifo(PI_ERRFIFO, 0664); + + if (chmod(PI_ERRFIFO, 0664) < 0) + fatal("chmod %s failed (%m)", PI_ERRFIFO); + + errFifo = freopen(PI_ERRFIFO, "w+", stderr); + + if (errFifo) + { + /* set stderr non-blocking */ + + flags = fcntl(fileno(errFifo), F_GETFL, 0); + fcntl(fileno(errFifo), F_SETFL, flags | O_NONBLOCK); + + /* request SIGHUP/SIGTERM from libarary for termination */ + + gpioSetSignalFunc(SIGHUP, terminate); + gpioSetSignalFunc(SIGTERM, terminate); + + /* sleep forever */ + + while (1) + { + /* cat /dev/pigerr to view daemon errors */ + + sleep(5); + + fflush(errFifo); + } + } + else + { + fprintf(stderr, "freopen failed (%m)"); + + gpioTerminate(); + } + + return 0; +} + + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if.3 b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if.3 new file mode 100644 index 0000000..284a3ae --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if.3 @@ -0,0 +1,4826 @@ + +." Process this file with +." groff -man -Tascii pigpiod_if.3 +." +.TH pigpiod_if 3 2012-2015 Linux "pigpio archive" +.SH NAME +pigpiod_if - A C library to interface to the pigpio daemon. + +.SH SYNOPSIS + +#include + + +gcc -Wall -pthread -o prog prog.c -lpigpiod_if -lrt + + ./prog +.SH DESCRIPTION + + +.ad l + +.nh + +.br + +.br +THIS LIBRARY IS DEPRECATED. NEW CODE SHOULD BE WRITTEN TO +USE THE MORE VERSATILE pigpiod_if2 LIBRARY. + +.br + +.br +pigpiod_if is a C library for the Raspberry which allows control +of the GPIO via the socket interface to the pigpio daemon. +.br + +.br + +.br +.SS Features +.br + +.br +o hardware timed PWM on any of GPIO 0-31 + +.br + +.br +o hardware timed servo pulses on any of GPIO 0-31 + +.br + +.br +o callbacks when any of GPIO 0-31 change state + +.br + +.br +o callbacks at timed intervals + +.br + +.br +o reading/writing all of the GPIO in a bank as one operation + +.br + +.br +o individually setting GPIO modes, reading and writing + +.br + +.br +o notifications when any of GPIO 0-31 change state + +.br + +.br +o the construction of output waveforms with microsecond timing + +.br + +.br +o rudimentary permission control over GPIO + +.br + +.br +o a simple interface to start and stop new threads + +.br + +.br +o I2C, SPI, and serial link wrappers + +.br + +.br +o creating and running scripts on the pigpio daemon + +.br + +.br +.SS GPIO +.br + +.br +ALL GPIO are identified by their Broadcom number. + +.br + +.br +.SS Notes +.br + +.br +The PWM and servo pulses are timed using the DMA and PWM/PCM peripherals. + +.br + +.br +.SS Usage +.br + +.br +Include in your source files. + +.br + +.br +Assuming your source is in prog.c use the following command to build + +.br + +.br + +.EX +gcc -Wall -pthread -o prog prog.c -lpigpiod_if -lrt +.br + +.EE + +.br + +.br +to run make sure the pigpio daemon is running + +.br + +.br + +.EX +sudo pigpiod +.br + +.br + ./prog # sudo is not required to run programs linked to pigpiod_if +.br + +.EE + +.br + +.br +For examples see x_pigpiod_if.c within the pigpio archive file. + +.br + +.br +.SS Notes +.br + +.br +All the functions which return an int return < 0 on error + +.br + +.br +.SH FUNCTIONS + +.IP "\fBdouble time_time(void)\fP" +.IP "" 4 +Return the current time in seconds since the Epoch. + +.IP "\fBvoid time_sleep(double seconds)\fP" +.IP "" 4 +Delay execution for a given number of seconds. + +.br + +.br + +.EX +seconds: the number of seconds to delay. +.br + +.EE + +.IP "\fBchar *pigpio_error(int errnum)\fP" +.IP "" 4 +Return a text description for an error code. + +.br + +.br + +.EX +errnum: the error code. +.br + +.EE + +.IP "\fBunsigned pigpiod_if_version(void)\fP" +.IP "" 4 +Return the pigpiod_if version. + +.IP "\fBpthread_t *start_thread(gpioThreadFunc_t thread_func, void *userdata)\fP" +.IP "" 4 +Starts a new thread of execution with thread_func as the main routine. + +.br + +.br + +.EX +thread_func: the main function for the new thread. +.br + userdata: a pointer to an arbitrary argument. +.br + +.EE + +.br + +.br +Returns a pointer to pthread_t if OK, otherwise NULL. + +.br + +.br +The function is passed the single argument userdata. + +.br + +.br +The thread can be cancelled by passing the pointer to pthread_t to +\fBstop_thread\fP. + +.IP "\fBvoid stop_thread(pthread_t *pth)\fP" +.IP "" 4 +Cancels the thread pointed at by pth. + +.br + +.br + +.EX +pth: the thread to be stopped. +.br + +.EE + +.br + +.br +No value is returned. + +.br + +.br +The thread to be stopped should have been started with \fBstart_thread\fP. + +.IP "\fBint pigpio_start(char *addrStr, char *portStr)\fP" +.IP "" 4 +Connect to the pigpio daemon. Reserving command and +notification streams. + +.br + +.br + +.EX +addrStr: specifies the host or IP address of the Pi running the +.br + pigpio daemon. It may be NULL in which case localhost +.br + is used unless overridden by the PIGPIO_ADDR environment +.br + variable. +.br + +.br +portStr: specifies the port address used by the Pi running the +.br + pigpio daemon. It may be NULL in which case "8888" +.br + is used unless overridden by the PIGPIO_PORT environment +.br + variable. +.br + +.EE + +.IP "\fBvoid pigpio_stop(void)\fP" +.IP "" 4 +Terminates the connection to the pigpio daemon and releases +resources used by the library. + +.IP "\fBint set_mode(unsigned gpio, unsigned mode)\fP" +.IP "" 4 +Set the GPIO mode. + +.br + +.br + +.EX +gpio: 0-53. +.br +mode: PI_INPUT, PI_OUTPUT, PI_ALT0, PI_ALT1, +.br + PI_ALT2, PI_ALT3, PI_ALT4, PI_ALT5. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_MODE, +or PI_NOT_PERMITTED. + +.IP "\fBint get_mode(unsigned gpio)\fP" +.IP "" 4 +Get the GPIO mode. + +.br + +.br + +.EX +gpio: 0-53. +.br + +.EE + +.br + +.br +Returns the GPIO mode if OK, otherwise PI_BAD_GPIO. + +.IP "\fBint set_pull_up_down(unsigned gpio, unsigned pud)\fP" +.IP "" 4 +Set or clear the GPIO pull-up/down resistor. + +.br + +.br + +.EX +gpio: 0-53. +.br + pud: PI_PUD_UP, PI_PUD_DOWN, PI_PUD_OFF. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_PUD, +or PI_NOT_PERMITTED. + +.IP "\fBint gpio_read(unsigned gpio)\fP" +.IP "" 4 +Read the GPIO level. + +.br + +.br + +.EX +gpio:0-53. +.br + +.EE + +.br + +.br +Returns the GPIO level if OK, otherwise PI_BAD_GPIO. + +.IP "\fBint gpio_write(unsigned gpio, unsigned level)\fP" +.IP "" 4 +Write the GPIO level. + +.br + +.br + +.EX + gpio: 0-53. +.br +level: 0, 1. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_LEVEL, +or PI_NOT_PERMITTED. + +.br + +.br +Notes + +.br + +.br +If PWM or servo pulses are active on the GPIO they are switched off. + +.IP "\fBint set_PWM_dutycycle(unsigned user_gpio, unsigned dutycycle)\fP" +.IP "" 4 +Start (non-zero dutycycle) or stop (0) PWM pulses on the GPIO. + +.br + +.br + +.EX +user_gpio: 0-31. +.br +dutycycle: 0-range (range defaults to 255). +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYCYCLE, +or PI_NOT_PERMITTED. +Notes + +.br + +.br +The \fBset_PWM_range\fP function may be used to change the +default range of 255. + +.IP "\fBint get_PWM_dutycycle(unsigned user_gpio)\fP" +.IP "" 4 +Return the PWM dutycycle in use on a GPIO. + +.br + +.br + +.EX +user_gpio: 0-31. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_PWM_GPIO. + +.br + +.br +For normal PWM the dutycycle will be out of the defined range +for the GPIO (see \fBget_PWM_range\fP). + +.br + +.br +If a hardware clock is active on the GPIO the reported dutycycle +will be 500000 (500k) out of 1000000 (1M). + +.br + +.br +If hardware PWM is active on the GPIO the reported dutycycle +will be out of a 1000000 (1M). + +.IP "\fBint set_PWM_range(unsigned user_gpio, unsigned range)\fP" +.IP "" 4 +Set the range of PWM values to be used on the GPIO. + +.br + +.br + +.EX +user_gpio: 0-31. +.br + range: 25-40000. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYRANGE, +or PI_NOT_PERMITTED. + +.br + +.br +Notes + +.br + +.br +If PWM is currently active on the GPIO its dutycycle will be +scaled to reflect the new range. + +.br + +.br +The real range, the number of steps between fully off and fully on +for each of the 18 available GPIO frequencies is + +.br + +.br + +.EX + 25(#1), 50(#2), 100(#3), 125(#4), 200(#5), 250(#6), +.br + 400(#7), 500(#8), 625(#9), 800(#10), 1000(#11), 1250(#12), +.br +2000(#13), 2500(#14), 4000(#15), 5000(#16), 10000(#17), 20000(#18) +.br + +.EE + +.br + +.br +The real value set by set_PWM_range is (dutycycle * real range) / range. + +.IP "\fBint get_PWM_range(unsigned user_gpio)\fP" +.IP "" 4 +Get the range of PWM values being used on the GPIO. + +.br + +.br + +.EX +user_gpio: 0-31. +.br + +.EE + +.br + +.br +Returns the dutycycle range used for the GPIO if OK, +otherwise PI_BAD_USER_GPIO. + +.br + +.br +If a hardware clock or hardware PWM is active on the GPIO the +reported range will be 1000000 (1M). + +.IP "\fBint get_PWM_real_range(unsigned user_gpio)\fP" +.IP "" 4 +Get the real underlying range of PWM values being used on the GPIO. + +.br + +.br + +.EX +user_gpio: 0-31. +.br + +.EE + +.br + +.br +Returns the real range used for the GPIO if OK, +otherwise PI_BAD_USER_GPIO. + +.br + +.br +If a hardware clock is active on the GPIO the reported +real range will be 1000000 (1M). + +.br + +.br +If hardware PWM is active on the GPIO the reported real range +will be approximately 250M divided by the set PWM frequency. + +.br + +.br + +.IP "\fBint set_PWM_frequency(unsigned user_gpio, unsigned frequency)\fP" +.IP "" 4 +Set the frequency (in Hz) of the PWM to be used on the GPIO. + +.br + +.br + +.EX +user_gpio: 0-31. +.br +frequency: >=0 (Hz). +.br + +.EE + +.br + +.br +Returns the numerically closest frequency if OK, otherwise +PI_BAD_USER_GPIO or PI_NOT_PERMITTED. + +.br + +.br +If PWM is currently active on the GPIO it will be switched +off and then back on at the new frequency. + +.br + +.br +Each GPIO can be independently set to one of 18 different +PWM frequencies. + +.br + +.br +The selectable frequencies depend upon the sample rate which +may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). The +sample rate is set when the pigpio daemon is started. + +.br + +.br +The frequencies for each sample rate are: + +.br + +.br + +.EX + Hertz +.br + +.br + 1: 40000 20000 10000 8000 5000 4000 2500 2000 1600 +.br + 1250 1000 800 500 400 250 200 100 50 +.br + +.br + 2: 20000 10000 5000 4000 2500 2000 1250 1000 800 +.br + 625 500 400 250 200 125 100 50 25 +.br + +.br + 4: 10000 5000 2500 2000 1250 1000 625 500 400 +.br + 313 250 200 125 100 63 50 25 13 +.br +sample +.br + rate +.br + (us) 5: 8000 4000 2000 1600 1000 800 500 400 320 +.br + 250 200 160 100 80 50 40 20 10 +.br + +.br + 8: 5000 2500 1250 1000 625 500 313 250 200 +.br + 156 125 100 63 50 31 25 13 6 +.br + +.br + 10: 4000 2000 1000 800 500 400 250 200 160 +.br + 125 100 80 50 40 25 20 10 5 +.br + +.EE + +.IP "\fBint get_PWM_frequency(unsigned user_gpio)\fP" +.IP "" 4 +Get the frequency of PWM being used on the GPIO. + +.br + +.br + +.EX +user_gpio: 0-31. +.br + +.EE + +.br + +.br +For normal PWM the frequency will be that defined for the GPIO by +\fBset_PWM_frequency\fP. + +.br + +.br +If a hardware clock is active on the GPIO the reported frequency +will be that set by \fBhardware_clock\fP. + +.br + +.br +If hardware PWM is active on the GPIO the reported frequency +will be that set by \fBhardware_PWM\fP. + +.br + +.br +Returns the frequency (in hertz) used for the GPIO if OK, +otherwise PI_BAD_USER_GPIO. + +.IP "\fBint set_servo_pulsewidth(unsigned user_gpio, unsigned pulsewidth)\fP" +.IP "" 4 +Start (500-2500) or stop (0) servo pulses on the GPIO. + +.br + +.br + +.EX + user_gpio: 0-31. +.br +pulsewidth: 0 (off), 500 (anti-clockwise) - 2500 (clockwise). +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_PULSEWIDTH or +PI_NOT_PERMITTED. + +.br + +.br +The selected pulsewidth will continue to be transmitted until +changed by a subsequent call to set_servo_pulsewidth. + +.br + +.br +The pulsewidths supported by servos varies and should probably be +determined by experiment. A value of 1500 should always be safe and +represents the mid-point of rotation. + +.br + +.br +You can DAMAGE a servo if you command it to move beyond its limits. + +.br + +.br +OTHER UPDATE RATES: + +.br + +.br +This function updates servos at 50Hz. If you wish to use a different +update frequency you will have to use the PWM functions. + +.br + +.br + +.EX +Update Rate (Hz) 50 100 200 400 500 +.br +1E6/Hz 20000 10000 5000 2500 2000 +.br + +.EE + +.br + +.br +Firstly set the desired PWM frequency using \fBset_PWM_frequency\fP. + +.br + +.br +Then set the PWM range using \fBset_PWM_range\fP to 1E6/Hz. +Doing this allows you to use units of microseconds when setting +the servo pulsewidth. + +.br + +.br +E.g. If you want to update a servo connected to GPIO 25 at 400Hz + +.br + +.br + +.EX +set_PWM_frequency(25, 400); +.br +set_PWM_range(25, 2500); +.br + +.EE + +.br + +.br +Thereafter use the \fBset_PWM_dutycycle\fP function to move the servo, +e.g. set_PWM_dutycycle(25, 1500) will set a 1500 us pulse. +.br + +.IP "\fBint get_servo_pulsewidth(unsigned user_gpio)\fP" +.IP "" 4 +Return the servo pulsewidth in use on a GPIO. + +.br + +.br + +.EX +user_gpio: 0-31. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_SERVO_GPIO. + +.IP "\fBint notify_open(void)\fP" +.IP "" 4 +Get a free notification handle. + +.br + +.br +Returns a handle greater than or equal to zero if OK, +otherwise PI_NO_HANDLE. + +.br + +.br +A notification is a method for being notified of GPIO state +changes via a pipe. + +.br + +.br +Pipes are only accessible from the local machine so this function +serves no purpose if you are using the library from a remote machine. +The in-built (socket) notifications provided by \fBcallback\fP +should be used instead. + +.br + +.br +Notifications for handle x will be available at the pipe +named /dev/pigpiox (where x is the handle number). +E.g. if the function returns 15 then the notifications must be +read from /dev/pigpio15. + +.IP "\fBint notify_begin(unsigned handle, uint32_t bits)\fP" +.IP "" 4 +Start notifications on a previously opened handle. + +.br + +.br + +.EX +handle: 0-31 (as returned by \fBnotify_open\fP) +.br + bits: a mask indicating the GPIO to be notified. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.br + +.br +The notification sends state changes for each GPIO whose +corresponding bit in bits is set. + +.br + +.br +Each notification occupies 12 bytes in the fifo as follows: + +.br + +.br + +.EX +typedef struct +.br +{ +.br + uint16_t seqno; +.br + uint16_t flags; +.br + uint32_t tick; +.br + uint32_t level; +.br +} gpioReport_t; +.br + +.EE + +.br + +.br +seqno: starts at 0 each time the handle is opened and then increments +by one for each report. + +.br + +.br +flags: two flags are defined, PI_NTFY_FLAGS_WDOG and PI_NTFY_FLAGS_ALIVE. + +.br + +.br +PI_NTFY_FLAGS_WDOG, if bit 5 is set then bits 0-4 of the flags +indicate a GPIO which has had a watchdog timeout. + +.br + +.br +PI_NTFY_FLAGS_ALIVE, if bit 6 is set this indicates a keep alive +signal on the pipe/socket and is sent once a minute in the absence +of other notification activity. + +.br + +.br +tick: the number of microseconds since system boot. It wraps around +after 1h12m. + +.br + +.br +level: indicates the level of each GPIO. If bit 1<=0 +.br + numBytes: >=1 +.br + str: an array of chars. +.br + +.EE + +.br + +.br +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_BAD_DATABITS, +PI_BAD_STOP_BITS, PI_TOO_MANY_CHARS, PI_BAD_SER_OFFSET, +or PI_TOO_MANY_PULSES. + +.br + +.br +NOTES: + +.br + +.br +The serial data is formatted as one start bit, \fBdata_bits\fP data bits, +and \fBstop_bits\fP/2 stop bits. + +.br + +.br +It is legal to add serial data streams with different baud rates to +the same waveform. + +.br + +.br +\fBnumBytes\fP is the number of bytes of data in str. + +.br + +.br +The bytes required for each character depend upon \fBdata_bits\fP. + +.br + +.br +For \fBdata_bits\fP 1-8 there will be one byte per character. +.br +For \fBdata_bits\fP 9-16 there will be two bytes per character. +.br +For \fBdata_bits\fP 17-32 there will be four bytes per character. + +.IP "\fBint wave_create(void)\fP" +.IP "" 4 +This function creates a waveform from the data provided by the prior +calls to the \fBwave_add_*\fP functions. Upon success a wave id +greater than or equal to 0 is returned, otherwise PI_EMPTY_WAVEFORM, +PI_TOO_MANY_CBS, PI_TOO_MANY_OOL, or PI_NO_WAVEFORM_ID. + +.br + +.br +The data provided by the \fBwave_add_*\fP functions is consumed by this +function. + +.br + +.br +As many waveforms may be created as there is space available. The +wave id is passed to \fBwave_send_*\fP to specify the waveform to transmit. + +.br + +.br +Normal usage would be + +.br + +.br +Step 1. \fBwave_clear\fP to clear all waveforms and added data. + +.br + +.br +Step 2. \fBwave_add_*\fP calls to supply the waveform data. + +.br + +.br +Step 3. \fBwave_create\fP to create the waveform and get a unique id + +.br + +.br +Repeat steps 2 and 3 as needed. + +.br + +.br +Step 4. \fBwave_send_*\fP with the id of the waveform to transmit. + +.br + +.br +A waveform comprises one or more pulses. Each pulse consists of a +\fBgpioPulse_t\fP structure. + +.br + +.br + +.EX +typedef struct +.br +{ +.br + uint32_t gpioOn; +.br + uint32_t gpioOff; +.br + uint32_t usDelay; +.br +} gpioPulse_t; +.br + +.EE + +.br + +.br +The fields specify + +.br + +.br +1) the GPIO to be switched on at the start of the pulse. +.br +2) the GPIO to be switched off at the start of the pulse. +.br +3) the delay in microseconds before the next pulse. +.br + +.br + +.br +Any or all the fields can be zero. It doesn't make any sense to +set all the fields to zero (the pulse will be ignored). + +.br + +.br +When a waveform is started each pulse is executed in order with the +specified delay between the pulse and the next. + +.br + +.br +Returns the new waveform id if OK, otherwise PI_EMPTY_WAVEFORM, +PI_NO_WAVEFORM_ID, PI_TOO_MANY_CBS, or PI_TOO_MANY_OOL. + +.IP "\fBint wave_delete(unsigned wave_id)\fP" +.IP "" 4 +This function deletes the waveform with id wave_id. + +.br + +.br + +.EX +wave_id: >=0, as returned by \fBwave_create\fP. +.br + +.EE + +.br + +.br +Wave ids are allocated in order, 0, 1, 2, etc. + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_WAVE_ID. + +.IP "\fBint wave_send_once(unsigned wave_id)\fP" +.IP "" 4 +This function transmits the waveform with id wave_id. The waveform +is sent once. + +.br + +.br +NOTE: Any hardware PWM started by \fBhardware_PWM\fP will be cancelled. + +.br + +.br + +.EX +wave_id: >=0, as returned by \fBwave_create\fP. +.br + +.EE + +.br + +.br +Returns the number of DMA control blocks in the waveform if OK, +otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE. + +.IP "\fBint wave_send_repeat(unsigned wave_id)\fP" +.IP "" 4 +This function transmits the waveform with id wave_id. The waveform +cycles until cancelled (either by the sending of a new waveform or +by \fBwave_tx_stop\fP). + +.br + +.br +NOTE: Any hardware PWM started by \fBhardware_PWM\fP will be cancelled. + +.br + +.br + +.EX +wave_id: >=0, as returned by \fBwave_create\fP. +.br + +.EE + +.br + +.br +Returns the number of DMA control blocks in the waveform if OK, +otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE. + +.IP "\fBint wave_chain(char *buf, unsigned bufSize)\fP" +.IP "" 4 +This function transmits a chain of waveforms. + +.br + +.br +NOTE: Any hardware PWM started by \fBhardware_PWM\fP will be cancelled. + +.br + +.br +The waves to be transmitted are specified by the contents of buf +which contains an ordered list of \fBwave_id\fPs and optional command +codes and related data. + +.br + +.br + +.EX + buf: pointer to the wave_ids and optional command codes +.br +bufSize: the number of bytes in buf +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_CHAIN_NESTING, PI_CHAIN_LOOP_CNT, PI_BAD_CHAIN_LOOP, PI_BAD_CHAIN_CMD, PI_CHAIN_COUNTER, +PI_BAD_CHAIN_DELAY, PI_CHAIN_TOO_BIG, or PI_BAD_WAVE_ID. + +.br + +.br +Each wave is transmitted in the order specified. A wave may +occur multiple times per chain. + +.br + +.br +A blocks of waves may be transmitted multiple times by using +the loop commands. The block is bracketed by loop start and +end commands. Loops may be nested. + +.br + +.br +Delays between waves may be added with the delay command. + +.br + +.br +The following command codes are supported: + +.br + +.br +Name Cmd & Data Meaning +.br +Loop Start 255 0 Identify start of a wave block +.br +Loop Repeat 255 1 x y loop x + y*256 times +.br +Delay 255 2 x y delay x + y*256 microseconds +.br +Loop Forever 255 3 loop forever +.br + +.br + +.br +If present Loop Forever must be the last entry in the chain. + +.br + +.br +The code is currently dimensioned to support a chain with roughly +600 entries and 20 loop counters. + +.br + +.br +\fBExample\fP +.br + +.EX +#include +.br +#include +.br + +.br +#define WAVES 5 +.br +#define GPIO 4 +.br + +.br +int main(int argc, char *argv[]) +.br +{ +.br + int i, wid[WAVES]; +.br + +.br + if (pigpio_start(0, 0)<0) return -1; +.br + +.br + set_mode(GPIO, PI_OUTPUT); +.br + +.br + for (i=0; i=0, as returned by \fBstore_script\fP. +.br + numPar: 0-10, the number of parameters. +.br + param: an array of parameters. +.br + +.EE + +.br + +.br +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID, or +PI_TOO_MANY_PARAM + +.br + +.br +param is an array of up to 10 parameters which may be referenced in +the script as p0 to p9. + +.IP "\fBint script_status(unsigned script_id, uint32_t *param)\fP" +.IP "" 4 +This function returns the run status of a stored script as well +as the current values of parameters 0 to 9. + +.br + +.br + +.EX +script_id: >=0, as returned by \fBstore_script\fP. +.br + param: an array to hold the returned 10 parameters. +.br + +.EE + +.br + +.br +The function returns greater than or equal to 0 if OK, +otherwise PI_BAD_SCRIPT_ID. + +.br + +.br +The run status may be + +.br + +.br + +.EX +PI_SCRIPT_INITING +.br +PI_SCRIPT_HALTED +.br +PI_SCRIPT_RUNNING +.br +PI_SCRIPT_WAITING +.br +PI_SCRIPT_FAILED +.br + +.EE + +.br + +.br +The current value of script parameters 0 to 9 are returned in param. + +.IP "\fBint stop_script(unsigned script_id)\fP" +.IP "" 4 +This function stops a running script. + +.br + +.br + +.EX +script_id: >=0, as returned by \fBstore_script\fP. +.br + +.EE + +.br + +.br +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. + +.IP "\fBint delete_script(unsigned script_id)\fP" +.IP "" 4 +This function deletes a stored script. + +.br + +.br + +.EX +script_id: >=0, as returned by \fBstore_script\fP. +.br + +.EE + +.br + +.br +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. + +.IP "\fBint bb_serial_read_open(unsigned user_gpio, unsigned baud, unsigned data_bits)\fP" +.IP "" 4 +This function opens a GPIO for bit bang reading of serial data. + +.br + +.br + +.EX +user_gpio: 0-31. +.br + baud: 50-250000 +.br +data_bits: 1-32 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, +or PI_GPIO_IN_USE. + +.br + +.br +The serial data is returned in a cyclic buffer and is read using +bb_serial_read. + +.br + +.br +It is the caller's responsibility to read data from the cyclic buffer +in a timely fashion. + +.IP "\fBint bb_serial_read(unsigned user_gpio, void *buf, size_t bufSize)\fP" +.IP "" 4 +This function copies up to bufSize bytes of data read from the +bit bang serial cyclic buffer to the buffer starting at buf. + +.br + +.br + +.EX +user_gpio: 0-31, previously opened with \fBbb_serial_read_open\fP. +.br + buf: an array to receive the read bytes. +.br + bufSize: >=0 +.br + +.EE + +.br + +.br +Returns the number of bytes copied if OK, otherwise PI_BAD_USER_GPIO +or PI_NOT_SERIAL_GPIO. + +.br + +.br +The bytes returned for each character depend upon the number of +data bits \fBdata_bits\fP specified in the \fBbb_serial_read_open\fP command. + +.br + +.br +For \fBdata_bits\fP 1-8 there will be one byte per character. +.br +For \fBdata_bits\fP 9-16 there will be two bytes per character. +.br +For \fBdata_bits\fP 17-32 there will be four bytes per character. + +.IP "\fBint bb_serial_read_close(unsigned user_gpio)\fP" +.IP "" 4 +This function closes a GPIO for bit bang reading of serial data. + +.br + +.br + +.EX +user_gpio: 0-31, previously opened with \fBbb_serial_read_open\fP. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SERIAL_GPIO. + +.IP "\fBint bb_serial_invert(unsigned user_gpio, unsigned invert)\fP" +.IP "" 4 +This function inverts serial logic for big bang serial reads. + +.br + +.br + +.EX +user_gpio: 0-31, previously opened with \fBbb_serial_read_open\fP. +.br + invert: 0-1, 1 invert, 0 normal. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_NOT_SERIAL_GPIO or PI_BAD_SER_INVERT. + +.IP "\fBint i2c_open(unsigned i2c_bus, unsigned i2c_addr, unsigned i2c_flags)\fP" +.IP "" 4 +This returns a handle for the device at address i2c_addr on bus i2c_bus. + +.br + +.br + +.EX + i2c_bus: >=0. +.br + i2c_addr: 0-0x7F. +.br +i2c_flags: 0. +.br + +.EE + +.br + +.br +No flags are currently defined. This parameter should be set to zero. + +.br + +.br +Physically buses 0 and 1 are available on the Pi. Higher numbered buses +will be available if a kernel supported bus multiplexor is being used. + +.br + +.br +Returns a handle (>=0) if OK, otherwise PI_BAD_I2C_BUS, PI_BAD_I2C_ADDR, +PI_BAD_FLAGS, PI_NO_HANDLE, or PI_I2C_OPEN_FAILED. + +.br + +.br +For the SMBus commands the low level transactions are shown at the end +of the function description. The following abbreviations are used. + +.br + +.br + +.EX +S (1 bit) : Start bit +.br +P (1 bit) : Stop bit +.br +Rd/Wr (1 bit) : Read/Write bit. Rd equals 1, Wr equals 0. +.br +A, NA (1 bit) : Accept and not accept bit. +.br +.br +.br +Addr (7 bits): I2C 7 bit address. +.br +Comm (8 bits): Command byte, a data byte which often selects a register. +.br +Data (8 bits): A data byte. +.br +Count (8 bits): A data byte containing the length of a block operation. +.br + +.br +[..]: Data sent by the device. +.br + +.EE + +.IP "\fBint i2c_close(unsigned handle)\fP" +.IP "" 4 +This closes the I2C device associated with the handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2c_open\fP. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.IP "\fBint i2c_write_quick(unsigned handle, unsigned bit)\fP" +.IP "" 4 +This sends a single bit (in the Rd/Wr bit) to the device associated +with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2c_open\fP. +.br + bit: 0-1, the value to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Quick command. SMBus 2.0 5.5.1 + +.EX +S Addr Rd/Wr [A] P +.br + +.EE + +.IP "\fBint i2c_write_byte(unsigned handle, unsigned bVal)\fP" +.IP "" 4 +This sends a single byte to the device associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2c_open\fP. +.br + bVal: 0-0xFF, the value to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Send byte. SMBus 2.0 5.5.2 + +.EX +S Addr Wr [A] Data [A] P +.br + +.EE + +.IP "\fBint i2c_read_byte(unsigned handle)\fP" +.IP "" 4 +This reads a single byte from the device associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2c_open\fP. +.br + +.EE + +.br + +.br +Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, +or PI_I2C_READ_FAILED. + +.br + +.br +Receive byte. SMBus 2.0 5.5.3 + +.EX +S Addr Rd [A] [Data] NA P +.br + +.EE + +.IP "\fBint i2c_write_byte_data(unsigned handle, unsigned i2c_reg, unsigned bVal)\fP" +.IP "" 4 +This writes a single byte to the specified register of the device +associated with handle. + +.br + +.br + +.EX + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to write. +.br + bVal: 0-0xFF, the value to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Write byte. SMBus 2.0 5.5.4 + +.EX +S Addr Wr [A] Comm [A] Data [A] P +.br + +.EE + +.IP "\fBint i2c_write_word_data(unsigned handle, unsigned i2c_reg, unsigned wVal)\fP" +.IP "" 4 +This writes a single 16 bit word to the specified register of the device +associated with handle. + +.br + +.br + +.EX + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to write. +.br + wVal: 0-0xFFFF, the value to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Write word. SMBus 2.0 5.5.4 + +.EX +S Addr Wr [A] Comm [A] DataLow [A] DataHigh [A] P +.br + +.EE + +.IP "\fBint i2c_read_byte_data(unsigned handle, unsigned i2c_reg)\fP" +.IP "" 4 +This reads a single byte from the specified register of the device +associated with handle. + +.br + +.br + +.EX + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to read. +.br + +.EE + +.br + +.br +Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +Read byte. SMBus 2.0 5.5.5 + +.EX +S Addr Wr [A] Comm [A] S Addr Rd [A] [Data] NA P +.br + +.EE + +.IP "\fBint i2c_read_word_data(unsigned handle, unsigned i2c_reg)\fP" +.IP "" 4 +This reads a single 16 bit word from the specified register of the device +associated with handle. + +.br + +.br + +.EX + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to read. +.br + +.EE + +.br + +.br +Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +Read word. SMBus 2.0 5.5.5 + +.EX +S Addr Wr [A] Comm [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P +.br + +.EE + +.IP "\fBint i2c_process_call(unsigned handle, unsigned i2c_reg, unsigned wVal)\fP" +.IP "" 4 +This writes 16 bits of data to the specified register of the device +associated with handle and and reads 16 bits of data in return. + +.br + +.br + +.EX + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to write/read. +.br + wVal: 0-0xFFFF, the value to write. +.br + +.EE + +.br + +.br +Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +Process call. SMBus 2.0 5.5.6 + +.EX +S Addr Wr [A] Comm [A] DataLow [A] DataHigh [A] +.br + S Addr Rd [A] [DataLow] A [DataHigh] NA P +.br + +.EE + +.IP "\fBint i2c_write_block_data(unsigned handle, unsigned i2c_reg, char *buf, unsigned count)\fP" +.IP "" 4 +This writes up to 32 bytes to the specified register of the device +associated with handle. + +.br + +.br + +.EX + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to write. +.br + buf: an array with the data to send. +.br + count: 1-32, the number of bytes to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Block write. SMBus 2.0 5.5.7 + +.EX +S Addr Wr [A] Comm [A] Count [A] Data [A] Data [A] ... [A] Data [A] P +.br + +.EE + +.IP "\fBint i2c_read_block_data(unsigned handle, unsigned i2c_reg, char *buf)\fP" +.IP "" 4 +This reads a block of up to 32 bytes from the specified register of +the device associated with handle. + +.br + +.br + +.EX + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to read. +.br + buf: an array to receive the read data. +.br + +.EE + +.br + +.br +The amount of returned data is set by the device. + +.br + +.br +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +Block read. SMBus 2.0 5.5.7 + +.EX +S Addr Wr [A] Comm [A] +.br + S Addr Rd [A] [Count] A [Data] A [Data] A ... A [Data] NA P +.br + +.EE + +.IP "\fBint i2c_block_process_call(unsigned handle, unsigned i2c_reg, char *buf, unsigned count)\fP" +.IP "" 4 +This writes data bytes to the specified register of the device +associated with handle and reads a device specified number +of bytes of data in return. + +.br + +.br + +.EX + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to write/read. +.br + buf: an array with the data to send and to receive the read data. +.br + count: 1-32, the number of bytes to write. +.br + +.EE + +.br + +.br + +.br + +.br +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +The smbus 2.0 documentation states that a minimum of 1 byte may be +sent and a minimum of 1 byte may be received. The total number of +bytes sent/received must be 32 or less. + +.br + +.br +Block write-block read. SMBus 2.0 5.5.8 + +.EX +S Addr Wr [A] Comm [A] Count [A] Data [A] ... +.br + S Addr Rd [A] [Count] A [Data] ... A P +.br + +.EE + +.IP "\fBint i2c_read_i2c_block_data(unsigned handle, unsigned i2c_reg, char *buf, unsigned count)\fP" +.IP "" 4 +This reads count bytes from the specified register of the device +associated with handle . The count may be 1-32. + +.br + +.br + +.EX + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to read. +.br + buf: an array to receive the read data. +.br + count: 1-32, the number of bytes to read. +.br + +.EE + +.br + +.br +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br + +.EX +S Addr Wr [A] Comm [A] +.br + S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P +.br + +.EE + +.IP "\fBint i2c_write_i2c_block_data(unsigned handle, unsigned i2c_reg, char *buf, unsigned count)\fP" +.IP "" 4 +This writes 1 to 32 bytes to the specified register of the device +associated with handle. + +.br + +.br + +.EX + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to write. +.br + buf: the data to write. +.br + count: 1-32, the number of bytes to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br + +.EX +S Addr Wr [A] Comm [A] Data [A] Data [A] ... [A] Data [A] P +.br + +.EE + +.IP "\fBint i2c_read_device(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This reads count bytes from the raw device into buf. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2c_open\fP. +.br + buf: an array to receive the read data bytes. +.br + count: >0, the number of bytes to read. +.br + +.EE + +.br + +.br +Returns count (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_READ_FAILED. + +.IP "\fBint i2c_write_device(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This writes count bytes from buf to the raw device. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2c_open\fP. +.br + buf: an array containing the data bytes to write. +.br + count: >0, the number of bytes to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.IP "\fBint i2c_zip(unsigned handle, char *inBuf, unsigned inLen, char *outBuf, unsigned outLen)\fP" +.IP "" 4 +This function executes a sequence of I2C operations. The +operations to be performed are specified by the contents of inBuf +which contains the concatenated command codes and associated data. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br + inBuf: pointer to the concatenated I2C commands, see below +.br + inLen: size of command buffer +.br +outBuf: pointer to buffer to hold returned data +.br +outLen: size of output buffer +.br + +.EE + +.br + +.br +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_HANDLE, PI_BAD_POINTER, PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN. +PI_BAD_I2C_WLEN, or PI_BAD_I2C_SEG. + +.br + +.br +The following command codes are supported: + +.br + +.br +Name Cmd & Data Meaning +.br +End 0 No more commands +.br +Escape 1 Next P is two bytes +.br +On 2 Switch combined flag on +.br +Off 3 Switch combined flag off +.br +Address 4 P Set I2C address to P +.br +Flags 5 lsb msb Set I2C flags to lsb + (msb << 8) +.br +Read 6 P Read P bytes of data +.br +Write 7 P ... Write P bytes of data +.br + +.br + +.br +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +.br + +.br +The address defaults to that associated with the handle. +The flags default to 0. The address and flags maintain their +previous value until updated. + +.br + +.br +The returned I2C data is stored in consecutive locations of outBuf. + +.br + +.br +\fBExample\fP +.br + +.EX +Set address 0x53, write 0x32, read 6 bytes +.br +Set address 0x1E, write 0x03, read 6 bytes +.br +Set address 0x68, write 0x1B, read 8 bytes +.br +End +.br + +.br +0x04 0x53 0x07 0x01 0x32 0x06 0x06 +.br +0x04 0x1E 0x07 0x01 0x03 0x06 0x06 +.br +0x04 0x68 0x07 0x01 0x1B 0x06 0x08 +.br +0x00 +.br + +.EE + +.br + +.br + +.IP "\fBint bb_i2c_open(unsigned SDA, unsigned SCL, unsigned baud)\fP" +.IP "" 4 +This function selects a pair of GPIO for bit banging I2C at a +specified baud rate. + +.br + +.br +Bit banging I2C allows for certain operations which are not possible +with the standard I2C driver. + +.br + +.br +o baud rates as low as 50 +.br +o repeated starts +.br +o clock stretching +.br +o I2C on any pair of spare GPIO + +.br + +.br + +.EX + SDA: 0-31 +.br + SCL: 0-31 +.br +baud: 50-500000 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_I2C_BAUD, or +PI_GPIO_IN_USE. + +.br + +.br +NOTE: + +.br + +.br +The GPIO used for SDA and SCL must have pull-ups to 3V3 connected. As +a guide the hardware pull-ups on pins 3 and 5 are 1k8 in value. + +.IP "\fBint bb_i2c_close(unsigned SDA)\fP" +.IP "" 4 +This function stops bit banging I2C on a pair of GPIO previously +opened with \fBbb_i2c_open\fP. + +.br + +.br + +.EX +SDA: 0-31, the SDA GPIO used in a prior call to \fBbb_i2c_open\fP +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_I2C_GPIO. + +.IP "\fBint bb_i2c_zip(unsigned SDA, char *inBuf, unsigned inLen, char *outBuf, unsigned outLen)\fP" +.IP "" 4 +This function executes a sequence of bit banged I2C operations. The +operations to be performed are specified by the contents of inBuf +which contains the concatenated command codes and associated data. + +.br + +.br + +.EX + SDA: 0-31 (as used in a prior call to \fBbb_i2c_open\fP) +.br + inBuf: pointer to the concatenated I2C commands, see below +.br + inLen: size of command buffer +.br +outBuf: pointer to buffer to hold returned data +.br +outLen: size of output buffer +.br + +.EE + +.br + +.br +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_USER_GPIO, PI_NOT_I2C_GPIO, PI_BAD_POINTER, +PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN, PI_BAD_I2C_WLEN, +PI_I2C_READ_FAILED, or PI_I2C_WRITE_FAILED. + +.br + +.br +The following command codes are supported: + +.br + +.br +Name Cmd & Data Meaning +.br +End 0 No more commands +.br +Escape 1 Next P is two bytes +.br +Start 2 Start condition +.br +Stop 3 Stop condition +.br +Address 4 P Set I2C address to P +.br +Flags 5 lsb msb Set I2C flags to lsb + (msb << 8) +.br +Read 6 P Read P bytes of data +.br +Write 7 P ... Write P bytes of data +.br + +.br + +.br +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +.br + +.br +The address and flags default to 0. The address and flags maintain +their previous value until updated. + +.br + +.br +No flags are currently defined. + +.br + +.br +The returned I2C data is stored in consecutive locations of outBuf. + +.br + +.br +\fBExample\fP +.br + +.EX +Set address 0x53 +.br +start, write 0x32, (re)start, read 6 bytes, stop +.br +Set address 0x1E +.br +start, write 0x03, (re)start, read 6 bytes, stop +.br +Set address 0x68 +.br +start, write 0x1B, (re)start, read 8 bytes, stop +.br +End +.br + +.br +0x04 0x53 +.br +0x02 0x07 0x01 0x32 0x02 0x06 0x06 0x03 +.br + +.br +0x04 0x1E +.br +0x02 0x07 0x01 0x03 0x02 0x06 0x06 0x03 +.br + +.br +0x04 0x68 +.br +0x02 0x07 0x01 0x1B 0x02 0x06 0x08 0x03 +.br + +.br +0x00 +.br + +.EE + +.IP "\fBint spi_open(unsigned spi_channel, unsigned baud, unsigned spi_flags)\fP" +.IP "" 4 +This function returns a handle for the SPI device on channel. +Data will be transferred at baud bits per second. The flags may +be used to modify the default behaviour of 4-wire operation, mode 0, +active low chip select. + +.br + +.br +An auxiliary SPI device is available on all models but the +A and B and may be selected by setting the A bit in the +flags. The auxiliary device has 3 chip selects and a +selectable word size in bits. + +.br + +.br + +.EX +spi_channel: 0-1 (0-2 for the auxiliary SPI device). +.br + baud: 32K-125M (values above 30M are unlikely to work). +.br + spi_flags: see below. +.br + +.EE + +.br + +.br +Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL, +PI_BAD_SPI_SPEED, PI_BAD_FLAGS, PI_NO_AUX_SPI, or PI_SPI_OPEN_FAILED. + +.br + +.br +spi_flags consists of the least significant 22 bits. + +.br + +.br + +.EX +21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 +.br + b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m +.br + +.EE + +.br + +.br +mm defines the SPI mode. + +.br + +.br +Warning: modes 1 and 3 do not appear to work on the auxiliary device. + +.br + +.br + +.EX +Mode POL PHA +.br + 0 0 0 +.br + 1 0 1 +.br + 2 1 0 +.br + 3 1 1 +.br + +.EE + +.br + +.br +px is 0 if CEx is active low (default) and 1 for active high. + +.br + +.br +ux is 0 if the CEx GPIO is reserved for SPI (default) and 1 otherwise. + +.br + +.br +A is 0 for the standard SPI device, 1 for the auxiliary SPI. + +.br + +.br +W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard +SPI device only. + +.br + +.br +nnnn defines the number of bytes (0-15) to write before switching +the MOSI line to MISO to read data. This field is ignored +if W is not set. Standard SPI device only. + +.br + +.br +T is 1 if the least significant bit is transmitted on MOSI first, the +default (0) shifts the most significant bit out first. Auxiliary SPI +device only. + +.br + +.br +R is 1 if the least significant bit is received on MISO first, the +default (0) receives the most significant bit first. Auxiliary SPI +device only. + +.br + +.br +bbbbbb defines the word size in bits (0-32). The default (0) +sets 8 bits per word. Auxiliary SPI device only. + +.br + +.br +The other bits in flags should be set to zero. + +.IP "\fBint spi_close(unsigned handle)\fP" +.IP "" 4 +This functions closes the SPI device identified by the handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBspi_open\fP. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.IP "\fBint spi_read(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function reads count bytes of data from the SPI +device associated with the handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBspi_open\fP. +.br + buf: an array to receive the read data bytes. +.br + count: the number of bytes to read. +.br + +.EE + +.br + +.br +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. + +.IP "\fBint spi_write(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function writes count bytes of data from buf to the SPI +device associated with the handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBspi_open\fP. +.br + buf: the data bytes to write. +.br + count: the number of bytes to write. +.br + +.EE + +.br + +.br +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. + +.IP "\fBint spi_xfer(unsigned handle, char *txBuf, char *rxBuf, unsigned count)\fP" +.IP "" 4 +This function transfers count bytes of data from txBuf to the SPI +device associated with the handle. Simultaneously count bytes of +data are read from the device and placed in rxBuf. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBspi_open\fP. +.br + txBuf: the data bytes to write. +.br + rxBuf: the received data bytes. +.br + count: the number of bytes to transfer. +.br + +.EE + +.br + +.br +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. + +.IP "\fBint serial_open(char *ser_tty, unsigned baud, unsigned ser_flags)\fP" +.IP "" 4 +This function opens a serial device at a specified baud rate +with specified flags. The device name must start with +/dev/tty or /dev/serial. + +.br + +.br + +.EX + ser_tty: the serial device to open. +.br + baud: the baud rate in bits per second, see below. +.br +ser_flags: 0. +.br + +.EE + +.br + +.br +Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, or +PI_SER_OPEN_FAILED. + +.br + +.br +The baud rate must be one of 50, 75, 110, 134, 150, +200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200, +38400, 57600, 115200, or 230400. + +.br + +.br +No flags are currently defined. This parameter should be set to zero. + +.IP "\fBint serial_close(unsigned handle)\fP" +.IP "" 4 +This function closes the serial device associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBserial_open\fP. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.IP "\fBint serial_write_byte(unsigned handle, unsigned bVal)\fP" +.IP "" 4 +This function writes bVal to the serial port associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBserial_open\fP. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_SER_WRITE_FAILED. + +.IP "\fBint serial_read_byte(unsigned handle)\fP" +.IP "" 4 +This function reads a byte from the serial port associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBserial_open\fP. +.br + +.EE + +.br + +.br +Returns the read byte (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_SER_READ_NO_DATA, or PI_SER_READ_FAILED. + +.IP "\fBint serial_write(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function writes count bytes from buf to the the serial port +associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBserial_open\fP. +.br + buf: the array of bytes to write. +.br + count: the number of bytes to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_SER_WRITE_FAILED. + +.IP "\fBint serial_read(unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function reads up to count bytes from the the serial port +associated with handle and writes them to buf. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBserial_open\fP. +.br + buf: an array to receive the read data. +.br + count: the maximum number of bytes to read. +.br + +.EE + +.br + +.br +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, PI_SER_READ_NO_DATA, or PI_SER_WRITE_FAILED. + +.IP "\fBint serial_data_available(unsigned handle)\fP" +.IP "" 4 +Returns the number of bytes available to be read from the +device associated with handle. + +.br + +.br + +.EX +handle: >=0, as returned by a call to \fBserial_open\fP. +.br + +.EE + +.br + +.br +Returns the number of bytes of data available (>=0) if OK, +otherwise PI_BAD_HANDLE. + +.IP "\fBint custom_1(unsigned arg1, unsigned arg2, char *argx, unsigned argc)\fP" +.IP "" 4 +This function is available for user customisation. + +.br + +.br +It returns a single integer value. + +.br + +.br + +.EX +arg1: >=0 +.br +arg2: >=0 +.br +argx: extra (byte) arguments +.br +argc: number of extra arguments +.br + +.EE + +.br + +.br +Returns >= 0 if OK, less than 0 indicates a user defined error. + +.IP "\fBint custom_2(unsigned arg1, char *argx, unsigned argc, char *retBuf, unsigned retMax)\fP" +.IP "" 4 +This function is available for user customisation. + +.br + +.br +It differs from custom_1 in that it returns an array of bytes +rather than just an integer. + +.br + +.br +The return value is an integer indicating the number of returned bytes. + +.EX + arg1: >=0 +.br + argc: extra (byte) arguments +.br + count: number of extra arguments +.br +retBuf: buffer for returned data +.br +retMax: maximum number of bytes to return +.br + +.EE + +.br + +.br +Returns >= 0 if OK, less than 0 indicates a user defined error. + +.br + +.br +Note, the number of returned bytes will be retMax or less. + +.IP "\fBint callback(unsigned user_gpio, unsigned edge, CBFunc_t f)\fP" +.IP "" 4 +This function initialises a new callback. + +.br + +.br + +.EX +user_gpio: 0-31. +.br + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE. +.br + f: the callback function. +.br + +.EE + +.br + +.br +The function returns a callback id if OK, otherwise pigif_bad_malloc, +pigif_duplicate_callback, or pigif_bad_callback. + +.br + +.br +The callback is called with the GPIO, edge, and tick, whenever the +GPIO has the identified edge. + +.IP "\fBint callback_ex(unsigned user_gpio, unsigned edge, CBFuncEx_t f, void *userdata)\fP" +.IP "" 4 +This function initialises a new callback. + +.br + +.br + +.EX +user_gpio: 0-31. +.br + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE. +.br + f: the callback function. +.br + userdata: a pointer to arbitrary user data. +.br + +.EE + +.br + +.br +The function returns a callback id if OK, otherwise pigif_bad_malloc, +pigif_duplicate_callback, or pigif_bad_callback. + +.br + +.br +The callback is called with the GPIO, edge, tick, and user, whenever +the GPIO has the identified edge. + +.br + +.br + +.IP "\fBint callback_cancel(unsigned callback_id)\fP" +.IP "" 4 +This function cancels a callback identified by its id. + +.br + +.br + +.EX +callback_id: >=0, as returned by a call to \fBcallback\fP or \fBcallback_ex\fP. +.br + +.EE + +.br + +.br +The function returns 0 if OK, otherwise pigif_callback_not_found. + +.IP "\fBint wait_for_edge(unsigned user_gpio, unsigned edge, double timeout)\fP" +.IP "" 4 +This function waits for edge on the GPIO for up to timeout +seconds. + +.br + +.br + +.EX +user_gpio: 0-31. +.br + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE. +.br + timeout: >=0. +.br + +.EE + +.br + +.br +The function returns 1 if the edge occurred, otherwise 0. + +.br + +.br +The function returns when the edge occurs or after the timeout. +.SH PARAMETERS + +.br + +.br + +.IP "\fBactive\fP: 0-1000000" 0 + +.br + +.br +The number of microseconds level changes are reported for once +a noise filter has been triggered (by \fBsteady\fP microseconds of +a stable level). + +.br + +.br + +.IP "\fB*addrStr\fP" 0 +A string specifying the host or IP address of the Pi running +the pigpio daemon. It may be NULL in which case localhost +is used unless overridden by the PIGPIO_ADDR environment +variable. + +.br + +.br + +.IP "\fBarg1\fP" 0 +An unsigned argument passed to a user customised function. Its +meaning is defined by the customiser. + +.br + +.br + +.IP "\fBarg2\fP" 0 +An unsigned argument passed to a user customised function. Its +meaning is defined by the customiser. + +.br + +.br + +.IP "\fBargc\fP" 0 +The count of bytes passed to a user customised function. + +.br + +.br + +.IP "\fB*argx\fP" 0 +A pointer to an array of bytes passed to a user customised function. +Its meaning and content is defined by the customiser. + +.br + +.br + +.IP "\fBbaud\fP" 0 +The speed of serial communication (I2C, SPI, serial link, waves) in +bits per second. + +.br + +.br + +.IP "\fBbit\fP" 0 +A value of 0 or 1. + +.br + +.br + +.IP "\fBbits\fP" 0 +A value used to select GPIO. If bit n of bits is set then GPIO n is +selected. + +.br + +.br +A convenient way to set bit n is to or in (1<=0, as returned by a call to \fBcallback\fP or \fBcallback_ex\fP. This is +passed to \fBcallback_cancel\fP to cancel the callback. + +.br + +.br + +.IP "\fBCBFunc_t\fP" 0 + +.EX +typedef void (*CBFunc_t) +.br + (unsigned user_gpio, unsigned level, uint32_t tick); +.br + +.EE + +.br + +.br + +.IP "\fBCBFuncEx_t\fP" 0 + +.EX +typedef void (*CBFuncEx_t) +.br + (unsigned user_gpio, unsigned level, uint32_t tick, void * user); +.br + +.EE + +.br + +.br + +.IP "\fBchar\fP" 0 +A single character, an 8 bit quantity able to store 0-255. + +.br + +.br + +.IP "\fBclkfreq\fP: 4689-250000000 (250M)" 0 +The hardware clock frequency. + +.br + +.br + +.IP "\fBcount\fP" 0 +The number of bytes to be transferred in an I2C, SPI, or Serial +command. + +.br + +.br + +.IP "\fBdata_bits\fP: 1-32" 0 +The number of data bits in each character of serial data. + +.br + +.br + +.EX +#define PI_MIN_WAVE_DATABITS 1 +.br +#define PI_MAX_WAVE_DATABITS 32 +.br + +.EE + +.br + +.br + +.IP "\fBdouble\fP" 0 +A floating point number. + +.br + +.br + +.IP "\fBdutycycle\fP: 0-range" 0 +A number representing the ratio of on time to off time for PWM. + +.br + +.br +The number may vary between 0 and range (default 255) where +0 is off and range is fully on. + +.br + +.br + +.IP "\fBedge\fP" 0 +Used to identify a GPIO level transition of interest. A rising edge is +a level change from 0 to 1. A falling edge is a level change from 1 to 0. + +.br + +.br + +.EX +RISING_EDGE 0 +.br +FALLING_EDGE 1 +.br +EITHER_EDGE. 2 +.br + +.EE + +.br + +.br + +.IP "\fBerrnum\fP" 0 +A negative number indicating a function call failed and the nature +of the error. + +.br + +.br + +.IP "\fBf\fP" 0 +A function. + +.br + +.br + +.IP "\fBfrequency\fP: >=0" 0 +The number of times a GPIO is swiched on and off per second. This +can be set per GPIO and may be as little as 5Hz or as much as +40KHz. The GPIO will be on for a proportion of the time as defined +by its dutycycle. + +.br + +.br + +.br + +.br + +.IP "\fBgpio\fP" 0 +A Broadcom numbered GPIO, in the range 0-53. + +.br + +.br +There are 54 General Purpose Input Outputs (GPIO) named gpio0 through +gpio53. + +.br + +.br +They are split into two banks. Bank 1 consists of gpio0 through +gpio31. Bank 2 consists of gpio32 through gpio53. + +.br + +.br +All the GPIO which are safe for the user to read and write are in +bank 1. Not all GPIO in bank 1 are safe though. Type 1 boards +have 17 safe GPIO. Type 2 boards have 21. Type 3 boards have 26. + +.br + +.br +See \fBget_hardware_revision\fP. + +.br + +.br +The user GPIO are marked with an X in the following table. + +.br + +.br + +.EX + 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 +.br +Type 1 X X - - X - - X X X X X - - X X +.br +Type 2 - - X X X - - X X X X X - - X X +.br +Type 3 X X X X X X X X X X X X X X +.br + +.br + 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 +.br +Type 1 - X X - - X X X X X - - - - - - +.br +Type 2 - X X - - - X X X X - X X X X X +.br +Type 3 X X X X X X X X X X X X - - - - +.br + +.EE + +.br + +.br + +.IP "\fBgpioPulse_t\fP" 0 + +.EX +typedef struct +.br +{ +.br +uint32_t gpioOn; +.br +uint32_t gpioOff; +.br +uint32_t usDelay; +.br +} gpioPulse_t; +.br + +.EE + +.br + +.br + +.IP "\fBgpioThreadFunc_t\fP" 0 + +.EX +typedef void *(gpioThreadFunc_t) (void *); +.br + +.EE + +.br + +.br + +.IP "\fBhandle\fP: >=0" 0 +A number referencing an object opened by one of \fBi2c_open\fP, \fBnotify_open\fP, +\fBserial_open\fP, and \fBspi_open\fP. + +.br + +.br + +.IP "\fBi2c_addr\fP: 0-0x7F" 0 +The address of a device on the I2C bus. + +.br + +.br + +.IP "\fBi2c_bus\fP: >=0" 0 +An I2C bus number. + +.br + +.br + +.IP "\fBi2c_flags\fP: 0" 0 +Flags which modify an I2C open command. None are currently defined. + +.br + +.br + +.IP "\fBi2c_reg\fP: 0-255" 0 +A register of an I2C device. + +.br + +.br + +.IP "\fB*inBuf\fP" 0 +A buffer used to pass data to a function. + +.br + +.br + +.IP "\fBinLen\fP" 0 +The number of bytes of data in a buffer. + +.br + +.br + +.IP "\fBint\fP" 0 +A whole number, negative or positive. + +.br + +.br + +.IP "\fBinvert\fP" 0 +A flag used to set normal or inverted bit bang serial data level logic. + +.br + +.br + +.IP "\fBlevel\fP" 0 +The level of a GPIO. Low or High. + +.br + +.br + +.EX +PI_OFF 0 +.br +PI_ON 1 +.br + +.br +PI_CLEAR 0 +.br +PI_SET 1 +.br + +.br +PI_LOW 0 +.br +PI_HIGH 1 +.br + +.EE + +.br + +.br +There is one exception. If a watchdog expires on a GPIO the level will be +reported as PI_TIMEOUT. See \fBset_watchdog\fP. + +.br + +.br + +.EX +PI_TIMEOUT 2 +.br + +.EE + +.br + +.br + +.IP "\fBmode\fP: 0-7" 0 +The operational mode of a GPIO, normally INPUT or OUTPUT. + +.br + +.br + +.EX +PI_INPUT 0 +.br +PI_OUTPUT 1 +.br +PI_ALT0 4 +.br +PI_ALT1 5 +.br +PI_ALT2 6 +.br +PI_ALT3 7 +.br +PI_ALT4 3 +.br +PI_ALT5 2 +.br + +.EE + +.br + +.br + +.IP "\fBnumBytes\fP" 0 +The number of bytes used to store characters in a string. Depending +on the number of bits per character there may be 1, 2, or 4 bytes +per character. + +.br + +.br + +.IP "\fBnumPar\fP: 0-10" 0 +The number of parameters passed to a script. + +.br + +.br + +.IP "\fBnumPulses\fP" 0 +The number of pulses to be added to a waveform. + +.br + +.br + +.IP "\fBoffset\fP" 0 +The associated data starts this number of microseconds from the start of +the waveform. + +.br + +.br + +.IP "\fB*outBuf\fP" 0 +A buffer used to return data from a function. + +.br + +.br + +.IP "\fBoutLen\fP" 0 +The size in bytes of an output buffer. + +.br + +.br + +.IP "\fB*param\fP" 0 +An array of script parameters. + +.br + +.br + +.IP "\fB*portStr\fP" 0 +A string specifying the port address used by the Pi running +the pigpio daemon. It may be NULL in which case "8888" +is used unless overridden by the PIGPIO_PORT environment +variable. + +.br + +.br + +.IP "\fB*pth\fP" 0 +A thread identifier, returned by \fBstart_thread\fP. + +.br + +.br + +.br + +.br + +.IP "\fBpthread_t\fP" 0 +A thread identifier. + +.br + +.br + +.IP "\fBpud\fP: 0-2" 0 +The setting of the pull up/down resistor for a GPIO, which may be off, +pull-up, or pull-down. + +.EX +PI_PUD_OFF 0 +.br +PI_PUD_DOWN 1 +.br +PI_PUD_UP 2 +.br + +.EE + +.br + +.br + +.IP "\fBpulseLen\fP" 0 +1-100, the length of a trigger pulse in microseconds. + +.br + +.br + +.IP "\fB*pulses\fP" 0 +An array of pulses to be added to a waveform. + +.br + +.br + +.IP "\fBpulsewidth\fP: 0, 500-2500" 0 + +.EX +PI_SERVO_OFF 0 +.br +PI_MIN_SERVO_PULSEWIDTH 500 +.br +PI_MAX_SERVO_PULSEWIDTH 2500 +.br + +.EE + +.br + +.br + +.IP "\fBPWMduty\fP: 0-1000000 (1M)" 0 +The hardware PWM dutycycle. + +.br + +.br + +.EX +#define PI_HW_PWM_RANGE 1000000 +.br + +.EE + +.br + +.br + +.IP "\fBPWMfreq\fP: 1-125000000 (125M)" 0 +The hardware PWM frequency. + +.br + +.br + +.EX +#define PI_HW_PWM_MIN_FREQ 1 +.br +#define PI_HW_PWM_MAX_FREQ 125000000 +.br + +.EE + +.br + +.br + +.IP "\fBrange\fP: 25-40000" 0 +The permissible dutycycle values are 0-range. + +.EX +PI_MIN_DUTYCYCLE_RANGE 25 +.br +PI_MAX_DUTYCYCLE_RANGE 40000 +.br + +.EE + +.br + +.br + +.IP "\fB*retBuf\fP" 0 +A buffer to hold a number of bytes returned to a used customised function, + +.br + +.br + +.IP "\fBretMax\fP" 0 +The maximum number of bytes a user customised function should return. + +.br + +.br + +.br + +.br + +.IP "\fB*rxBuf\fP" 0 +A pointer to a buffer to receive data. + +.br + +.br + +.IP "\fBSCL\fP" 0 +The user GPIO to use for the clock when bit banging I2C. + +.br + +.br + +.IP "\fB*script\fP" 0 +A pointer to the text of a script. + +.br + +.br + +.IP "\fBscript_id\fP" 0 +An id of a stored script as returned by \fBstore_script\fP. + +.br + +.br + +.IP "\fBSDA\fP" 0 +The user GPIO to use for data when bit banging I2C. + +.br + +.br + +.IP "\fBseconds\fP" 0 +The number of seconds. + +.br + +.br + +.IP "\fBser_flags\fP" 0 +Flags which modify a serial open command. None are currently defined. + +.br + +.br + +.IP "\fB*ser_tty\fP" 0 +The name of a serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0, /dev/tty1. + +.br + +.br + +.IP "\fBsize_t\fP" 0 +A standard type used to indicate the size of an object in bytes. + +.br + +.br + +.IP "\fBspi_channel\fP" 0 +A SPI channel, 0-2. + +.br + +.br + +.IP "\fBspi_flags\fP" 0 +See \fBspi_open\fP. + +.br + +.br + +.IP "\fBsteady\fP: 0-300000" 0 + +.br + +.br +The number of microseconds level changes must be stable for +before reporting the level changed (\fBset_glitch_filter\fP) or triggering +the active part of a noise filter (\fBset_noise_filter\fP). + +.br + +.br + +.IP "\fBstop_bits\fP: 2-8" 0 +The number of (half) stop bits to be used when adding serial data +to a waveform. + +.br + +.br + +.EX +#define PI_MIN_WAVE_HALFSTOPBITS 2 +.br +#define PI_MAX_WAVE_HALFSTOPBITS 8 +.br + +.EE + +.br + +.br + +.IP "\fB*str\fP" 0 + An array of characters. + +.br + +.br + +.IP "\fBthread_func\fP" 0 +A function of type gpioThreadFunc_t used as the main function of a +thread. + +.br + +.br + +.IP "\fBtimeout\fP" 0 +A GPIO watchdog timeout in milliseconds. + +.EX +PI_MIN_WDOG_TIMEOUT 0 +.br +PI_MAX_WDOG_TIMEOUT 60000 +.br + +.EE + +.br + +.br + +.IP "\fB*txBuf\fP" 0 +An array of bytes to transmit. + +.br + +.br + +.IP "\fBuint32_t\fP: 0-0-4,294,967,295 (Hex 0x0-0xFFFFFFFF)" 0 +A 32-bit unsigned value. + +.br + +.br + +.IP "\fBunsigned\fP" 0 +A whole number >= 0. + +.br + +.br + +.IP "\fBuser_gpio\fP" 0 +0-31, a Broadcom numbered GPIO. + +.br + +.br +See \fBgpio\fP. + +.br + +.br + +.IP "\fB*userdata\fP" 0 +A pointer to arbitrary user data. This may be used to identify the instance. + +.br + +.br + +.IP "\fBvoid\fP" 0 +Denoting no parameter is required + +.br + +.br + +.IP "\fBwave_add_*\fP" 0 +One of \fBwave_add_new\fP, \fBwave_add_generic\fP, \fBwave_add_serial\fP. + +.br + +.br + +.IP "\fBwave_id\fP" 0 +A number representing a waveform created by \fBwave_create\fP. + +.br + +.br + +.IP "\fBwave_send_*\fP" 0 +One of \fBwave_send_once\fP, \fBwave_send_repeat\fP. + +.br + +.br + +.IP "\fBwVal\fP: 0-65535 (Hex 0x0-0xFFFF, Octal 0-0177777)" 0 +A 16-bit word value. + +.br + +.br +.SH pigpiod_if Error Codes + +.EX + +.br +typedef enum +.br +{ +.br + pigif_bad_send = -2000, +.br + pigif_bad_recv = -2001, +.br + pigif_bad_getaddrinfo = -2002, +.br + pigif_bad_connect = -2003, +.br + pigif_bad_socket = -2004, +.br + pigif_bad_noib = -2005, +.br + pigif_duplicate_callback = -2006, +.br + pigif_bad_malloc = -2007, +.br + pigif_bad_callback = -2008, +.br + pigif_notify_failed = -2009, +.br + pigif_callback_not_found = -2010, +.br +} pigifError_t; +.br + +.br + +.EE + +.SH SEE ALSO + +pigpiod(1), pig2vcd(1), pigs(1), pigpio(3), pigpiod_if2(3) +.SH AUTHOR + +joan@abyz.co.uk diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if.c b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if.c new file mode 100644 index 0000000..3840968 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if.c @@ -0,0 +1,1567 @@ +/* +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 +*/ + +/* PIGPIOD_IF_VERSION 25 */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include "pigpio.h" +#include "command.h" + +#include "pigpiod_if.h" + +#define PISCOPE_MAX_REPORTS_PER_READ 4096 + +#define STACK_SIZE (256*1024) + +typedef void (*CBF_t) (); + +struct callback_s +{ + + int id; + int gpio; + int edge; + CBF_t f; + void * user; + int ex; + callback_t *prev; + callback_t *next; +}; + +/* GLOBALS ---------------------------------------------------------------- */ + +static gpioReport_t gReport[PISCOPE_MAX_REPORTS_PER_READ]; + +static int gPigCommand = -1; +static int gPigHandle = -1; +static int gPigNotify = -1; + +static uint32_t gNotifyBits; +static uint32_t gLastLevel; + +callback_t *gCallBackFirst = 0; +callback_t *gCallBackLast = 0; + +static int gPigStarted = 0; + +static pthread_t *pthNotify; + +static pthread_mutex_t command_mutex = PTHREAD_MUTEX_INITIALIZER; + +/* PRIVATE ---------------------------------------------------------------- */ + +static int pigpio_command(int fd, int command, int p1, int p2, int rl) +{ + cmdCmd_t cmd; + + cmd.cmd = command; + cmd.p1 = p1; + cmd.p2 = p2; + cmd.res = 0; + + pthread_mutex_lock(&command_mutex); + + if (send(fd, &cmd, sizeof(cmd), 0) != sizeof(cmd)) + { + pthread_mutex_unlock(&command_mutex); + return pigif_bad_send; + } + + if (recv(fd, &cmd, sizeof(cmd), MSG_WAITALL) != sizeof(cmd)) + { + pthread_mutex_unlock(&command_mutex); + return pigif_bad_recv; + } + + if (rl) pthread_mutex_unlock(&command_mutex); + + return cmd.res; +} + +static int pigpio_command_ext + (int fd, int command, int p1, int p2, int p3, + int extents, gpioExtent_t *ext, int rl) +{ + int i; + cmdCmd_t cmd; + + cmd.cmd = command; + cmd.p1 = p1; + cmd.p2 = p2; + cmd.p3 = p3; + + pthread_mutex_lock(&command_mutex); + + if (send(fd, &cmd, sizeof(cmd), 0) != sizeof(cmd)) + { + pthread_mutex_unlock(&command_mutex); + return pigif_bad_send; + } + + for (i=0; iai_next) + { + sock = socket(rp->ai_family, rp->ai_socktype, rp->ai_protocol); + + if (sock == -1) continue; + + /* Disable the Nagle algorithm. */ + opt = 1; + setsockopt(sock, IPPROTO_TCP, TCP_NODELAY, (char*)&opt, sizeof(int)); + + if (connect(sock, rp->ai_addr, rp->ai_addrlen) != -1) break; + } + + freeaddrinfo(res); + + if (rp == NULL) return pigif_bad_connect; + + return sock; +} + +static void dispatch_notification(gpioReport_t *r) +{ + callback_t *p; + uint32_t changed; + int l, g; + + /* + printf("s=%d f=%d l=%8X, t=%10u\n", + r->seqno, r->flags, r->level, r->tick); + */ + + if (r->flags == 0) + { + changed = (r->level ^ gLastLevel) & gNotifyBits; + + gLastLevel = r->level; + + p = gCallBackFirst; + + while (p) + { + if (changed & (1<<(p->gpio))) + { + if ((r->level) & (1<<(p->gpio))) l = 1; else l = 0; + if ((p->edge) ^ l) + { + if (p->ex) (p->f)(p->gpio, l, r->tick, p->user); + else (p->f)(p->gpio, l, r->tick); + } + } + p = p->next; + } + } + else + { + g = (r->flags) & 31; + + p = gCallBackFirst; + + while (p) + { + if ((p->gpio) == g) + { + if (p->ex) (p->f)(g, PI_TIMEOUT, r->tick, p->user); + else (p->f)(g, PI_TIMEOUT, r->tick); + } + p = p->next; + } + } +} + +static void *pthNotifyThread(void *x) +{ + static int got = 0; + + int bytes, r; + + while (1) + { + bytes = read(gPigNotify, (char*)&gReport+got, sizeof(gReport)-got); + + if (bytes > 0) got += bytes; + else break; + + r = 0; + + while (got >= sizeof(gpioReport_t)) + { + dispatch_notification(&gReport[r]); + + r++; + + got -= sizeof(gpioReport_t); + } + + /* copy any partial report to start of array */ + + if (got && r) gReport[0] = gReport[r]; + } + return 0; +} + +static void findNotifyBits(void) +{ + callback_t *p; + uint32_t bits = 0; + + p = gCallBackFirst; + + while (p) + { + bits |= (1<<(p->gpio)); + p = p->next; + } + + if (bits != gNotifyBits) + { + gNotifyBits = bits; + pigpio_command(gPigCommand, PI_CMD_NB, gPigHandle, gNotifyBits, 1); + } +} + +static void _wfe(unsigned user_gpio, unsigned level, uint32_t tick, void *user) +{ + *(int *)user = 1; +} + +static int intCallback(unsigned user_gpio, unsigned edge, void *f, void *user, int ex) +{ + static int id = 0; + callback_t *p; + + if ((user_gpio >=0) && (user_gpio < 32) && (edge >=0) && (edge <= 2) && f) + { + /* prevent duplicates */ + + p = gCallBackFirst; + + while (p) + { + if ((p->gpio == user_gpio) && (p->edge == edge) && (p->f == f)) + { + return pigif_duplicate_callback; + } + p = p->next; + } + + p = malloc(sizeof(callback_t)); + + if (p) + { + if (!gCallBackFirst) gCallBackFirst = p; + + p->id = id++; + p->gpio = user_gpio; + p->edge = edge; + p->f = f; + p->user = user; + p->ex = ex; + p->next = 0; + p->prev = gCallBackLast; + + if (p->prev) (p->prev)->next = p; + gCallBackLast = p; + + findNotifyBits(); + + return p->id; + } + + return pigif_bad_malloc; + } + + return pigif_bad_callback; +} + +/* PUBLIC ----------------------------------------------------------------- */ + +double time_time(void) +{ + struct timeval tv; + double t; + + gettimeofday(&tv, 0); + + t = (double)tv.tv_sec + ((double)tv.tv_usec / 1E6); + + return t; +} + +void time_sleep(double seconds) +{ + struct timespec ts, rem; + + if (seconds > 0.0) + { + ts.tv_sec = seconds; + ts.tv_nsec = (seconds-(double)ts.tv_sec) * 1E9; + + while (clock_nanosleep(CLOCK_REALTIME, 0, &ts, &rem)) + { + /* copy remaining time to ts */ + ts.tv_sec = rem.tv_sec; + ts.tv_nsec = rem.tv_nsec; + } + } +} + +char *pigpio_error(int errnum) +{ + if (errnum > -1000) return cmdErrStr(errnum); + else + { + switch(errnum) + { + case pigif_bad_send: + return "failed to send to pigpiod"; + case pigif_bad_recv: + return "failed to receive from pigpiod"; + case pigif_bad_getaddrinfo: + return "failed to find address of pigpiod"; + case pigif_bad_connect: + return "failed to connect to pigpiod"; + case pigif_bad_socket: + return "failed to create socket"; + case pigif_bad_noib: + return "failed to open noib"; + case pigif_duplicate_callback: + return "identical callback exists"; + case pigif_bad_malloc: + return "failed to malloc"; + case pigif_bad_callback: + return "bad callback parameter"; + case pigif_notify_failed: + return "failed to create notification thread"; + case pigif_callback_not_found: + return "callback not found"; + default: + return "unknown error"; + } + } +} + +unsigned pigpiod_if_version(void) +{ + return PIGPIOD_IF_VERSION; +} + +pthread_t *start_thread(gpioThreadFunc_t thread_func, void *arg) +{ + pthread_t *pth; + pthread_attr_t pthAttr; + + pth = malloc(sizeof(pthread_t)); + + if (pth) + { + if (pthread_attr_init(&pthAttr)) + { + perror("pthread_attr_init failed"); + free(pth); + return NULL; + } + + if (pthread_attr_setstacksize(&pthAttr, STACK_SIZE)) + { + perror("pthread_attr_setstacksize failed"); + free(pth); + return NULL; + } + + if (pthread_create(pth, &pthAttr, thread_func, arg)) + { + perror("pthread_create socket failed"); + free(pth); + return NULL; + } + } + return pth; +} + +void stop_thread(pthread_t *pth) +{ + if (pth) + { + pthread_cancel(*pth); + pthread_join(*pth, NULL); + free(pth); + } +} + +int pigpio_start(char *addrStr, char *portStr) +{ + if (!gPigStarted) + { + gPigCommand = pigpioOpenSocket(addrStr, portStr); + + if (gPigCommand >= 0) + { + gPigNotify = pigpioOpenSocket(addrStr, portStr); + + if (gPigNotify >= 0) + { + gPigHandle = pigpio_command(gPigNotify, PI_CMD_NOIB, 0, 0, 1); + + if (gPigHandle < 0) return pigif_bad_noib; + else + { + gLastLevel = read_bank_1(); + + pthNotify = start_thread(pthNotifyThread, 0); + if (pthNotify) + { + gPigStarted = 1; + return 0; + } + else return pigif_notify_failed; + } + } + else return gPigNotify; + } + else return gPigCommand; + } + return 0; +} + +void pigpio_stop(void) +{ + gPigStarted = 0; + + if (pthNotify) + { + stop_thread(pthNotify); + pthNotify = 0; + } + + if (gPigNotify >= 0) + { + if (gPigHandle >= 0) + { + pigpio_command(gPigNotify, PI_CMD_NC, gPigHandle, 0, 1); + gPigHandle = -1; + } + + close(gPigNotify); + gPigNotify = -1; + } + + if (gPigCommand >= 0) + { + if (gPigHandle >= 0) + { + pigpio_command(gPigCommand, PI_CMD_NC, gPigHandle, 0, 1); + gPigHandle = -1; + } + + close(gPigCommand); + gPigCommand = -1; + } +} + +int set_mode(unsigned gpio, unsigned mode) + {return pigpio_command(gPigCommand, PI_CMD_MODES, gpio, mode, 1);} + +int get_mode(unsigned gpio) + {return pigpio_command(gPigCommand, PI_CMD_MODEG, gpio, 0, 1);} + +int set_pull_up_down(unsigned gpio, unsigned pud) + {return pigpio_command(gPigCommand, PI_CMD_PUD, gpio, pud, 1);} + +int gpio_read(unsigned gpio) + {return pigpio_command(gPigCommand, PI_CMD_READ, gpio, 0, 1);} + +int gpio_write(unsigned gpio, unsigned level) + {return pigpio_command(gPigCommand, PI_CMD_WRITE, gpio, level, 1);} + +int set_PWM_dutycycle(unsigned user_gpio, unsigned dutycycle) + {return pigpio_command(gPigCommand, PI_CMD_PWM, user_gpio, dutycycle, 1);} + +int get_PWM_dutycycle(unsigned user_gpio) + {return pigpio_command(gPigCommand, PI_CMD_GDC, user_gpio, 0, 1);} + +int set_PWM_range(unsigned user_gpio, unsigned range) + {return pigpio_command(gPigCommand, PI_CMD_PRS, user_gpio, range, 1);} + +int get_PWM_range(unsigned user_gpio) + {return pigpio_command(gPigCommand, PI_CMD_PRG, user_gpio, 0, 1);} + +int get_PWM_real_range(unsigned user_gpio) + {return pigpio_command(gPigCommand, PI_CMD_PRRG, user_gpio, 0, 1);} + +int set_PWM_frequency(unsigned user_gpio, unsigned frequency) + {return pigpio_command(gPigCommand, PI_CMD_PFS, user_gpio, frequency, 1);} + +int get_PWM_frequency(unsigned user_gpio) + {return pigpio_command(gPigCommand, PI_CMD_PFG, user_gpio, 0, 1);} + +int set_servo_pulsewidth(unsigned user_gpio, unsigned pulsewidth) + {return pigpio_command(gPigCommand, PI_CMD_SERVO, user_gpio, pulsewidth, 1);} + +int get_servo_pulsewidth(unsigned user_gpio) + {return pigpio_command(gPigCommand, PI_CMD_GPW, user_gpio, 0, 1);} + +int notify_open(void) + {return pigpio_command(gPigCommand, PI_CMD_NO, 0, 0, 1);} + +int notify_begin(unsigned handle, uint32_t bits) + {return pigpio_command(gPigCommand, PI_CMD_NB, handle, bits, 1);} + +int notify_pause(unsigned handle) + {return pigpio_command(gPigCommand, PI_CMD_NB, handle, 0, 1);} + +int notify_close(unsigned handle) + {return pigpio_command(gPigCommand, PI_CMD_NC, handle, 0, 1);} + +int set_watchdog(unsigned user_gpio, unsigned timeout) + {return pigpio_command(gPigCommand, PI_CMD_WDOG, user_gpio, timeout, 1);} + +uint32_t read_bank_1(void) + {return pigpio_command(gPigCommand, PI_CMD_BR1, 0, 0, 1);} + +uint32_t read_bank_2(void) + {return pigpio_command(gPigCommand, PI_CMD_BR2, 0, 0, 1);} + +int clear_bank_1(uint32_t levels) + {return pigpio_command(gPigCommand, PI_CMD_BC1, levels, 0, 1);} + +int clear_bank_2(uint32_t levels) + {return pigpio_command(gPigCommand, PI_CMD_BC2, levels, 0, 1);} + +int set_bank_1(uint32_t levels) + {return pigpio_command(gPigCommand, PI_CMD_BS1, levels, 0, 1);} + +int set_bank_2(uint32_t levels) + {return pigpio_command(gPigCommand, PI_CMD_BS2, levels, 0, 1);} + +int hardware_clock(unsigned gpio, unsigned frequency) + {return pigpio_command(gPigCommand, PI_CMD_HC, gpio, frequency, 1);} + +int hardware_PWM(unsigned gpio, unsigned frequency, uint32_t dutycycle) +{ + gpioExtent_t ext[1]; + + /* + p1=gpio + p2=frequency + p3=4 + ## extension ## + uint32_t dutycycle + */ + + ext[0].size = sizeof(dutycycle); + ext[0].ptr = &dutycycle; + + return pigpio_command_ext( + gPigCommand, PI_CMD_HP, gpio, frequency, sizeof(dutycycle), 1, ext, 1); +} + +uint32_t get_current_tick(void) + {return pigpio_command(gPigCommand, PI_CMD_TICK, 0, 0, 1);} + +uint32_t get_hardware_revision(void) + {return pigpio_command(gPigCommand, PI_CMD_HWVER, 0, 0, 1);} + +uint32_t get_pigpio_version(void) + {return pigpio_command(gPigCommand, PI_CMD_PIGPV, 0, 0, 1);} + +int wave_clear(void) + {return pigpio_command(gPigCommand, PI_CMD_WVCLR, 0, 0, 1);} + +int wave_add_new(void) + {return pigpio_command(gPigCommand, PI_CMD_WVNEW, 0, 0, 1);} + +int wave_add_generic(unsigned numPulses, gpioPulse_t *pulses) +{ + gpioExtent_t ext[1]; + + /* + p1=0 + p2=0 + p3=pulses*sizeof(gpioPulse_t) + ## extension ## + gpioPulse_t[] pulses + */ + + if (!numPulses) return 0; + + ext[0].size = numPulses * sizeof(gpioPulse_t); + ext[0].ptr = pulses; + + return pigpio_command_ext( + gPigCommand, PI_CMD_WVAG, 0, 0, ext[0].size, 1, ext, 1); +} + +int wave_add_serial( + unsigned user_gpio, unsigned baud, uint32_t databits, + uint32_t stophalfbits, uint32_t offset, unsigned numChar, char *str) +{ + uint8_t buf[12]; + gpioExtent_t ext[2]; + + /* + p1=user_gpio + p2=baud + p3=len+12 + ## extension ## + uint32_t databits + uint32_t stophalfbits + uint32_t offset + char[len] str + */ + + if (!numChar) return 0; + + memcpy(buf, &databits, 4); + memcpy(buf+4, &stophalfbits, 4); + memcpy(buf+8, &offset, 4); + + ext[0].size = sizeof(buf); + ext[0].ptr = buf; + + ext[1].size = numChar; + ext[1].ptr = str; + + return pigpio_command_ext(gPigCommand, PI_CMD_WVAS, + user_gpio, baud, numChar+sizeof(buf), 2, ext, 1); +} + +int wave_create(void) + {return pigpio_command(gPigCommand, PI_CMD_WVCRE, 0, 0, 1);} + +int wave_delete(unsigned wave_id) + {return pigpio_command(gPigCommand, PI_CMD_WVDEL, wave_id, 0, 1);} + +int wave_tx_start(void) /* DEPRECATED */ + {return pigpio_command(gPigCommand, PI_CMD_WVGO, 0, 0, 1);} + +int wave_tx_repeat(void) /* DEPRECATED */ + {return pigpio_command(gPigCommand, PI_CMD_WVGOR, 0, 0, 1);} + +int wave_send_once(unsigned wave_id) + {return pigpio_command(gPigCommand, PI_CMD_WVTX, wave_id, 0, 1);} + +int wave_send_repeat(unsigned wave_id) + {return pigpio_command(gPigCommand, PI_CMD_WVTXR, wave_id, 0, 1);} + +int wave_chain(char *buf, unsigned bufSize) +{ + gpioExtent_t ext[1]; + + /* + p1=0 + p2=0 + p3=bufSize + ## extension ## + char buf[bufSize] + */ + + ext[0].size = bufSize; + ext[0].ptr = buf; + + return pigpio_command_ext + (gPigCommand, PI_CMD_WVCHA, 0, 0, bufSize, 1, ext, 1); +} + +int wave_tx_busy(void) + {return pigpio_command(gPigCommand, PI_CMD_WVBSY, 0, 0, 1);} + +int wave_tx_stop(void) + {return pigpio_command(gPigCommand, PI_CMD_WVHLT, 0, 0, 1);} + +int wave_get_micros(void) + {return pigpio_command(gPigCommand, PI_CMD_WVSM, 0, 0, 1);} + +int wave_get_high_micros(void) + {return pigpio_command(gPigCommand, PI_CMD_WVSM, 1, 0, 1);} + +int wave_get_max_micros(void) + {return pigpio_command(gPigCommand, PI_CMD_WVSM, 2, 0, 1);} + +int wave_get_pulses(void) + {return pigpio_command(gPigCommand, PI_CMD_WVSP, 0, 0, 1);} + +int wave_get_high_pulses(void) + {return pigpio_command(gPigCommand, PI_CMD_WVSP, 1, 0, 1);} + +int wave_get_max_pulses(void) + {return pigpio_command(gPigCommand, PI_CMD_WVSP, 2, 0, 1);} + +int wave_get_cbs(void) + {return pigpio_command(gPigCommand, PI_CMD_WVSC, 0, 0, 1);} + +int wave_get_high_cbs(void) + {return pigpio_command(gPigCommand, PI_CMD_WVSC, 1, 0, 1);} + +int wave_get_max_cbs(void) + {return pigpio_command(gPigCommand, PI_CMD_WVSC, 2, 0, 1);} + +int gpio_trigger(unsigned user_gpio, unsigned pulseLen, uint32_t level) +{ + gpioExtent_t ext[1]; + + /* + p1=user_gpio + p2=pulseLen + p3=4 + ## extension ## + unsigned level + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &level; + + return pigpio_command_ext( + gPigCommand, PI_CMD_TRIG, user_gpio, pulseLen, 4, 1, ext, 1); +} + +int set_glitch_filter(unsigned user_gpio, unsigned steady) + {return pigpio_command(gPigCommand, PI_CMD_FG, user_gpio, steady, 1);} + +int set_noise_filter(unsigned user_gpio, unsigned steady, unsigned active) +{ + gpioExtent_t ext[1]; + + /* + p1=user_gpio + p2=steady + p3=4 + ## extension ## + unsigned active + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &active; + + return pigpio_command_ext( + gPigCommand, PI_CMD_FN, user_gpio, steady, 4, 1, ext, 1); +} + +int store_script(char *script) +{ + unsigned len; + gpioExtent_t ext[1]; + + /* + p1=0 + p2=0 + p3=len + ## extension ## + char[len] script + */ + + len = strlen(script); + + if (!len) return 0; + + ext[0].size = len; + ext[0].ptr = script; + + return pigpio_command_ext(gPigCommand, PI_CMD_PROC, 0, 0, len, 1, ext, 1); +} + +int run_script(unsigned script_id, unsigned numPar, uint32_t *param) +{ + gpioExtent_t ext[1]; + + /* + p1=script id + p2=0 + p3=numPar * 4 + ## extension ## + uint32_t[numPar] pars + */ + + ext[0].size = 4 * numPar; + ext[0].ptr = param; + + return pigpio_command_ext + (gPigCommand, PI_CMD_PROCR, script_id, 0, numPar*4, 1, ext, 1); +} + +int recvMax(void *buf, int bufsize, int sent) +{ + uint8_t scratch[4096]; + int remaining, fetch, count; + + if (sent < bufsize) count = sent; else count = bufsize; + + if (count) recv(gPigCommand, buf, count, MSG_WAITALL); + + remaining = sent - count; + + while (remaining) + { + fetch = remaining; + if (fetch > sizeof(scratch)) fetch = sizeof(scratch); + recv(gPigCommand, scratch, fetch, MSG_WAITALL); + remaining -= fetch; + } + + return count; +} + +int script_status(unsigned script_id, uint32_t *param) +{ + int status; + uint32_t p[PI_MAX_SCRIPT_PARAMS+1]; /* space for script status */ + + status = pigpio_command(gPigCommand, PI_CMD_PROCP, script_id, 0, 0); + + if (status > 0) + { + recvMax(p, sizeof(p), status); + status = p[0]; + if (param) memcpy(param, p+1, sizeof(p)-4); + } + + pthread_mutex_unlock(&command_mutex); + + return status; +} + +int stop_script(unsigned script_id) + {return pigpio_command(gPigCommand, PI_CMD_PROCS, script_id, 0, 1);} + +int delete_script(unsigned script_id) + {return pigpio_command(gPigCommand, PI_CMD_PROCD, script_id, 0, 1);} + +int bb_serial_read_open(unsigned user_gpio, unsigned baud, uint32_t bbBits) +{ + gpioExtent_t ext[1]; + + /* + p1=user_gpio + p2=baud + p3=4 + ## extension ## + unsigned bbBits + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &bbBits; + + return pigpio_command_ext( + gPigCommand, PI_CMD_SLRO, user_gpio, baud, 4, 1, ext, 1); +} + +int bb_serial_read(unsigned user_gpio, void *buf, size_t bufSize) +{ + int bytes; + + bytes = pigpio_command(gPigCommand, PI_CMD_SLR, user_gpio, bufSize, 0); + + if (bytes > 0) + { + bytes = recvMax(buf, bufSize, bytes); + } + + pthread_mutex_unlock(&command_mutex); + + return bytes; +} + +int bb_serial_read_close(unsigned user_gpio) + {return pigpio_command(gPigCommand, PI_CMD_SLRC, user_gpio, 0, 1);} + +int bb_serial_invert(unsigned user_gpio, unsigned invert) + {return pigpio_command(gPigCommand, PI_CMD_SLRI, user_gpio, invert, 1);} + +int i2c_open(unsigned i2c_bus, unsigned i2c_addr, uint32_t i2c_flags) +{ + gpioExtent_t ext[1]; + + /* + p1=i2c_bus + p2=i2c_addr + p3=4 + ## extension ## + uint32_t i2c_flags + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &i2c_flags; + + return pigpio_command_ext + (gPigCommand, PI_CMD_I2CO, i2c_bus, i2c_addr, 4, 1, ext, 1); +} + +int i2c_close(unsigned handle) + {return pigpio_command(gPigCommand, PI_CMD_I2CC, handle, 0, 1);} + +int i2c_write_quick(unsigned handle, unsigned bit) + {return pigpio_command(gPigCommand, PI_CMD_I2CWQ, handle, bit, 1);} + +int i2c_write_byte(unsigned handle, unsigned val) + {return pigpio_command(gPigCommand, PI_CMD_I2CWS, handle, val, 1);} + +int i2c_read_byte(unsigned handle) + {return pigpio_command(gPigCommand, PI_CMD_I2CRS, handle, 0, 1);} + +int i2c_write_byte_data(unsigned handle, unsigned reg, uint32_t val) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=4 + ## extension ## + uint32_t val + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &val; + + return pigpio_command_ext + (gPigCommand, PI_CMD_I2CWB, handle, reg, 4, 1, ext, 1); +} + +int i2c_write_word_data(unsigned handle, unsigned reg, uint32_t val) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=4 + ## extension ## + uint32_t val + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &val; + + return pigpio_command_ext + (gPigCommand, PI_CMD_I2CWW, handle, reg, 4, 1, ext, 1); +} + +int i2c_read_byte_data(unsigned handle, unsigned reg) + {return pigpio_command(gPigCommand, PI_CMD_I2CRB, handle, reg, 1);} + +int i2c_read_word_data(unsigned handle, unsigned reg) + {return pigpio_command(gPigCommand, PI_CMD_I2CRW, handle, reg, 1);} + +int i2c_process_call(unsigned handle, unsigned reg, uint32_t val) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=4 + ## extension ## + uint32_t val + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &val; + + return pigpio_command_ext + (gPigCommand, PI_CMD_I2CPK, handle, reg, 4, 1, ext, 1); +} + +int i2c_write_block_data( + unsigned handle, unsigned reg, char *buf, unsigned count) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = buf; + + return pigpio_command_ext + (gPigCommand, PI_CMD_I2CWK, handle, reg, count, 1, ext, 1); +} + +int i2c_read_block_data(unsigned handle, unsigned reg, char *buf) +{ + int bytes; + + bytes = pigpio_command(gPigCommand, PI_CMD_I2CRK, handle, reg, 0); + + if (bytes > 0) + { + bytes = recvMax(buf, 32, bytes); + } + + pthread_mutex_unlock(&command_mutex); + + return bytes; +} + +int i2c_block_process_call( + unsigned handle, unsigned reg, char *buf, unsigned count) +{ + int bytes; + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = buf; + + bytes = pigpio_command_ext + (gPigCommand, PI_CMD_I2CPK, handle, reg, count, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(buf, 32, bytes); + } + + pthread_mutex_unlock(&command_mutex); + + return bytes; +} + +int i2c_read_i2c_block_data( + unsigned handle, unsigned reg, char *buf, uint32_t count) +{ + int bytes; + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=4 + ## extension ## + uint32_t count + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &count; + + bytes = pigpio_command_ext + (gPigCommand, PI_CMD_I2CRI, handle, reg, 4, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(buf, count, bytes); + } + + pthread_mutex_unlock(&command_mutex); + + return bytes; +} + + +int i2c_write_i2c_block_data( + unsigned handle, unsigned reg, char *buf, unsigned count) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = buf; + + return pigpio_command_ext + (gPigCommand, PI_CMD_I2CWI, handle, reg, count, 1, ext, 1); +} + +int i2c_read_device(unsigned handle, char *buf, unsigned count) +{ + int bytes; + + bytes = pigpio_command(gPigCommand, PI_CMD_I2CRD, handle, count, 0); + + if (bytes > 0) + { + bytes = recvMax(buf, count, bytes); + } + + pthread_mutex_unlock(&command_mutex); + + return bytes; +} + +int i2c_write_device(unsigned handle, char *buf, unsigned count) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=0 + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = buf; + + return pigpio_command_ext + (gPigCommand, PI_CMD_I2CWD, handle, 0, count, 1, ext, 1); +} + +int i2c_zip( + unsigned handle, + char *inBuf, + unsigned inLen, + char *outBuf, + unsigned outLen) +{ + int bytes; + gpioExtent_t ext[1]; + + /* + p1=handle + p2=0 + p3=inLen + ## extension ## + char inBuf[inLen] + */ + + ext[0].size = inLen; + ext[0].ptr = inBuf; + + bytes = pigpio_command_ext + (gPigCommand, PI_CMD_I2CZ, handle, 0, inLen, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(outBuf, outLen, bytes); + } + + pthread_mutex_unlock(&command_mutex); + + return bytes; +} + +int bb_i2c_open(unsigned SDA, unsigned SCL, unsigned baud) +{ + gpioExtent_t ext[1]; + + /* + p1=SDA + p2=SCL + p3=4 + ## extension ## + uint32_t baud + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &baud; + + return pigpio_command_ext + (gPigCommand, PI_CMD_BI2CO, SDA, SCL, 4, 1, ext, 1); +} + +int bb_i2c_close(unsigned SDA) + {return pigpio_command(gPigCommand, PI_CMD_BI2CC, SDA, 0, 1);} + +int bb_i2c_zip( + unsigned SDA, + char *inBuf, + unsigned inLen, + char *outBuf, + unsigned outLen) +{ + int bytes; + gpioExtent_t ext[1]; + + /* + p1=SDA + p2=0 + p3=inLen + ## extension ## + char inBuf[inLen] + */ + + ext[0].size = inLen; + ext[0].ptr = inBuf; + + bytes = pigpio_command_ext + (gPigCommand, PI_CMD_BI2CZ, SDA, 0, inLen, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(outBuf, outLen, bytes); + } + + pthread_mutex_unlock(&command_mutex); + + return bytes; +} + +int spi_open(unsigned channel, unsigned speed, uint32_t flags) +{ + gpioExtent_t ext[1]; + + /* + p1=channel + p2=speed + p3=4 + ## extension ## + uint32_t flags + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &flags; + + return pigpio_command_ext + (gPigCommand, PI_CMD_SPIO, channel, speed, 4, 1, ext, 1); +} + +int spi_close(unsigned handle) + {return pigpio_command(gPigCommand, PI_CMD_SPIC, handle, 0, 1);} + +int spi_read(unsigned handle, char *buf, unsigned count) +{ + int bytes; + + bytes = pigpio_command + (gPigCommand, PI_CMD_SPIR, handle, count, 0); + + if (bytes > 0) + { + bytes = recvMax(buf, count, bytes); + } + + pthread_mutex_unlock(&command_mutex); + + return bytes; +} + +int spi_write(unsigned handle, char *buf, unsigned count) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=0 + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = buf; + + return pigpio_command_ext + (gPigCommand, PI_CMD_SPIW, handle, 0, count, 1, ext, 1); +} + +int spi_xfer(unsigned handle, char *txBuf, char *rxBuf, unsigned count) +{ + int bytes; + gpioExtent_t ext[1]; + + /* + p1=handle + p2=0 + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = txBuf; + + bytes = pigpio_command_ext + (gPigCommand, PI_CMD_SPIX, handle, 0, count, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(rxBuf, count, bytes); + } + + pthread_mutex_unlock(&command_mutex); + + return bytes; +} + +int serial_open(char *dev, unsigned baud, unsigned flags) +{ + int len; + gpioExtent_t ext[1]; + + len = strlen(dev); + + /* + p1=baud + p2=flags + p3=len + ## extension ## + char dev[len] + */ + + ext[0].size = len; + ext[0].ptr = dev; + + return pigpio_command_ext + (gPigCommand, PI_CMD_SERO, baud, flags, len, 1, ext, 1); +} + +int serial_close(unsigned handle) + {return pigpio_command(gPigCommand, PI_CMD_SERC, handle, 0, 1);} + +int serial_write_byte(unsigned handle, unsigned val) + {return pigpio_command(gPigCommand, PI_CMD_SERWB, handle, val, 1);} + +int serial_read_byte(unsigned handle) + {return pigpio_command(gPigCommand, PI_CMD_SERRB, handle, 0, 1);} + +int serial_write(unsigned handle, char *buf, unsigned count) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=0 + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = buf; + + return pigpio_command_ext + (gPigCommand, PI_CMD_SERW, handle, 0, count, 1, ext, 1); +} + +int serial_read(unsigned handle, char *buf, unsigned count) +{ + int bytes; + + bytes = pigpio_command + (gPigCommand, PI_CMD_SERR, handle, count, 0); + + if (bytes > 0) + { + bytes = recvMax(buf, count, bytes); + } + + pthread_mutex_unlock(&command_mutex); + + return bytes; +} + +int serial_data_available(unsigned handle) + {return pigpio_command(gPigCommand, PI_CMD_SERDA, handle, 0, 1);} + +int custom_1(unsigned arg1, unsigned arg2, char *argx, unsigned count) +{ + gpioExtent_t ext[1]; + + /* + p1=arg1 + p2=arg2 + p3=count + ## extension ## + char argx[count] + */ + + ext[0].size = count; + ext[0].ptr = argx; + + return pigpio_command_ext( + gPigCommand, PI_CMD_CF1, arg1, arg2, count, 1, ext, 1); +} + + +int custom_2(unsigned arg1, char *argx, unsigned count, + char *retBuf, uint32_t retMax) +{ + int bytes; + gpioExtent_t ext[1]; + + /* + p1=arg1 + p2=retMax + p3=count + ## extension ## + char argx[count] + */ + + ext[0].size = count; + ext[0].ptr = argx; + + bytes = pigpio_command_ext + (gPigCommand, PI_CMD_CF2, arg1, retMax, count, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(retBuf, retMax, bytes); + } + + pthread_mutex_unlock(&command_mutex); + + return bytes; +} + + +int callback(unsigned user_gpio, unsigned edge, CBFunc_t f) + {return intCallback(user_gpio, edge, f, 0, 0);} + +int callback_ex(unsigned user_gpio, unsigned edge, CBFuncEx_t f, void *user) + {return intCallback(user_gpio, edge, f, user, 1);} + +int callback_cancel(unsigned id) +{ + callback_t *p; + + p = gCallBackFirst; + + while (p) + { + if (p->id == id) + { + if (p->prev) p->prev->next = p->next; + else gCallBackFirst = p->next; + + if (p->next) p->next->prev = p->prev; + else gCallBackLast = p->prev; + + free(p); + + findNotifyBits(); + + return 0; + } + p = p->next; + } + return pigif_callback_not_found; +} + +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; +} + + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if.h b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if.h new file mode 100644 index 0000000..6706b9d --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if.h @@ -0,0 +1,2915 @@ +/* +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 +*/ + +#ifndef PIGPIOD_IF_H +#define PIGPIOD_IF_H + +#include "pigpio.h" + +#define PIGPIOD_IF_VERSION 25 + +/*TEXT + +THIS LIBRARY IS DEPRECATED. NEW CODE SHOULD BE WRITTEN TO +USE THE MORE VERSATILE pigpiod_if2 LIBRARY. + +pigpiod_if is a C library for the Raspberry which allows control +of the GPIO via the socket interface to the pigpio daemon. + +*Features* + +o hardware timed PWM on any of GPIO 0-31 + +o hardware timed servo pulses on any of GPIO 0-31 + +o callbacks when any of GPIO 0-31 change state + +o callbacks at timed intervals + +o reading/writing all of the GPIO in a bank as one operation + +o individually setting GPIO modes, reading and writing + +o notifications when any of GPIO 0-31 change state + +o the construction of output waveforms with microsecond timing + +o rudimentary permission control over GPIO + +o a simple interface to start and stop new threads + +o I2C, SPI, and serial link wrappers + +o creating and running scripts on the pigpio daemon + +*GPIO* + +ALL GPIO are identified by their Broadcom number. + +*Notes* + +The PWM and servo pulses are timed using the DMA and PWM/PCM peripherals. + +*Usage* + +Include in your source files. + +Assuming your source is in prog.c use the following command to build + +. . +gcc -Wall -pthread -o prog prog.c -lpigpiod_if -lrt +. . + +to run make sure the pigpio daemon is running + +. . +sudo pigpiod + + ./prog # sudo is not required to run programs linked to pigpiod_if +. . + +For examples see x_pigpiod_if.c within the pigpio archive file. + +*Notes* + +All the functions which return an int return < 0 on error + +TEXT*/ + +/*OVERVIEW + +ESSENTIAL + +pigpio_start Connects to the pigpio daemon +pigpio_stop Disconnects from the pigpio daemon + +BEGINNER + +set_mode Set a GPIO mode +get_mode Get a GPIO mode + +set_pull_up_down Set/clear GPIO pull up/down resistor + +gpio_read Read a GPIO +gpio_write Write a GPIO + +set_PWM_dutycycle Start/stop PWM pulses on a GPIO +get_PWM_dutycycle Get the PWM dutycycle in use on a GPIO + +set_servo_pulsewidth Start/stop servo pulses on a GPIO +get_servo_pulsewidth Get the servo pulsewidth in use on a GPIO + +callback Create GPIO level change callback +callback_ex Create GPIO level change callback +callback_cancel Cancel a callback +wait_for_edge Wait for GPIO level change + +INTERMEDIATE + +gpio_trigger Send a trigger pulse to a GPIO. + +set_watchdog Set a watchdog on a GPIO. + +set_PWM_range Configure PWM range for a GPIO +get_PWM_range Get configured PWM range for a GPIO + +set_PWM_frequency Configure PWM frequency for a GPIO +get_PWM_frequency Get configured PWM frequency for a GPIO + +read_bank_1 Read all GPIO in bank 1 +read_bank_2 Read all GPIO in bank 2 + +clear_bank_1 Clear selected GPIO in bank 1 +clear_bank_2 Clear selected GPIO in bank 2 + +set_bank_1 Set selected GPIO in bank 1 +set_bank_2 Set selected GPIO in bank 2 + +start_thread Start a new thread +stop_thread Stop a previously started thread + +ADVANCED + +get_PWM_real_range Get underlying PWM range for a GPIO + +notify_open Request a notification handle +notify_begin Start notifications for selected GPIO +notify_pause Pause notifications +notify_close Close a notification + +bb_serial_read_open Opens a GPIO for bit bang serial reads +bb_serial_read Reads bit bang serial data from a GPIO +bb_serial_read_close Closes a GPIO for bit bang serial reads +bb_serial_invert Invert serial logic (1 invert, 0 normal) + +hardware_clock Start hardware clock on supported GPIO +hardware_PWM Start hardware PWM on supported GPIO + +set_glitch_filter Set a glitch filter on a GPIO +set_noise_filter Set a noise filter on a GPIO + +SCRIPTS + +store_script Store a script +run_script Run a stored script +script_status Get script status and parameters +stop_script Stop a running script +delete_script Delete a stored script + +WAVES + +wave_clear Deletes all waveforms + +wave_add_new Starts a new waveform +wave_add_generic Adds a series of pulses to the waveform +wave_add_serial Adds serial data to the waveform + +wave_create Creates a waveform from added data +wave_delete Deletes one or more waveforms + +wave_send_once Transmits a waveform once +wave_send_repeat Transmits a waveform repeatedly + +wave_chain Transmits a chain of waveforms + +wave_tx_busy Checks to see if the waveform has ended +wave_tx_stop Aborts the current waveform + +wave_get_micros Length in microseconds of the current waveform +wave_get_high_micros Length of longest waveform so far +wave_get_max_micros Absolute maximum allowed micros + +wave_get_pulses Length in pulses of the current waveform +wave_get_high_pulses Length of longest waveform so far +wave_get_max_pulses Absolute maximum allowed pulses + +wave_get_cbs Length in cbs of the current waveform +wave_get_high_cbs Length of longest waveform so far +wave_get_max_cbs Absolute maximum allowed cbs + +I2C + +i2c_open Opens an I2C device +i2c_close Closes an I2C device + +i2c_write_quick smbus write quick +i2c_write_byte smbus write byte +i2c_read_byte smbus read byte +i2c_write_byte_data smbus write byte data +i2c_write_word_data smbus write word data +i2c_read_byte_data smbus read byte data +i2c_read_word_data smbus read word data +i2c_process_call smbus process call +i2c_write_block_data smbus write block data +i2c_read_block_data smbus read block data +i2c_block_process_call smbus block process call + +i2c_write_i2c_block_data smbus write I2C block data +i2c_read_i2c_block_data smbus read I2C block data + +i2c_read_device Reads the raw I2C device +i2c_write_device Writes the raw I2C device + +i2c_zip Performs multiple I2C transactions + +bb_i2c_open Opens GPIO for bit banging I2C +bb_i2c_close Closes GPIO for bit banging I2C +bb_i2c_zip Performs multiple bit banged I2C transactions + +SPI + +spi_open Opens a SPI device +spi_close Closes a SPI device + +spi_read Reads bytes from a SPI device +spi_write Writes bytes to a SPI device +spi_xfer Transfers bytes with a SPI device + +SERIAL + +serial_open Opens a serial device +serial_close Closes a serial device + +serial_write_byte Writes a byte to a serial device +serial_read_byte Reads a byte from a serial device +serial_write Writes bytes to a serial device +serial_read Reads bytes from a serial device + +serial_data_available Returns number of bytes ready to be read + +CUSTOM + +custom_1 User custom function 1 +custom_2 User custom function 2 + +UTILITIES + +get_current_tick Get current tick (microseconds) + +get_hardware_revision Get hardware revision +get_pigpio_version Get the pigpio version +pigpiod_if_version Get the pigpiod_if version + +pigpio_error Get a text description of an error code. + +time_sleep Sleeps for a float number of seconds +time_time Float number of seconds since the epoch + +OVERVIEW*/ + +#ifdef __cplusplus +extern "C" { +#endif + +typedef void (*CBFunc_t) (unsigned user_gpio, unsigned level, uint32_t tick); + +typedef void (*CBFuncEx_t) + (unsigned user_gpio, unsigned level, uint32_t tick, void * user); + +typedef struct callback_s callback_t; + +/*F*/ +double time_time(void); +/*D +Return the current time in seconds since the Epoch. +D*/ + +/*F*/ +void time_sleep(double seconds); +/*D +Delay execution for a given number of seconds. + +. . +seconds: the number of seconds to delay. +. . +D*/ + +/*F*/ +char *pigpio_error(int errnum); +/*D +Return a text description for an error code. + +. . +errnum: the error code. +. . +D*/ + +/*F*/ +unsigned pigpiod_if_version(void); +/*D +Return the pigpiod_if version. +D*/ + +/*F*/ +pthread_t *start_thread(gpioThreadFunc_t thread_func, void *userdata); +/*D +Starts a new thread of execution with thread_func as the main routine. + +. . +thread_func: the main function for the new thread. + userdata: a pointer to an arbitrary argument. +. . + +Returns a pointer to pthread_t if OK, otherwise NULL. + +The function is passed the single argument userdata. + +The thread can be cancelled by passing the pointer to pthread_t to +[*stop_thread*]. +D*/ + +/*F*/ +void stop_thread(pthread_t *pth); +/*D +Cancels the thread pointed at by pth. + +. . +pth: the thread to be stopped. +. . + +No value is returned. + +The thread to be stopped should have been started with [*start_thread*]. +D*/ + +/*F*/ +int pigpio_start(char *addrStr, char *portStr); +/*D +Connect to the pigpio daemon. Reserving command and +notification streams. + +. . +addrStr: specifies the host or IP address of the Pi running the + pigpio daemon. It may be NULL in which case localhost + is used unless overridden by the PIGPIO_ADDR environment + variable. + +portStr: specifies the port address used by the Pi running the + pigpio daemon. It may be NULL in which case "8888" + is used unless overridden by the PIGPIO_PORT environment + variable. +. . +D*/ + +/*F*/ +void pigpio_stop(void); +/*D +Terminates the connection to the pigpio daemon and releases +resources used by the library. +D*/ + +/*F*/ +int set_mode(unsigned gpio, unsigned mode); +/*D +Set the GPIO mode. + +. . +gpio: 0-53. +mode: PI_INPUT, PI_OUTPUT, PI_ALT0, PI_ALT1, + PI_ALT2, PI_ALT3, PI_ALT4, PI_ALT5. +. . + +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_MODE, +or PI_NOT_PERMITTED. +D*/ + +/*F*/ +int get_mode(unsigned gpio); +/*D +Get the GPIO mode. + +. . +gpio: 0-53. +. . + +Returns the GPIO mode if OK, otherwise PI_BAD_GPIO. +D*/ + +/*F*/ +int set_pull_up_down(unsigned gpio, unsigned pud); +/*D +Set or clear the GPIO pull-up/down resistor. + +. . +gpio: 0-53. + pud: PI_PUD_UP, PI_PUD_DOWN, PI_PUD_OFF. +. . + +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_PUD, +or PI_NOT_PERMITTED. +D*/ + +/*F*/ +int gpio_read(unsigned gpio); +/*D +Read the GPIO level. + +. . +gpio:0-53. +. . + +Returns the GPIO level if OK, otherwise PI_BAD_GPIO. +D*/ + +/*F*/ +int gpio_write(unsigned gpio, unsigned level); +/*D +Write the GPIO level. + +. . + gpio: 0-53. +level: 0, 1. +. . + +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_LEVEL, +or PI_NOT_PERMITTED. + +Notes + +If PWM or servo pulses are active on the GPIO they are switched off. +D*/ + +/*F*/ +int set_PWM_dutycycle(unsigned user_gpio, unsigned dutycycle); +/*D +Start (non-zero dutycycle) or stop (0) PWM pulses on the GPIO. + +. . +user_gpio: 0-31. +dutycycle: 0-range (range defaults to 255). +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYCYCLE, +or PI_NOT_PERMITTED. +Notes + +The [*set_PWM_range*] function may be used to change the +default range of 255. +D*/ + +/*F*/ +int get_PWM_dutycycle(unsigned user_gpio); +/*D +Return the PWM dutycycle in use on a GPIO. + +. . +user_gpio: 0-31. +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_PWM_GPIO. + +For normal PWM the dutycycle will be out of the defined range +for the GPIO (see [*get_PWM_range*]). + +If a hardware clock is active on the GPIO the reported dutycycle +will be 500000 (500k) out of 1000000 (1M). + +If hardware PWM is active on the GPIO the reported dutycycle +will be out of a 1000000 (1M). +D*/ + +/*F*/ +int set_PWM_range(unsigned user_gpio, unsigned range); +/*D +Set the range of PWM values to be used on the GPIO. + +. . +user_gpio: 0-31. + range: 25-40000. +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYRANGE, +or PI_NOT_PERMITTED. + +Notes + +If PWM is currently active on the GPIO its dutycycle will be +scaled to reflect the new range. + +The real range, the number of steps between fully off and fully on +for each of the 18 available GPIO frequencies is + +. . + 25(#1), 50(#2), 100(#3), 125(#4), 200(#5), 250(#6), + 400(#7), 500(#8), 625(#9), 800(#10), 1000(#11), 1250(#12), +2000(#13), 2500(#14), 4000(#15), 5000(#16), 10000(#17), 20000(#18) +. . + +The real value set by set_PWM_range is (dutycycle * real range) / range. +D*/ + +/*F*/ +int get_PWM_range(unsigned user_gpio); +/*D +Get the range of PWM values being used on the GPIO. + +. . +user_gpio: 0-31. +. . + +Returns the dutycycle range used for the GPIO if OK, +otherwise PI_BAD_USER_GPIO. + +If a hardware clock or hardware PWM is active on the GPIO the +reported range will be 1000000 (1M). +D*/ + +/*F*/ +int get_PWM_real_range(unsigned user_gpio); +/*D +Get the real underlying range of PWM values being used on the GPIO. + +. . +user_gpio: 0-31. +. . + +Returns the real range used for the GPIO if OK, +otherwise PI_BAD_USER_GPIO. + +If a hardware clock is active on the GPIO the reported +real range will be 1000000 (1M). + +If hardware PWM is active on the GPIO the reported real range +will be approximately 250M divided by the set PWM frequency. + +D*/ + +/*F*/ +int set_PWM_frequency(unsigned user_gpio, unsigned frequency); +/*D +Set the frequency (in Hz) of the PWM to be used on the GPIO. + +. . +user_gpio: 0-31. +frequency: >=0 (Hz). +. . + +Returns the numerically closest frequency if OK, otherwise +PI_BAD_USER_GPIO or PI_NOT_PERMITTED. + +If PWM is currently active on the GPIO it will be switched +off and then back on at the new frequency. + +Each GPIO can be independently set to one of 18 different +PWM frequencies. + +The selectable frequencies depend upon the sample rate which +may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). The +sample rate is set when the pigpio daemon is started. + +The frequencies for each sample rate are: + +. . + Hertz + + 1: 40000 20000 10000 8000 5000 4000 2500 2000 1600 + 1250 1000 800 500 400 250 200 100 50 + + 2: 20000 10000 5000 4000 2500 2000 1250 1000 800 + 625 500 400 250 200 125 100 50 25 + + 4: 10000 5000 2500 2000 1250 1000 625 500 400 + 313 250 200 125 100 63 50 25 13 +sample + rate + (us) 5: 8000 4000 2000 1600 1000 800 500 400 320 + 250 200 160 100 80 50 40 20 10 + + 8: 5000 2500 1250 1000 625 500 313 250 200 + 156 125 100 63 50 31 25 13 6 + + 10: 4000 2000 1000 800 500 400 250 200 160 + 125 100 80 50 40 25 20 10 5 +. . +D*/ + +/*F*/ +int get_PWM_frequency(unsigned user_gpio); +/*D +Get the frequency of PWM being used on the GPIO. + +. . +user_gpio: 0-31. +. . + +For normal PWM the frequency will be that defined for the GPIO by +[*set_PWM_frequency*]. + +If a hardware clock is active on the GPIO the reported frequency +will be that set by [*hardware_clock*]. + +If hardware PWM is active on the GPIO the reported frequency +will be that set by [*hardware_PWM*]. + +Returns the frequency (in hertz) used for the GPIO if OK, +otherwise PI_BAD_USER_GPIO. +D*/ + +/*F*/ +int set_servo_pulsewidth(unsigned user_gpio, unsigned pulsewidth); +/*D +Start (500-2500) or stop (0) servo pulses on the GPIO. + +. . + user_gpio: 0-31. +pulsewidth: 0 (off), 500 (anti-clockwise) - 2500 (clockwise). +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_PULSEWIDTH or +PI_NOT_PERMITTED. + +The selected pulsewidth will continue to be transmitted until +changed by a subsequent call to set_servo_pulsewidth. + +The pulsewidths supported by servos varies and should probably be +determined by experiment. A value of 1500 should always be safe and +represents the mid-point of rotation. + +You can DAMAGE a servo if you command it to move beyond its limits. + +OTHER UPDATE RATES: + +This function updates servos at 50Hz. If you wish to use a different +update frequency you will have to use the PWM functions. + +. . +Update Rate (Hz) 50 100 200 400 500 +1E6/Hz 20000 10000 5000 2500 2000 +. . + +Firstly set the desired PWM frequency using [*set_PWM_frequency*]. + +Then set the PWM range using [*set_PWM_range*] to 1E6/Hz. +Doing this allows you to use units of microseconds when setting +the servo pulsewidth. + +E.g. If you want to update a servo connected to GPIO 25 at 400Hz + +. . +set_PWM_frequency(25, 400); +set_PWM_range(25, 2500); +. . + +Thereafter use the [*set_PWM_dutycycle*] function to move the servo, +e.g. set_PWM_dutycycle(25, 1500) will set a 1500 us pulse. +D*/ + +/*F*/ +int get_servo_pulsewidth(unsigned user_gpio); +/*D +Return the servo pulsewidth in use on a GPIO. + +. . +user_gpio: 0-31. +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_SERVO_GPIO. +D*/ + +/*F*/ +int notify_open(void); +/*D +Get a free notification handle. + +Returns a handle greater than or equal to zero if OK, +otherwise PI_NO_HANDLE. + +A notification is a method for being notified of GPIO state +changes via a pipe. + +Pipes are only accessible from the local machine so this function +serves no purpose if you are using the library from a remote machine. +The in-built (socket) notifications provided by [*callback*] +should be used instead. + +Notifications for handle x will be available at the pipe +named /dev/pigpiox (where x is the handle number). +E.g. if the function returns 15 then the notifications must be +read from /dev/pigpio15. +D*/ + +/*F*/ +int notify_begin(unsigned handle, uint32_t bits); +/*D +Start notifications on a previously opened handle. + +. . +handle: 0-31 (as returned by [*notify_open*]) + bits: a mask indicating the GPIO to be notified. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +The notification sends state changes for each GPIO whose +corresponding bit in bits is set. + +Each notification occupies 12 bytes in the fifo as follows: + +. . +typedef struct +{ + uint16_t seqno; + uint16_t flags; + uint32_t tick; + uint32_t level; +} gpioReport_t; +. . + +seqno: starts at 0 each time the handle is opened and then increments +by one for each report. + +flags: two flags are defined, PI_NTFY_FLAGS_WDOG and PI_NTFY_FLAGS_ALIVE. + +PI_NTFY_FLAGS_WDOG, if bit 5 is set then bits 0-4 of the flags +indicate a GPIO which has had a watchdog timeout. + +PI_NTFY_FLAGS_ALIVE, if bit 6 is set this indicates a keep alive +signal on the pipe/socket and is sent once a minute in the absence +of other notification activity. + +tick: the number of microseconds since system boot. It wraps around +after 1h12m. + +level: indicates the level of each GPIO. If bit 1<=0 + numBytes: >=1 + str: an array of chars. +. . + +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_BAD_DATABITS, +PI_BAD_STOP_BITS, PI_TOO_MANY_CHARS, PI_BAD_SER_OFFSET, +or PI_TOO_MANY_PULSES. + +NOTES: + +The serial data is formatted as one start bit, [*data_bits*] data bits, +and [*stop_bits*]/2 stop bits. + +It is legal to add serial data streams with different baud rates to +the same waveform. + +[*numBytes*] is the number of bytes of data in str. + +The bytes required for each character depend upon [*data_bits*]. + +For [*data_bits*] 1-8 there will be one byte per character. +For [*data_bits*] 9-16 there will be two bytes per character. +For [*data_bits*] 17-32 there will be four bytes per character. +D*/ + +/*F*/ +int wave_create(void); +/*D +This function creates a waveform from the data provided by the prior +calls to the [*wave_add_**] functions. Upon success a wave id +greater than or equal to 0 is returned, otherwise PI_EMPTY_WAVEFORM, +PI_TOO_MANY_CBS, PI_TOO_MANY_OOL, or PI_NO_WAVEFORM_ID. + +The data provided by the [*wave_add_**] functions is consumed by this +function. + +As many waveforms may be created as there is space available. The +wave id is passed to [*wave_send_**] to specify the waveform to transmit. + +Normal usage would be + +Step 1. [*wave_clear*] to clear all waveforms and added data. + +Step 2. [*wave_add_**] calls to supply the waveform data. + +Step 3. [*wave_create*] to create the waveform and get a unique id + +Repeat steps 2 and 3 as needed. + +Step 4. [*wave_send_**] with the id of the waveform to transmit. + +A waveform comprises one or more pulses. Each pulse consists of a +[*gpioPulse_t*] structure. + +. . +typedef struct +{ + uint32_t gpioOn; + uint32_t gpioOff; + uint32_t usDelay; +} gpioPulse_t; +. . + +The fields specify + +1) the GPIO to be switched on at the start of the pulse. +2) the GPIO to be switched off at the start of the pulse. +3) the delay in microseconds before the next pulse. + +Any or all the fields can be zero. It doesn't make any sense to +set all the fields to zero (the pulse will be ignored). + +When a waveform is started each pulse is executed in order with the +specified delay between the pulse and the next. + +Returns the new waveform id if OK, otherwise PI_EMPTY_WAVEFORM, +PI_NO_WAVEFORM_ID, PI_TOO_MANY_CBS, or PI_TOO_MANY_OOL. +D*/ + + +/*F*/ +int wave_delete(unsigned wave_id); +/*D +This function deletes the waveform with id wave_id. + +. . +wave_id: >=0, as returned by [*wave_create*]. +. . + +Wave ids are allocated in order, 0, 1, 2, etc. + +Returns 0 if OK, otherwise PI_BAD_WAVE_ID. +D*/ + +/*F*/ +int wave_send_once(unsigned wave_id); +/*D +This function transmits the waveform with id wave_id. The waveform +is sent once. + +NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled. + +. . +wave_id: >=0, as returned by [*wave_create*]. +. . + +Returns the number of DMA control blocks in the waveform if OK, +otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE. +D*/ + +/*F*/ +int wave_send_repeat(unsigned wave_id); +/*D +This function transmits the waveform with id wave_id. The waveform +cycles until cancelled (either by the sending of a new waveform or +by [*wave_tx_stop*]). + +NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled. + +. . +wave_id: >=0, as returned by [*wave_create*]. +. . + +Returns the number of DMA control blocks in the waveform if OK, +otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE. +D*/ + +/*F*/ +int wave_chain(char *buf, unsigned bufSize); +/*D +This function transmits a chain of waveforms. + +NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled. + +The waves to be transmitted are specified by the contents of buf +which contains an ordered list of [*wave_id*]s and optional command +codes and related data. + +. . + buf: pointer to the wave_ids and optional command codes +bufSize: the number of bytes in buf +. . + +Returns 0 if OK, otherwise PI_CHAIN_NESTING, PI_CHAIN_LOOP_CNT, PI_BAD_CHAIN_LOOP, PI_BAD_CHAIN_CMD, PI_CHAIN_COUNTER, +PI_BAD_CHAIN_DELAY, PI_CHAIN_TOO_BIG, or PI_BAD_WAVE_ID. + +Each wave is transmitted in the order specified. A wave may +occur multiple times per chain. + +A blocks of waves may be transmitted multiple times by using +the loop commands. The block is bracketed by loop start and +end commands. Loops may be nested. + +Delays between waves may be added with the delay command. + +The following command codes are supported: + +Name @ Cmd & Data @ Meaning +Loop Start @ 255 0 @ Identify start of a wave block +Loop Repeat @ 255 1 x y @ loop x + y*256 times +Delay @ 255 2 x y @ delay x + y*256 microseconds +Loop Forever @ 255 3 @ loop forever + +If present Loop Forever must be the last entry in the chain. + +The code is currently dimensioned to support a chain with roughly +600 entries and 20 loop counters. + +... +#include +#include + +#define WAVES 5 +#define GPIO 4 + +int main(int argc, char *argv[]) +{ + int i, wid[WAVES]; + + if (pigpio_start(0, 0)<0) return -1; + + set_mode(GPIO, PI_OUTPUT); + + for (i=0; i=0, as returned by [*store_script*]. + numPar: 0-10, the number of parameters. + param: an array of parameters. +. . + +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID, or +PI_TOO_MANY_PARAM + +param is an array of up to 10 parameters which may be referenced in +the script as p0 to p9. +D*/ + +/*F*/ +int script_status(unsigned script_id, uint32_t *param); +/*D +This function returns the run status of a stored script as well +as the current values of parameters 0 to 9. + +. . +script_id: >=0, as returned by [*store_script*]. + param: an array to hold the returned 10 parameters. +. . + +The function returns greater than or equal to 0 if OK, +otherwise PI_BAD_SCRIPT_ID. + +The run status may be + +. . +PI_SCRIPT_INITING +PI_SCRIPT_HALTED +PI_SCRIPT_RUNNING +PI_SCRIPT_WAITING +PI_SCRIPT_FAILED +. . + +The current value of script parameters 0 to 9 are returned in param. +D*/ + +/*F*/ +int stop_script(unsigned script_id); +/*D +This function stops a running script. + +. . +script_id: >=0, as returned by [*store_script*]. +. . + +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. +D*/ + +/*F*/ +int delete_script(unsigned script_id); +/*D +This function deletes a stored script. + +. . +script_id: >=0, as returned by [*store_script*]. +. . + +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. +D*/ + +/*F*/ +int bb_serial_read_open(unsigned user_gpio, unsigned baud, unsigned data_bits); +/*D +This function opens a GPIO for bit bang reading of serial data. + +. . +user_gpio: 0-31. + baud: 50-250000 +data_bits: 1-32 +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, +or PI_GPIO_IN_USE. + +The serial data is returned in a cyclic buffer and is read using +bb_serial_read. + +It is the caller's responsibility to read data from the cyclic buffer +in a timely fashion. +D*/ + +/*F*/ +int bb_serial_read(unsigned user_gpio, void *buf, size_t bufSize); +/*D +This function copies up to bufSize bytes of data read from the +bit bang serial cyclic buffer to the buffer starting at buf. + +. . +user_gpio: 0-31, previously opened with [*bb_serial_read_open*]. + buf: an array to receive the read bytes. + bufSize: >=0 +. . + +Returns the number of bytes copied if OK, otherwise PI_BAD_USER_GPIO +or PI_NOT_SERIAL_GPIO. + +The bytes returned for each character depend upon the number of +data bits [*data_bits*] specified in the [*bb_serial_read_open*] command. + +For [*data_bits*] 1-8 there will be one byte per character. +For [*data_bits*] 9-16 there will be two bytes per character. +For [*data_bits*] 17-32 there will be four bytes per character. +D*/ + +/*F*/ +int bb_serial_read_close(unsigned user_gpio); +/*D +This function closes a GPIO for bit bang reading of serial data. + +. . +user_gpio: 0-31, previously opened with [*bb_serial_read_open*]. +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SERIAL_GPIO. +D*/ + +/*F*/ +int bb_serial_invert(unsigned user_gpio, unsigned invert); +/*D +This function inverts serial logic for big bang serial reads. + +. . +user_gpio: 0-31, previously opened with [*bb_serial_read_open*]. + invert: 0-1, 1 invert, 0 normal. +. . + +Returns 0 if OK, otherwise PI_NOT_SERIAL_GPIO or PI_BAD_SER_INVERT. +D*/ + +/*F*/ +int i2c_open(unsigned i2c_bus, unsigned i2c_addr, unsigned i2c_flags); +/*D +This returns a handle for the device at address i2c_addr on bus i2c_bus. + +. . + i2c_bus: >=0. + i2c_addr: 0-0x7F. +i2c_flags: 0. +. . + +No flags are currently defined. This parameter should be set to zero. + +Physically buses 0 and 1 are available on the Pi. Higher numbered buses +will be available if a kernel supported bus multiplexor is being used. + +Returns a handle (>=0) if OK, otherwise PI_BAD_I2C_BUS, PI_BAD_I2C_ADDR, +PI_BAD_FLAGS, PI_NO_HANDLE, or PI_I2C_OPEN_FAILED. + +For the SMBus commands the low level transactions are shown at the end +of the function description. The following abbreviations are used. + +. . +S (1 bit) : Start bit +P (1 bit) : Stop bit +Rd/Wr (1 bit) : Read/Write bit. Rd equals 1, Wr equals 0. +A, NA (1 bit) : Accept and not accept bit. +Addr (7 bits): I2C 7 bit address. +Comm (8 bits): Command byte, a data byte which often selects a register. +Data (8 bits): A data byte. +Count (8 bits): A data byte containing the length of a block operation. + +[..]: Data sent by the device. +. . +D*/ + +/*F*/ +int i2c_close(unsigned handle); +/*D +This closes the I2C device associated with the handle. + +. . +handle: >=0, as returned by a call to [*i2c_open*]. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. +D*/ + +/*F*/ +int i2c_write_quick(unsigned handle, unsigned bit); +/*D +This sends a single bit (in the Rd/Wr bit) to the device associated +with handle. + +. . +handle: >=0, as returned by a call to [*i2c_open*]. + bit: 0-1, the value to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Quick command. SMBus 2.0 5.5.1 +. . +S Addr Rd/Wr [A] P +. . +D*/ + +/*F*/ +int i2c_write_byte(unsigned handle, unsigned bVal); +/*D +This sends a single byte to the device associated with handle. + +. . +handle: >=0, as returned by a call to [*i2c_open*]. + bVal: 0-0xFF, the value to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Send byte. SMBus 2.0 5.5.2 +. . +S Addr Wr [A] Data [A] P +. . +D*/ + +/*F*/ +int i2c_read_byte(unsigned handle); +/*D +This reads a single byte from the device associated with handle. + +. . +handle: >=0, as returned by a call to [*i2c_open*]. +. . + +Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, +or PI_I2C_READ_FAILED. + +Receive byte. SMBus 2.0 5.5.3 +. . +S Addr Rd [A] [Data] NA P +. . +D*/ + +/*F*/ +int i2c_write_byte_data(unsigned handle, unsigned i2c_reg, unsigned bVal); +/*D +This writes a single byte to the specified register of the device +associated with handle. + +. . + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to write. + bVal: 0-0xFF, the value to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Write byte. SMBus 2.0 5.5.4 +. . +S Addr Wr [A] Comm [A] Data [A] P +. . +D*/ + +/*F*/ +int i2c_write_word_data(unsigned handle, unsigned i2c_reg, unsigned wVal); +/*D +This writes a single 16 bit word to the specified register of the device +associated with handle. + +. . + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to write. + wVal: 0-0xFFFF, the value to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Write word. SMBus 2.0 5.5.4 +. . +S Addr Wr [A] Comm [A] DataLow [A] DataHigh [A] P +. . +D*/ + +/*F*/ +int i2c_read_byte_data(unsigned handle, unsigned i2c_reg); +/*D +This reads a single byte from the specified register of the device +associated with handle. + +. . + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to read. +. . + +Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +Read byte. SMBus 2.0 5.5.5 +. . +S Addr Wr [A] Comm [A] S Addr Rd [A] [Data] NA P +. . +D*/ + +/*F*/ +int i2c_read_word_data(unsigned handle, unsigned i2c_reg); +/*D +This reads a single 16 bit word from the specified register of the device +associated with handle. + +. . + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to read. +. . + +Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +Read word. SMBus 2.0 5.5.5 +. . +S Addr Wr [A] Comm [A] S Addr Rd [A] [DataLow] A [DataHigh] NA P +. . +D*/ + +/*F*/ +int i2c_process_call(unsigned handle, unsigned i2c_reg, unsigned wVal); +/*D +This writes 16 bits of data to the specified register of the device +associated with handle and and reads 16 bits of data in return. + +. . + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to write/read. + wVal: 0-0xFFFF, the value to write. +. . + +Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +Process call. SMBus 2.0 5.5.6 +. . +S Addr Wr [A] Comm [A] DataLow [A] DataHigh [A] + S Addr Rd [A] [DataLow] A [DataHigh] NA P +. . +D*/ + +/*F*/ +int i2c_write_block_data( +unsigned handle, unsigned i2c_reg, char *buf, unsigned count); +/*D +This writes up to 32 bytes to the specified register of the device +associated with handle. + +. . + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to write. + buf: an array with the data to send. + count: 1-32, the number of bytes to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Block write. SMBus 2.0 5.5.7 +. . +S Addr Wr [A] Comm [A] Count [A] Data [A] Data [A] ... [A] Data [A] P +. . +D*/ + +/*F*/ +int i2c_read_block_data(unsigned handle, unsigned i2c_reg, char *buf); +/*D +This reads a block of up to 32 bytes from the specified register of +the device associated with handle. + +. . + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to read. + buf: an array to receive the read data. +. . + +The amount of returned data is set by the device. + +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +Block read. SMBus 2.0 5.5.7 +. . +S Addr Wr [A] Comm [A] + S Addr Rd [A] [Count] A [Data] A [Data] A ... A [Data] NA P +. . +D*/ + +/*F*/ +int i2c_block_process_call( +unsigned handle, unsigned i2c_reg, char *buf, unsigned count); +/*D +This writes data bytes to the specified register of the device +associated with handle and reads a device specified number +of bytes of data in return. + +. . + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to write/read. + buf: an array with the data to send and to receive the read data. + count: 1-32, the number of bytes to write. +. . + + +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +The smbus 2.0 documentation states that a minimum of 1 byte may be +sent and a minimum of 1 byte may be received. The total number of +bytes sent/received must be 32 or less. + +Block write-block read. SMBus 2.0 5.5.8 +. . +S Addr Wr [A] Comm [A] Count [A] Data [A] ... + S Addr Rd [A] [Count] A [Data] ... A P +. . +D*/ + +/*F*/ +int i2c_read_i2c_block_data( +unsigned handle, unsigned i2c_reg, char *buf, unsigned count); +/*D +This reads count bytes from the specified register of the device +associated with handle . The count may be 1-32. + +. . + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to read. + buf: an array to receive the read data. + count: 1-32, the number of bytes to read. +. . + +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +. . +S Addr Wr [A] Comm [A] + S Addr Rd [A] [Data] A [Data] A ... A [Data] NA P +. . +D*/ + + +/*F*/ +int i2c_write_i2c_block_data( +unsigned handle, unsigned i2c_reg, char *buf, unsigned count); +/*D +This writes 1 to 32 bytes to the specified register of the device +associated with handle. + +. . + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to write. + buf: the data to write. + count: 1-32, the number of bytes to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +. . +S Addr Wr [A] Comm [A] Data [A] Data [A] ... [A] Data [A] P +. . +D*/ + +/*F*/ +int i2c_read_device(unsigned handle, char *buf, unsigned count); +/*D +This reads count bytes from the raw device into buf. + +. . +handle: >=0, as returned by a call to [*i2c_open*]. + buf: an array to receive the read data bytes. + count: >0, the number of bytes to read. +. . + +Returns count (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_READ_FAILED. +D*/ + +/*F*/ +int i2c_write_device(unsigned handle, char *buf, unsigned count); +/*D +This writes count bytes from buf to the raw device. + +. . +handle: >=0, as returned by a call to [*i2c_open*]. + buf: an array containing the data bytes to write. + count: >0, the number of bytes to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. +D*/ + +/*F*/ +int i2c_zip( + unsigned handle, + char *inBuf, + unsigned inLen, + char *outBuf, + unsigned outLen); +/*D +This function executes a sequence of I2C operations. The +operations to be performed are specified by the contents of inBuf +which contains the concatenated command codes and associated data. + +. . +handle: >=0, as returned by a call to [*i2cOpen*] + inBuf: pointer to the concatenated I2C commands, see below + inLen: size of command buffer +outBuf: pointer to buffer to hold returned data +outLen: size of output buffer +. . + +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_HANDLE, PI_BAD_POINTER, PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN. +PI_BAD_I2C_WLEN, or PI_BAD_I2C_SEG. + +The following command codes are supported: + +Name @ Cmd & Data @ Meaning +End @ 0 @ No more commands +Escape @ 1 @ Next P is two bytes +On @ 2 @ Switch combined flag on +Off @ 3 @ Switch combined flag off +Address @ 4 P @ Set I2C address to P +Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8) +Read @ 6 P @ Read P bytes of data +Write @ 7 P ... @ Write P bytes of data + +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +The address defaults to that associated with the handle. +The flags default to 0. The address and flags maintain their +previous value until updated. + +The returned I2C data is stored in consecutive locations of outBuf. + +... +Set address 0x53, write 0x32, read 6 bytes +Set address 0x1E, write 0x03, read 6 bytes +Set address 0x68, write 0x1B, read 8 bytes +End + +0x04 0x53 0x07 0x01 0x32 0x06 0x06 +0x04 0x1E 0x07 0x01 0x03 0x06 0x06 +0x04 0x68 0x07 0x01 0x1B 0x06 0x08 +0x00 +... + +D*/ + +/*F*/ +int bb_i2c_open(unsigned SDA, unsigned SCL, unsigned baud); +/*D +This function selects a pair of GPIO for bit banging I2C at a +specified baud rate. + +Bit banging I2C allows for certain operations which are not possible +with the standard I2C driver. + +o baud rates as low as 50 +o repeated starts +o clock stretching +o I2C on any pair of spare GPIO + +. . + SDA: 0-31 + SCL: 0-31 +baud: 50-500000 +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_I2C_BAUD, or +PI_GPIO_IN_USE. + +NOTE: + +The GPIO used for SDA and SCL must have pull-ups to 3V3 connected. As +a guide the hardware pull-ups on pins 3 and 5 are 1k8 in value. +D*/ + +/*F*/ +int bb_i2c_close(unsigned SDA); +/*D +This function stops bit banging I2C on a pair of GPIO previously +opened with [*bb_i2c_open*]. + +. . +SDA: 0-31, the SDA GPIO used in a prior call to [*bb_i2c_open*] +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_I2C_GPIO. +D*/ + +/*F*/ +int bb_i2c_zip( + unsigned SDA, + char *inBuf, + unsigned inLen, + char *outBuf, + unsigned outLen); +/*D +This function executes a sequence of bit banged I2C operations. The +operations to be performed are specified by the contents of inBuf +which contains the concatenated command codes and associated data. + +. . + SDA: 0-31 (as used in a prior call to [*bb_i2c_open*]) + inBuf: pointer to the concatenated I2C commands, see below + inLen: size of command buffer +outBuf: pointer to buffer to hold returned data +outLen: size of output buffer +. . + +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_USER_GPIO, PI_NOT_I2C_GPIO, PI_BAD_POINTER, +PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN, PI_BAD_I2C_WLEN, +PI_I2C_READ_FAILED, or PI_I2C_WRITE_FAILED. + +The following command codes are supported: + +Name @ Cmd & Data @ Meaning +End @ 0 @ No more commands +Escape @ 1 @ Next P is two bytes +Start @ 2 @ Start condition +Stop @ 3 @ Stop condition +Address @ 4 P @ Set I2C address to P +Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8) +Read @ 6 P @ Read P bytes of data +Write @ 7 P ... @ Write P bytes of data + +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +The address and flags default to 0. The address and flags maintain +their previous value until updated. + +No flags are currently defined. + +The returned I2C data is stored in consecutive locations of outBuf. + +... +Set address 0x53 +start, write 0x32, (re)start, read 6 bytes, stop +Set address 0x1E +start, write 0x03, (re)start, read 6 bytes, stop +Set address 0x68 +start, write 0x1B, (re)start, read 8 bytes, stop +End + +0x04 0x53 +0x02 0x07 0x01 0x32 0x02 0x06 0x06 0x03 + +0x04 0x1E +0x02 0x07 0x01 0x03 0x02 0x06 0x06 0x03 + +0x04 0x68 +0x02 0x07 0x01 0x1B 0x02 0x06 0x08 0x03 + +0x00 +... +D*/ + +/*F*/ +int spi_open(unsigned spi_channel, unsigned baud, unsigned spi_flags); +/*D +This function returns a handle for the SPI device on channel. +Data will be transferred at baud bits per second. The flags may +be used to modify the default behaviour of 4-wire operation, mode 0, +active low chip select. + +An auxiliary SPI device is available on all models but the +A and B and may be selected by setting the A bit in the +flags. The auxiliary device has 3 chip selects and a +selectable word size in bits. + +. . +spi_channel: 0-1 (0-2 for the auxiliary SPI device). + baud: 32K-125M (values above 30M are unlikely to work). + spi_flags: see below. +. . + +Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL, +PI_BAD_SPI_SPEED, PI_BAD_FLAGS, PI_NO_AUX_SPI, or PI_SPI_OPEN_FAILED. + +spi_flags consists of the least significant 22 bits. + +. . +21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 + b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m +. . + +mm defines the SPI mode. + +Warning: modes 1 and 3 do not appear to work on the auxiliary device. + +. . +Mode POL PHA + 0 0 0 + 1 0 1 + 2 1 0 + 3 1 1 +. . + +px is 0 if CEx is active low (default) and 1 for active high. + +ux is 0 if the CEx GPIO is reserved for SPI (default) and 1 otherwise. + +A is 0 for the standard SPI device, 1 for the auxiliary SPI. + +W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard +SPI device only. + +nnnn defines the number of bytes (0-15) to write before switching +the MOSI line to MISO to read data. This field is ignored +if W is not set. Standard SPI device only. + +T is 1 if the least significant bit is transmitted on MOSI first, the +default (0) shifts the most significant bit out first. Auxiliary SPI +device only. + +R is 1 if the least significant bit is received on MISO first, the +default (0) receives the most significant bit first. Auxiliary SPI +device only. + +bbbbbb defines the word size in bits (0-32). The default (0) +sets 8 bits per word. Auxiliary SPI device only. + +The other bits in flags should be set to zero. +D*/ + +/*F*/ +int spi_close(unsigned handle); +/*D +This functions closes the SPI device identified by the handle. + +. . +handle: >=0, as returned by a call to [*spi_open*]. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. +D*/ + +/*F*/ +int spi_read(unsigned handle, char *buf, unsigned count); +/*D +This function reads count bytes of data from the SPI +device associated with the handle. + +. . +handle: >=0, as returned by a call to [*spi_open*]. + buf: an array to receive the read data bytes. + count: the number of bytes to read. +. . + +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. +D*/ + +/*F*/ +int spi_write(unsigned handle, char *buf, unsigned count); +/*D +This function writes count bytes of data from buf to the SPI +device associated with the handle. + +. . +handle: >=0, as returned by a call to [*spi_open*]. + buf: the data bytes to write. + count: the number of bytes to write. +. . + +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. +D*/ + +/*F*/ +int spi_xfer(unsigned handle, char *txBuf, char *rxBuf, unsigned count); +/*D +This function transfers count bytes of data from txBuf to the SPI +device associated with the handle. Simultaneously count bytes of +data are read from the device and placed in rxBuf. + +. . +handle: >=0, as returned by a call to [*spi_open*]. + txBuf: the data bytes to write. + rxBuf: the received data bytes. + count: the number of bytes to transfer. +. . + +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. +D*/ + +/*F*/ +int serial_open(char *ser_tty, unsigned baud, unsigned ser_flags); +/*D +This function opens a serial device at a specified baud rate +with specified flags. The device name must start with +/dev/tty or /dev/serial. + +. . + ser_tty: the serial device to open. + baud: the baud rate in bits per second, see below. +ser_flags: 0. +. . + +Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, or +PI_SER_OPEN_FAILED. + +The baud rate must be one of 50, 75, 110, 134, 150, +200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200, +38400, 57600, 115200, or 230400. + +No flags are currently defined. This parameter should be set to zero. +D*/ + +/*F*/ +int serial_close(unsigned handle); +/*D +This function closes the serial device associated with handle. + +. . +handle: >=0, as returned by a call to [*serial_open*]. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. +D*/ + +/*F*/ +int serial_write_byte(unsigned handle, unsigned bVal); +/*D +This function writes bVal to the serial port associated with handle. + +. . +handle: >=0, as returned by a call to [*serial_open*]. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_SER_WRITE_FAILED. +D*/ + +/*F*/ +int serial_read_byte(unsigned handle); +/*D +This function reads a byte from the serial port associated with handle. + +. . +handle: >=0, as returned by a call to [*serial_open*]. +. . + +Returns the read byte (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_SER_READ_NO_DATA, or PI_SER_READ_FAILED. +D*/ + +/*F*/ +int serial_write(unsigned handle, char *buf, unsigned count); +/*D +This function writes count bytes from buf to the the serial port +associated with handle. + +. . +handle: >=0, as returned by a call to [*serial_open*]. + buf: the array of bytes to write. + count: the number of bytes to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_SER_WRITE_FAILED. +D*/ + +/*F*/ +int serial_read(unsigned handle, char *buf, unsigned count); +/*D +This function reads up to count bytes from the the serial port +associated with handle and writes them to buf. + +. . +handle: >=0, as returned by a call to [*serial_open*]. + buf: an array to receive the read data. + count: the maximum number of bytes to read. +. . + +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, PI_SER_READ_NO_DATA, or PI_SER_WRITE_FAILED. +D*/ + +/*F*/ +int serial_data_available(unsigned handle); +/*D +Returns the number of bytes available to be read from the +device associated with handle. + +. . +handle: >=0, as returned by a call to [*serial_open*]. +. . + +Returns the number of bytes of data available (>=0) if OK, +otherwise PI_BAD_HANDLE. +D*/ + +/*F*/ +int custom_1(unsigned arg1, unsigned arg2, char *argx, unsigned argc); +/*D +This function is available for user customisation. + +It returns a single integer value. + +. . +arg1: >=0 +arg2: >=0 +argx: extra (byte) arguments +argc: number of extra arguments +. . + +Returns >= 0 if OK, less than 0 indicates a user defined error. +D*/ + + +/*F*/ +int custom_2(unsigned arg1, char *argx, unsigned argc, + char *retBuf, unsigned retMax); +/*D +This function is available for user customisation. + +It differs from custom_1 in that it returns an array of bytes +rather than just an integer. + +The return value is an integer indicating the number of returned bytes. +. . + arg1: >=0 + argc: extra (byte) arguments + count: number of extra arguments +retBuf: buffer for returned data +retMax: maximum number of bytes to return +. . + +Returns >= 0 if OK, less than 0 indicates a user defined error. + +Note, the number of returned bytes will be retMax or less. +D*/ + + +/*F*/ +int callback(unsigned user_gpio, unsigned edge, CBFunc_t f); +/*D +This function initialises a new callback. + +. . +user_gpio: 0-31. + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE. + f: the callback function. +. . + +The function returns a callback id if OK, otherwise pigif_bad_malloc, +pigif_duplicate_callback, or pigif_bad_callback. + +The callback is called with the GPIO, edge, and tick, whenever the +GPIO has the identified edge. +D*/ + +/*F*/ +int callback_ex + (unsigned user_gpio, unsigned edge, CBFuncEx_t f, void *userdata); +/*D +This function initialises a new callback. + +. . +user_gpio: 0-31. + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE. + f: the callback function. + userdata: a pointer to arbitrary user data. +. . + +The function returns a callback id if OK, otherwise pigif_bad_malloc, +pigif_duplicate_callback, or pigif_bad_callback. + +The callback is called with the GPIO, edge, tick, and user, whenever +the GPIO has the identified edge. + +D*/ + +/*F*/ +int callback_cancel(unsigned callback_id); +/*D +This function cancels a callback identified by its id. + +. . +callback_id: >=0, as returned by a call to [*callback*] or [*callback_ex*]. +. . + +The function returns 0 if OK, otherwise pigif_callback_not_found. +D*/ + +/*F*/ +int wait_for_edge(unsigned user_gpio, unsigned edge, double timeout); +/*D +This function waits for edge on the GPIO for up to timeout +seconds. + +. . +user_gpio: 0-31. + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE. + timeout: >=0. +. . + +The function returns 1 if the edge occurred, otherwise 0. + +The function returns when the edge occurs or after the timeout. +D*/ + +/*PARAMS + +active :: 0-1000000 + +The number of microseconds level changes are reported for once +a noise filter has been triggered (by [*steady*] microseconds of +a stable level). + +*addrStr:: +A string specifying the host or IP address of the Pi running +the pigpio daemon. It may be NULL in which case localhost +is used unless overridden by the PIGPIO_ADDR environment +variable. + +arg1:: +An unsigned argument passed to a user customised function. Its +meaning is defined by the customiser. + +arg2:: +An unsigned argument passed to a user customised function. Its +meaning is defined by the customiser. + +argc:: +The count of bytes passed to a user customised function. + +*argx:: +A pointer to an array of bytes passed to a user customised function. +Its meaning and content is defined by the customiser. + +baud:: +The speed of serial communication (I2C, SPI, serial link, waves) in +bits per second. + +bit:: +A value of 0 or 1. + +bits:: +A value used to select GPIO. If bit n of bits is set then GPIO n is +selected. + +A convenient way to set bit n is to or in (1<=0, as returned by a call to [*callback*] or [*callback_ex*]. This is +passed to [*callback_cancel*] to cancel the callback. + +CBFunc_t:: +. . +typedef void (*CBFunc_t) + (unsigned user_gpio, unsigned level, uint32_t tick); +. . + +CBFuncEx_t:: +. . +typedef void (*CBFuncEx_t) + (unsigned user_gpio, unsigned level, uint32_t tick, void * user); +. . + +char:: +A single character, an 8 bit quantity able to store 0-255. + +clkfreq::4689-250000000 (250M) +The hardware clock frequency. + +count:: +The number of bytes to be transferred in an I2C, SPI, or Serial +command. + +data_bits::1-32 +The number of data bits in each character of serial data. + +. . +#define PI_MIN_WAVE_DATABITS 1 +#define PI_MAX_WAVE_DATABITS 32 +. . + +double:: +A floating point number. + +dutycycle::0-range +A number representing the ratio of on time to off time for PWM. + +The number may vary between 0 and range (default 255) where +0 is off and range is fully on. + +edge:: +Used to identify a GPIO level transition of interest. A rising edge is +a level change from 0 to 1. A falling edge is a level change from 1 to 0. + +. . +RISING_EDGE 0 +FALLING_EDGE 1 +EITHER_EDGE. 2 +. . + +errnum:: +A negative number indicating a function call failed and the nature +of the error. + +f:: +A function. + +frequency::>=0 +The number of times a GPIO is swiched on and off per second. This +can be set per GPIO and may be as little as 5Hz or as much as +40KHz. The GPIO will be on for a proportion of the time as defined +by its dutycycle. + + +gpio:: +A Broadcom numbered GPIO, in the range 0-53. + +There are 54 General Purpose Input Outputs (GPIO) named gpio0 through +gpio53. + +They are split into two banks. Bank 1 consists of gpio0 through +gpio31. Bank 2 consists of gpio32 through gpio53. + +All the GPIO which are safe for the user to read and write are in +bank 1. Not all GPIO in bank 1 are safe though. Type 1 boards +have 17 safe GPIO. Type 2 boards have 21. Type 3 boards have 26. + +See [*get_hardware_revision*]. + +The user GPIO are marked with an X in the following table. + +. . + 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 +Type 1 X X - - X - - X X X X X - - X X +Type 2 - - X X X - - X X X X X - - X X +Type 3 X X X X X X X X X X X X X X + + 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 +Type 1 - X X - - X X X X X - - - - - - +Type 2 - X X - - - X X X X - X X X X X +Type 3 X X X X X X X X X X X X - - - - +. . + +gpioPulse_t:: +. . +typedef struct +{ +uint32_t gpioOn; +uint32_t gpioOff; +uint32_t usDelay; +} gpioPulse_t; +. . + +gpioThreadFunc_t:: +. . +typedef void *(gpioThreadFunc_t) (void *); +. . + +handle::>=0 +A number referencing an object opened by one of [*i2c_open*], [*notify_open*], +[*serial_open*], and [*spi_open*]. + +i2c_addr:: 0-0x7F +The address of a device on the I2C bus. + +i2c_bus::>=0 +An I2C bus number. + +i2c_flags::0 +Flags which modify an I2C open command. None are currently defined. + +i2c_reg:: 0-255 +A register of an I2C device. + +*inBuf:: +A buffer used to pass data to a function. + +inLen:: +The number of bytes of data in a buffer. + +int:: +A whole number, negative or positive. + +invert:: +A flag used to set normal or inverted bit bang serial data level logic. + +level:: +The level of a GPIO. Low or High. + +. . +PI_OFF 0 +PI_ON 1 + +PI_CLEAR 0 +PI_SET 1 + +PI_LOW 0 +PI_HIGH 1 +. . + +There is one exception. If a watchdog expires on a GPIO the level will be +reported as PI_TIMEOUT. See [*set_watchdog*]. + +. . +PI_TIMEOUT 2 +. . + +mode::0-7 +The operational mode of a GPIO, normally INPUT or OUTPUT. + +. . +PI_INPUT 0 +PI_OUTPUT 1 +PI_ALT0 4 +PI_ALT1 5 +PI_ALT2 6 +PI_ALT3 7 +PI_ALT4 3 +PI_ALT5 2 +. . + +numBytes:: +The number of bytes used to store characters in a string. Depending +on the number of bits per character there may be 1, 2, or 4 bytes +per character. + +numPar:: 0-10 +The number of parameters passed to a script. + +numPulses:: +The number of pulses to be added to a waveform. + +offset:: +The associated data starts this number of microseconds from the start of +the waveform. + +*outBuf:: +A buffer used to return data from a function. + +outLen:: +The size in bytes of an output buffer. + +*param:: +An array of script parameters. + +*portStr:: +A string specifying the port address used by the Pi running +the pigpio daemon. It may be NULL in which case "8888" +is used unless overridden by the PIGPIO_PORT environment +variable. + +*pth:: +A thread identifier, returned by [*start_thread*]. + + +pthread_t:: +A thread identifier. + +pud::0-2 +The setting of the pull up/down resistor for a GPIO, which may be off, +pull-up, or pull-down. +. . +PI_PUD_OFF 0 +PI_PUD_DOWN 1 +PI_PUD_UP 2 +. . + +pulseLen:: +1-100, the length of a trigger pulse in microseconds. + +*pulses:: +An array of pulses to be added to a waveform. + +pulsewidth::0, 500-2500 +. . +PI_SERVO_OFF 0 +PI_MIN_SERVO_PULSEWIDTH 500 +PI_MAX_SERVO_PULSEWIDTH 2500 +. . + +PWMduty::0-1000000 (1M) +The hardware PWM dutycycle. + +. . +#define PI_HW_PWM_RANGE 1000000 +. . + +PWMfreq::1-125000000 (125M) +The hardware PWM frequency. + +. . +#define PI_HW_PWM_MIN_FREQ 1 +#define PI_HW_PWM_MAX_FREQ 125000000 +. . + +range::25-40000 +The permissible dutycycle values are 0-range. +. . +PI_MIN_DUTYCYCLE_RANGE 25 +PI_MAX_DUTYCYCLE_RANGE 40000 +. . + +*retBuf:: +A buffer to hold a number of bytes returned to a used customised function, + +retMax:: +The maximum number of bytes a user customised function should return. + + +*rxBuf:: +A pointer to a buffer to receive data. + +SCL:: +The user GPIO to use for the clock when bit banging I2C. + +*script:: +A pointer to the text of a script. + +script_id:: +An id of a stored script as returned by [*store_script*]. + +SDA:: +The user GPIO to use for data when bit banging I2C. + +seconds:: +The number of seconds. + +ser_flags:: +Flags which modify a serial open command. None are currently defined. + +*ser_tty:: +The name of a serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0, /dev/tty1. + +size_t:: +A standard type used to indicate the size of an object in bytes. + +spi_channel:: +A SPI channel, 0-2. + +spi_flags:: +See [*spi_open*]. + +steady :: 0-300000 + +The number of microseconds level changes must be stable for +before reporting the level changed ([*set_glitch_filter*]) or triggering +the active part of a noise filter ([*set_noise_filter*]). + +stop_bits::2-8 +The number of (half) stop bits to be used when adding serial data +to a waveform. + +. . +#define PI_MIN_WAVE_HALFSTOPBITS 2 +#define PI_MAX_WAVE_HALFSTOPBITS 8 +. . + +*str:: + An array of characters. + +thread_func:: +A function of type gpioThreadFunc_t used as the main function of a +thread. + +timeout:: +A GPIO watchdog timeout in milliseconds. +. . +PI_MIN_WDOG_TIMEOUT 0 +PI_MAX_WDOG_TIMEOUT 60000 +. . + +*txBuf:: +An array of bytes to transmit. + +uint32_t::0-0-4,294,967,295 (Hex 0x0-0xFFFFFFFF) +A 32-bit unsigned value. + +unsigned:: +A whole number >= 0. + +user_gpio:: +0-31, a Broadcom numbered GPIO. + +See [*gpio*]. + +*userdata:: +A pointer to arbitrary user data. This may be used to identify the instance. + +void:: +Denoting no parameter is required + +wave_add_*:: +One of [*wave_add_new*], [*wave_add_generic*], [*wave_add_serial*]. + +wave_id:: +A number representing a waveform created by [*wave_create*]. + +wave_send_*:: +One of [*wave_send_once*], [*wave_send_repeat*]. + +wVal::0-65535 (Hex 0x0-0xFFFF, Octal 0-0177777) +A 16-bit word value. + +PARAMS*/ + +/*DEF_S pigpiod_if Error Codes*/ + +typedef enum +{ + pigif_bad_send = -2000, + pigif_bad_recv = -2001, + pigif_bad_getaddrinfo = -2002, + pigif_bad_connect = -2003, + pigif_bad_socket = -2004, + pigif_bad_noib = -2005, + pigif_duplicate_callback = -2006, + pigif_bad_malloc = -2007, + pigif_bad_callback = -2008, + pigif_notify_failed = -2009, + pigif_callback_not_found = -2010, +} pigifError_t; + +/*DEF_E*/ + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if.o b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if.o new file mode 100644 index 0000000..3bad02a Binary files /dev/null and b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if.o differ diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if2.3 b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if2.3 new file mode 100644 index 0000000..66ad4e0 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if2.3 @@ -0,0 +1,6586 @@ + +." Process this file with +." groff -man -Tascii pigpiod_if2.3 +." +.TH pigpiod_if2 3 2012-2015 Linux "pigpio archive" +.SH NAME +pigpiod_if2 - A C library to interface to the pigpio daemon. + +.SH SYNOPSIS + +#include + + +gcc -Wall -pthread -o prog prog.c -lpigpiod_if2 -lrt + + ./prog +.SH DESCRIPTION + + +.ad l + +.nh + +.br + +.br +pigpiod_if2 is a C library for the Raspberry which allows control +of the GPIO via the socket interface to the pigpio daemon. +.br + +.br + +.br +.SS Features +.br + +.br +o hardware timed PWM on any of GPIO 0-31 + +.br + +.br +o hardware timed servo pulses on any of GPIO 0-31 + +.br + +.br +o callbacks when any of GPIO 0-31 change state + +.br + +.br +o callbacks at timed intervals + +.br + +.br +o reading/writing all of the GPIO in a bank as one operation + +.br + +.br +o individually setting GPIO modes, reading and writing + +.br + +.br +o notifications when any of GPIO 0-31 change state + +.br + +.br +o the construction of output waveforms with microsecond timing + +.br + +.br +o rudimentary permission control over GPIO + +.br + +.br +o a simple interface to start and stop new threads + +.br + +.br +o I2C, SPI, and serial link wrappers + +.br + +.br +o creating and running scripts on the pigpio daemon + +.br + +.br +.SS GPIO +.br + +.br +ALL GPIO are identified by their Broadcom number. + +.br + +.br +.SS Notes +.br + +.br +The PWM and servo pulses are timed using the DMA and PWM/PCM peripherals. + +.br + +.br +.SS Usage +.br + +.br +Include in your source files. + +.br + +.br +Assuming your source is in prog.c use the following command to build + +.br + +.br + +.EX +gcc -Wall -pthread -o prog prog.c -lpigpiod_if2 -lrt +.br + +.EE + +.br + +.br +to run make sure the pigpio daemon is running + +.br + +.br + +.EX +sudo pigpiod +.br + +.br + ./prog # sudo is not required to run programs linked to pigpiod_if2 +.br + +.EE + +.br + +.br +For examples see x_pigpiod_if2.c within the pigpio archive file. + +.br + +.br +.SS Notes +.br + +.br +All the functions which return an int return < 0 on error + +.br + +.br +.SH FUNCTIONS + +.IP "\fBdouble time_time(void)\fP" +.IP "" 4 +Return the current time in seconds since the Epoch. + +.IP "\fBvoid time_sleep(double seconds)\fP" +.IP "" 4 +Delay execution for a given number of seconds. + +.br + +.br + +.EX +seconds: the number of seconds to delay. +.br + +.EE + +.IP "\fBchar *pigpio_error(int errnum)\fP" +.IP "" 4 +Return a text description for an error code. + +.br + +.br + +.EX +errnum: the error code. +.br + +.EE + +.IP "\fBunsigned pigpiod_if_version(void)\fP" +.IP "" 4 +Return the pigpiod_if2 version. + +.IP "\fBpthread_t *start_thread(gpioThreadFunc_t thread_func, void *userdata)\fP" +.IP "" 4 +Starts a new thread of execution with thread_func as the main routine. + +.br + +.br + +.EX +thread_func: the main function for the new thread. +.br + userdata: a pointer to an arbitrary argument. +.br + +.EE + +.br + +.br +Returns a pointer to pthread_t if OK, otherwise NULL. + +.br + +.br +The function is passed the single argument userdata. + +.br + +.br +The thread can be cancelled by passing the pointer to pthread_t to +\fBstop_thread\fP. + +.IP "\fBvoid stop_thread(pthread_t *pth)\fP" +.IP "" 4 +Cancels the thread pointed at by pth. + +.br + +.br + +.EX +pth: the thread to be stopped. +.br + +.EE + +.br + +.br +No value is returned. + +.br + +.br +The thread to be stopped should have been started with \fBstart_thread\fP. + +.IP "\fBint pigpio_start(char *addrStr, char *portStr)\fP" +.IP "" 4 +Connect to the pigpio daemon. Reserving command and +notification streams. + +.br + +.br + +.EX +addrStr: specifies the host or IP address of the Pi running the +.br + pigpio daemon. It may be NULL in which case localhost +.br + is used unless overridden by the PIGPIO_ADDR environment +.br + variable. +.br + +.br +portStr: specifies the port address used by the Pi running the +.br + pigpio daemon. It may be NULL in which case "8888" +.br + is used unless overridden by the PIGPIO_PORT environment +.br + variable. +.br + +.EE + +.br + +.br +Returns an integer value greater than or equal to zero if OK. + +.br + +.br +This value is passed to the GPIO routines to specify the Pi +to be operated on. + +.IP "\fBvoid pigpio_stop(int pi)\fP" +.IP "" 4 +Terminates the connection to a pigpio daemon and releases +resources used by the library. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.IP "\fBint set_mode(int pi, unsigned gpio, unsigned mode)\fP" +.IP "" 4 +Set the GPIO mode. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +gpio: 0-53. +.br +mode: PI_INPUT, PI_OUTPUT, PI_ALT0, PI_ALT1, +.br + PI_ALT2, PI_ALT3, PI_ALT4, PI_ALT5. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_MODE, +or PI_NOT_PERMITTED. + +.IP "\fBint get_mode(int pi, unsigned gpio)\fP" +.IP "" 4 +Get the GPIO mode. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +gpio: 0-53. +.br + +.EE + +.br + +.br +Returns the GPIO mode if OK, otherwise PI_BAD_GPIO. + +.IP "\fBint set_pull_up_down(int pi, unsigned gpio, unsigned pud)\fP" +.IP "" 4 +Set or clear the GPIO pull-up/down resistor. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +gpio: 0-53. +.br + pud: PI_PUD_UP, PI_PUD_DOWN, PI_PUD_OFF. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_PUD, +or PI_NOT_PERMITTED. + +.IP "\fBint gpio_read(int pi, unsigned gpio)\fP" +.IP "" 4 +Read the GPIO level. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +gpio:0-53. +.br + +.EE + +.br + +.br +Returns the GPIO level if OK, otherwise PI_BAD_GPIO. + +.IP "\fBint gpio_write(int pi, unsigned gpio, unsigned level)\fP" +.IP "" 4 +Write the GPIO level. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + gpio: 0-53. +.br +level: 0, 1. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_LEVEL, +or PI_NOT_PERMITTED. + +.br + +.br +Notes + +.br + +.br +If PWM or servo pulses are active on the GPIO they are switched off. + +.IP "\fBint set_PWM_dutycycle(int pi, unsigned user_gpio, unsigned dutycycle)\fP" +.IP "" 4 +Start (non-zero dutycycle) or stop (0) PWM pulses on the GPIO. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br +dutycycle: 0-range (range defaults to 255). +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYCYCLE, +or PI_NOT_PERMITTED. +Notes + +.br + +.br +The \fBset_PWM_range\fP function may be used to change the +default range of 255. + +.IP "\fBint get_PWM_dutycycle(int pi, unsigned user_gpio)\fP" +.IP "" 4 +Return the PWM dutycycle in use on a GPIO. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_PWM_GPIO. + +.br + +.br +For normal PWM the dutycycle will be out of the defined range +for the GPIO (see \fBget_PWM_range\fP). + +.br + +.br +If a hardware clock is active on the GPIO the reported dutycycle +will be 500000 (500k) out of 1000000 (1M). + +.br + +.br +If hardware PWM is active on the GPIO the reported dutycycle +will be out of a 1000000 (1M). + +.IP "\fBint set_PWM_range(int pi, unsigned user_gpio, unsigned range)\fP" +.IP "" 4 +Set the range of PWM values to be used on the GPIO. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br + range: 25-40000. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYRANGE, +or PI_NOT_PERMITTED. + +.br + +.br +Notes + +.br + +.br +If PWM is currently active on the GPIO its dutycycle will be +scaled to reflect the new range. + +.br + +.br +The real range, the number of steps between fully off and fully on +for each of the 18 available GPIO frequencies is + +.br + +.br + +.EX + 25(#1), 50(#2), 100(#3), 125(#4), 200(#5), 250(#6), +.br + 400(#7), 500(#8), 625(#9), 800(#10), 1000(#11), 1250(#12), +.br +2000(#13), 2500(#14), 4000(#15), 5000(#16), 10000(#17), 20000(#18) +.br + +.EE + +.br + +.br +The real value set by set_PWM_range is (dutycycle * real range) / range. + +.IP "\fBint get_PWM_range(int pi, unsigned user_gpio)\fP" +.IP "" 4 +Get the range of PWM values being used on the GPIO. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br + +.EE + +.br + +.br +Returns the dutycycle range used for the GPIO if OK, +otherwise PI_BAD_USER_GPIO. + +.br + +.br +If a hardware clock or hardware PWM is active on the GPIO the +reported range will be 1000000 (1M). + +.IP "\fBint get_PWM_real_range(int pi, unsigned user_gpio)\fP" +.IP "" 4 +Get the real underlying range of PWM values being used on the GPIO. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br + +.EE + +.br + +.br +Returns the real range used for the GPIO if OK, +otherwise PI_BAD_USER_GPIO. + +.br + +.br +If a hardware clock is active on the GPIO the reported +real range will be 1000000 (1M). + +.br + +.br +If hardware PWM is active on the GPIO the reported real range +will be approximately 250M divided by the set PWM frequency. + +.br + +.br + +.IP "\fBint set_PWM_frequency(int pi, unsigned user_gpio, unsigned frequency)\fP" +.IP "" 4 +Set the frequency (in Hz) of the PWM to be used on the GPIO. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br +frequency: >=0 (Hz). +.br + +.EE + +.br + +.br +Returns the numerically closest frequency if OK, otherwise +PI_BAD_USER_GPIO or PI_NOT_PERMITTED. + +.br + +.br +If PWM is currently active on the GPIO it will be switched +off and then back on at the new frequency. + +.br + +.br +Each GPIO can be independently set to one of 18 different +PWM frequencies. + +.br + +.br +The selectable frequencies depend upon the sample rate which +may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). The +sample rate is set when the pigpio daemon is started. + +.br + +.br +The frequencies for each sample rate are: + +.br + +.br + +.EX + Hertz +.br + +.br + 1: 40000 20000 10000 8000 5000 4000 2500 2000 1600 +.br + 1250 1000 800 500 400 250 200 100 50 +.br + +.br + 2: 20000 10000 5000 4000 2500 2000 1250 1000 800 +.br + 625 500 400 250 200 125 100 50 25 +.br + +.br + 4: 10000 5000 2500 2000 1250 1000 625 500 400 +.br + 313 250 200 125 100 63 50 25 13 +.br +sample +.br + rate +.br + (us) 5: 8000 4000 2000 1600 1000 800 500 400 320 +.br + 250 200 160 100 80 50 40 20 10 +.br + +.br + 8: 5000 2500 1250 1000 625 500 313 250 200 +.br + 156 125 100 63 50 31 25 13 6 +.br + +.br + 10: 4000 2000 1000 800 500 400 250 200 160 +.br + 125 100 80 50 40 25 20 10 5 +.br + +.EE + +.IP "\fBint get_PWM_frequency(int pi, unsigned user_gpio)\fP" +.IP "" 4 +Get the frequency of PWM being used on the GPIO. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br + +.EE + +.br + +.br +For normal PWM the frequency will be that defined for the GPIO by +\fBset_PWM_frequency\fP. + +.br + +.br +If a hardware clock is active on the GPIO the reported frequency +will be that set by \fBhardware_clock\fP. + +.br + +.br +If hardware PWM is active on the GPIO the reported frequency +will be that set by \fBhardware_PWM\fP. + +.br + +.br +Returns the frequency (in hertz) used for the GPIO if OK, +otherwise PI_BAD_USER_GPIO. + +.IP "\fBint set_servo_pulsewidth(int pi, unsigned user_gpio, unsigned pulsewidth)\fP" +.IP "" 4 +Start (500-2500) or stop (0) servo pulses on the GPIO. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + user_gpio: 0-31. +.br +pulsewidth: 0 (off), 500 (anti-clockwise) - 2500 (clockwise). +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_PULSEWIDTH or +PI_NOT_PERMITTED. + +.br + +.br +The selected pulsewidth will continue to be transmitted until +changed by a subsequent call to set_servo_pulsewidth. + +.br + +.br +The pulsewidths supported by servos varies and should probably be +determined by experiment. A value of 1500 should always be safe and +represents the mid-point of rotation. + +.br + +.br +You can DAMAGE a servo if you command it to move beyond its limits. + +.br + +.br +OTHER UPDATE RATES: + +.br + +.br +This function updates servos at 50Hz. If you wish to use a different +update frequency you will have to use the PWM functions. + +.br + +.br + +.EX +Update Rate (Hz) 50 100 200 400 500 +.br +1E6/Hz 20000 10000 5000 2500 2000 +.br + +.EE + +.br + +.br +Firstly set the desired PWM frequency using \fBset_PWM_frequency\fP. + +.br + +.br +Then set the PWM range using \fBset_PWM_range\fP to 1E6/Hz. +Doing this allows you to use units of microseconds when setting +the servo pulsewidth. + +.br + +.br +E.g. If you want to update a servo connected to GPIO 25 at 400Hz + +.br + +.br + +.EX +set_PWM_frequency(25, 400); +.br +set_PWM_range(25, 2500); +.br + +.EE + +.br + +.br +Thereafter use the \fBset_PWM_dutycycle\fP function to move the servo, +e.g. set_PWM_dutycycle(25, 1500) will set a 1500 us pulse. +.br + +.IP "\fBint get_servo_pulsewidth(int pi, unsigned user_gpio)\fP" +.IP "" 4 +Return the servo pulsewidth in use on a GPIO. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_SERVO_GPIO. + +.IP "\fBint notify_open(int pi)\fP" +.IP "" 4 +Get a free notification handle. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.br + +.br +Returns a handle greater than or equal to zero if OK, +otherwise PI_NO_HANDLE. + +.br + +.br +A notification is a method for being notified of GPIO state +changes via a pipe. + +.br + +.br +Pipes are only accessible from the local machine so this function +serves no purpose if you are using the library from a remote machine. +The in-built (socket) notifications provided by \fBcallback\fP +should be used instead. + +.br + +.br +Notifications for handle x will be available at the pipe +named /dev/pigpiox (where x is the handle number). +E.g. if the function returns 15 then the notifications must be +read from /dev/pigpio15. + +.IP "\fBint notify_begin(int pi, unsigned handle, uint32_t bits)\fP" +.IP "" 4 +Start notifications on a previously opened handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: 0-31 (as returned by \fBnotify_open\fP) +.br + bits: a mask indicating the GPIO to be notified. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.br + +.br +The notification sends state changes for each GPIO whose +corresponding bit in bits is set. + +.br + +.br +Each notification occupies 12 bytes in the fifo as follows: + +.br + +.br + +.EX +typedef struct +.br +{ +.br + uint16_t seqno; +.br + uint16_t flags; +.br + uint32_t tick; +.br + uint32_t level; +.br +} gpioReport_t; +.br + +.EE + +.br + +.br +seqno: starts at 0 each time the handle is opened and then increments +by one for each report. + +.br + +.br +flags: two flags are defined, PI_NTFY_FLAGS_WDOG and PI_NTFY_FLAGS_ALIVE. + +.br + +.br +PI_NTFY_FLAGS_WDOG, if bit 5 is set then bits 0-4 of the flags +indicate a GPIO which has had a watchdog timeout. + +.br + +.br +PI_NTFY_FLAGS_ALIVE, if bit 6 is set this indicates a keep alive +signal on the pipe/socket and is sent once a minute in the absence +of other notification activity. + +.br + +.br +tick: the number of microseconds since system boot. It wraps around +after 1h12m. + +.br + +.br +level: indicates the level of each GPIO. If bit 1<=0 (as returned by \fBpigpio_start\fP). +.br +handle: 0-31 (as returned by \fBnotify_open\fP) +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.br + +.br +Notifications for the handle are suspended until +\fBnotify_begin\fP is called again. + +.IP "\fBint notify_close(int pi, unsigned handle)\fP" +.IP "" 4 +Stop notifications on a previously opened handle and +release the handle for reuse. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: 0-31 (as returned by \fBnotify_open\fP) +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.IP "\fBint set_watchdog(int pi, unsigned user_gpio, unsigned timeout)\fP" +.IP "" 4 +Sets a watchdog for a GPIO. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br + timeout: 0-60000. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO +or PI_BAD_WDOG_TIMEOUT. + +.br + +.br +The watchdog is nominally in milliseconds. + +.br + +.br +Only one watchdog may be registered per GPIO. + +.br + +.br +The watchdog may be cancelled by setting timeout to 0. + +.br + +.br +If no level change has been detected for the GPIO for timeout +milliseconds any notification for the GPIO has a report written +to the fifo with the flags set to indicate a watchdog timeout. + +.br + +.br +The \fBcallback\fP and \fBcallback_ex\fP functions interpret the flags +and will call registered callbacks for the GPIO with level TIMEOUT. + +.IP "\fBint set_glitch_filter(int pi, unsigned user_gpio, unsigned steady)\fP" +.IP "" 4 +Sets a glitch filter on a GPIO. + +.br + +.br +Level changes on the GPIO are not reported unless the level +has been stable for at least \fBsteady\fP microseconds. The +level is then reported. Level changes of less than +\fBsteady\fP microseconds are ignored. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31 +.br + steady: 0-300000 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. + +.br + +.br +Note, each (stable) edge will be timestamped \fBsteady\fP microseconds +after it was first detected. + +.IP "\fBint set_noise_filter(int pi, unsigned user_gpio, unsigned steady, unsigned active)\fP" +.IP "" 4 +Sets a noise filter on a GPIO. + +.br + +.br +Level changes on the GPIO are ignored until a level which has +been stable for \fBsteady\fP microseconds is detected. Level changes +on the GPIO are then reported for \fBactive\fP microseconds after +which the process repeats. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31 +.br + steady: 0-300000 +.br + active: 0-1000000 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. + +.br + +.br +Note, level changes before and after the active period may +be reported. Your software must be designed to cope with +such reports. + +.IP "\fBuint32_t read_bank_1(int pi)\fP" +.IP "" 4 +Read the levels of the bank 1 GPIO (GPIO 0-31). + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.br + +.br +The returned 32 bit integer has a bit set if the corresponding +GPIO is logic 1. GPIO n has bit value (1<=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.br + +.br +The returned 32 bit integer has a bit set if the corresponding +GPIO is logic 1. GPIO n has bit value (1<<(n-32)). + +.IP "\fBint clear_bank_1(int pi, uint32_t bits)\fP" +.IP "" 4 +Clears GPIO 0-31 if the corresponding bit in bits is set. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +bits: a bit mask with 1 set if the corresponding GPIO is +.br + to be cleared. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_SOME_PERMITTED. + +.br + +.br +A status of PI_SOME_PERMITTED indicates that the user is not +allowed to write to one or more of the GPIO. + +.IP "\fBint clear_bank_2(int pi, uint32_t bits)\fP" +.IP "" 4 +Clears GPIO 32-53 if the corresponding bit (0-21) in bits is set. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +bits: a bit mask with 1 set if the corresponding GPIO is +.br + to be cleared. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_SOME_PERMITTED. + +.br + +.br +A status of PI_SOME_PERMITTED indicates that the user is not +allowed to write to one or more of the GPIO. + +.IP "\fBint set_bank_1(int pi, uint32_t bits)\fP" +.IP "" 4 +Sets GPIO 0-31 if the corresponding bit in bits is set. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +bits: a bit mask with 1 set if the corresponding GPIO is +.br + to be set. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_SOME_PERMITTED. + +.br + +.br +A status of PI_SOME_PERMITTED indicates that the user is not +allowed to write to one or more of the GPIO. + +.IP "\fBint set_bank_2(int pi, uint32_t bits)\fP" +.IP "" 4 +Sets GPIO 32-53 if the corresponding bit (0-21) in bits is set. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +bits: a bit mask with 1 set if the corresponding GPIO is +.br + to be set. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_SOME_PERMITTED. + +.br + +.br +A status of PI_SOME_PERMITTED indicates that the user is not +allowed to write to one or more of the GPIO. + +.IP "\fBint hardware_clock(int pi, unsigned gpio, unsigned clkfreq)\fP" +.IP "" 4 +Starts a hardware clock on a GPIO at the specified frequency. +Frequencies above 30MHz are unlikely to work. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + gpio: see description +.br +frequency: 0 (off) or 4689-250000000 (250M) +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_NOT_PERMITTED, PI_BAD_GPIO, +PI_NOT_HCLK_GPIO, PI_BAD_HCLK_FREQ,or PI_BAD_HCLK_PASS. + +.br + +.br +The same clock is available on multiple GPIO. The latest +frequency setting will be used by all GPIO which share a clock. + +.br + +.br +The GPIO must be one of the following. + +.br + +.br + +.EX +4 clock 0 All models +.br +5 clock 1 All models but A and B (reserved for system use) +.br +6 clock 2 All models but A and B +.br +20 clock 0 All models but A and B +.br +21 clock 1 All models but A and Rev.2 B (reserved for system use) +.br + +.br +32 clock 0 Compute module only +.br +34 clock 0 Compute module only +.br +42 clock 1 Compute module only (reserved for system use) +.br +43 clock 2 Compute module only +.br +44 clock 1 Compute module only (reserved for system use) +.br + +.EE + +.br + +.br +Access to clock 1 is protected by a password as its use will likely +crash the Pi. The password is given by or'ing 0x5A000000 with the +GPIO number. + +.IP "\fBint hardware_PWM(int pi, unsigned gpio, unsigned PWMfreq, uint32_t PWMduty)\fP" +.IP "" 4 +Starts hardware PWM on a GPIO at the specified frequency and dutycycle. +Frequencies above 30MHz are unlikely to work. + +.br + +.br +NOTE: Any waveform started by \fBwave_send_*\fP or \fBwave_chain\fP +will be cancelled. + +.br + +.br +This function is only valid if the pigpio main clock is PCM. The +main clock defaults to PCM but may be overridden when the pigpio +daemon is started (option -t). + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + gpio: see descripton +.br +PWMfreq: 0 (off) or 1-125000000 (125M) +.br +PWMduty: 0 (off) to 1000000 (1M)(fully on) +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_NOT_PERMITTED, PI_BAD_GPIO, +PI_NOT_HPWM_GPIO, PI_BAD_HPWM_DUTY, PI_BAD_HPWM_FREQ, +or PI_HPWM_ILLEGAL. + +.br + +.br +The same PWM channel is available on multiple GPIO. The latest +frequency and dutycycle setting will be used by all GPIO which +share a PWM channel. + +.br + +.br +The GPIO must be one of the following. + +.br + +.br + +.EX +12 PWM channel 0 All models but A and B +.br +13 PWM channel 1 All models but A and B +.br +18 PWM channel 0 All models +.br +19 PWM channel 1 All models but A and B +.br + +.br +40 PWM channel 0 Compute module only +.br +41 PWM channel 1 Compute module only +.br +45 PWM channel 1 Compute module only +.br +52 PWM channel 0 Compute module only +.br +53 PWM channel 1 Compute module only +.br + +.EE + +.br + +.br +The actual number of steps beween off and fully on is the +integral part of 250 million divided by PWMfreq. + +.br + +.br +The actual frequency set is 250 million / steps. + +.br + +.br +There will only be a million steps for a PWMfreq of 250. +Lower frequencies will have more steps and higher +frequencies will have fewer steps. PWMduty is +automatically scaled to take this into account. + +.IP "\fBuint32_t get_current_tick(int pi)\fP" +.IP "" 4 +Gets the current system tick. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.br + +.br +Tick is the number of microseconds since system boot. + +.br + +.br +As tick is an unsigned 32 bit quantity it wraps around after +2**32 microseconds, which is approximately 1 hour 12 minutes. + +.br + +.br + +.IP "\fBuint32_t get_hardware_revision(int pi)\fP" +.IP "" 4 +Get the Pi's hardware revision number. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.br + +.br +The hardware revision is the last few characters on the Revision line +of /proc/cpuinfo. + +.br + +.br +If the hardware revision can not be found or is not a valid +hexadecimal number the function returns 0. + +.br + +.br +The revision number can be used to determine the assignment of GPIO +to pins (see \fBgpio\fP). + +.br + +.br +There are at least three types of board. + +.br + +.br +Type 1 boards have hardware revision numbers of 2 and 3. + +.br + +.br +Type 2 boards have hardware revision numbers of 4, 5, 6, and 15. + +.br + +.br +Type 3 boards have hardware revision numbers of 16 or greater. + +.IP "\fBuint32_t get_pigpio_version(int pi)\fP" +.IP "" 4 +Returns the pigpio version. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.IP "\fBint wave_clear(int pi)\fP" +.IP "" 4 +This function clears all waveforms and any data added by calls to the +\fBwave_add_*\fP functions. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.br + +.br +Returns 0 if OK. + +.IP "\fBint wave_add_new(int pi)\fP" +.IP "" 4 +This function starts a new empty waveform. You wouldn't normally need +to call this function as it is automatically called after a waveform is +created with the \fBwave_create\fP function. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.br + +.br +Returns 0 if OK. + +.IP "\fBint wave_add_generic(int pi, unsigned numPulses, gpioPulse_t *pulses)\fP" +.IP "" 4 +This function adds a number of pulses to the current waveform. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +numPulses: the number of pulses. +.br + pulses: an array of pulses. +.br + +.EE + +.br + +.br +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_TOO_MANY_PULSES. + +.br + +.br +The pulses are interleaved in time order within the existing waveform +(if any). + +.br + +.br +Merging allows the waveform to be built in parts, that is the settings +for GPIO#1 can be added, and then GPIO#2 etc. + +.br + +.br +If the added waveform is intended to start after or within the existing +waveform then the first pulse should consist solely of a delay. + +.IP "\fBint wave_add_serial(int pi, unsigned user_gpio, unsigned baud, unsigned data_bits, unsigned stop_bits, unsigned offset, unsigned numBytes, char *str)\fP" +.IP "" 4 +This function adds a waveform representing serial data to the +existing waveform (if any). The serial data starts offset +microseconds from the start of the waveform. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br + baud: 50-1000000 +.br +data_bits: number of data bits (1-32) +.br +stop_bits: number of stop half bits (2-8) +.br + offset: >=0 +.br + numBytes: >=1 +.br + str: an array of chars. +.br + +.EE + +.br + +.br +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_BAD_DATABITS, +PI_BAD_STOP_BITS, PI_TOO_MANY_CHARS, PI_BAD_SER_OFFSET, +or PI_TOO_MANY_PULSES. + +.br + +.br +NOTES: + +.br + +.br +The serial data is formatted as one start bit, \fBdata_bits\fP data bits, +and \fBstop_bits\fP/2 stop bits. + +.br + +.br +It is legal to add serial data streams with different baud rates to +the same waveform. + +.br + +.br +\fBnumBytes\fP is the number of bytes of data in str. + +.br + +.br +The bytes required for each character depend upon \fBdata_bits\fP. + +.br + +.br +For \fBdata_bits\fP 1-8 there will be one byte per character. +.br +For \fBdata_bits\fP 9-16 there will be two bytes per character. +.br +For \fBdata_bits\fP 17-32 there will be four bytes per character. + +.IP "\fBint wave_create(int pi)\fP" +.IP "" 4 +This function creates a waveform from the data provided by the prior +calls to the \fBwave_add_*\fP functions. Upon success a wave id +greater than or equal to 0 is returned, otherwise PI_EMPTY_WAVEFORM, +PI_TOO_MANY_CBS, PI_TOO_MANY_OOL, or PI_NO_WAVEFORM_ID. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.br + +.br +The data provided by the \fBwave_add_*\fP functions is consumed by this +function. + +.br + +.br +As many waveforms may be created as there is space available. The +wave id is passed to \fBwave_send_*\fP to specify the waveform to transmit. + +.br + +.br +Normal usage would be + +.br + +.br +Step 1. \fBwave_clear\fP to clear all waveforms and added data. + +.br + +.br +Step 2. \fBwave_add_*\fP calls to supply the waveform data. + +.br + +.br +Step 3. \fBwave_create\fP to create the waveform and get a unique id + +.br + +.br +Repeat steps 2 and 3 as needed. + +.br + +.br +Step 4. \fBwave_send_*\fP with the id of the waveform to transmit. + +.br + +.br +A waveform comprises one or more pulses. Each pulse consists of a +\fBgpioPulse_t\fP structure. + +.br + +.br + +.EX +typedef struct +.br +{ +.br + uint32_t gpioOn; +.br + uint32_t gpioOff; +.br + uint32_t usDelay; +.br +} gpioPulse_t; +.br + +.EE + +.br + +.br +The fields specify + +.br + +.br +1) the GPIO to be switched on at the start of the pulse. +.br +2) the GPIO to be switched off at the start of the pulse. +.br +3) the delay in microseconds before the next pulse. +.br + +.br + +.br +Any or all the fields can be zero. It doesn't make any sense to +set all the fields to zero (the pulse will be ignored). + +.br + +.br +When a waveform is started each pulse is executed in order with the +specified delay between the pulse and the next. + +.br + +.br +Returns the new waveform id if OK, otherwise PI_EMPTY_WAVEFORM, +PI_NO_WAVEFORM_ID, PI_TOO_MANY_CBS, or PI_TOO_MANY_OOL. + +.IP "\fBint wave_delete(int pi, unsigned wave_id)\fP" +.IP "" 4 +This function deletes the waveform with id wave_id. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +wave_id: >=0, as returned by \fBwave_create\fP. +.br + +.EE + +.br + +.br +Wave ids are allocated in order, 0, 1, 2, etc. + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_WAVE_ID. + +.IP "\fBint wave_send_once(int pi, unsigned wave_id)\fP" +.IP "" 4 +This function transmits the waveform with id wave_id. The waveform +is sent once. + +.br + +.br +NOTE: Any hardware PWM started by \fBhardware_PWM\fP will be cancelled. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +wave_id: >=0, as returned by \fBwave_create\fP. +.br + +.EE + +.br + +.br +Returns the number of DMA control blocks in the waveform if OK, +otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE. + +.IP "\fBint wave_send_repeat(int pi, unsigned wave_id)\fP" +.IP "" 4 +This function transmits the waveform with id wave_id. The waveform +cycles until cancelled (either by the sending of a new waveform or +by \fBwave_tx_stop\fP). + +.br + +.br +NOTE: Any hardware PWM started by \fBhardware_PWM\fP will be cancelled. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +wave_id: >=0, as returned by \fBwave_create\fP. +.br + +.EE + +.br + +.br +Returns the number of DMA control blocks in the waveform if OK, +otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE. + +.IP "\fBint wave_send_using_mode(int pi, unsigned wave_id, unsigned mode)\fP" +.IP "" 4 +Transmits the waveform with id wave_id using mode mode. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +wave_id: >=0, as returned by \fBwave_create\fP. +.br + mode: PI_WAVE_MODE_ONE_SHOT, PI_WAVE_MODE_REPEAT, +.br + PI_WAVE_MODE_ONE_SHOT_SYNC, or PI_WAVE_MODE_REPEAT_SYNC. +.br + +.EE + +.br + +.br +PI_WAVE_MODE_ONE_SHOT: same as \fBwave_send_once\fP. + +.br + +.br +PI_WAVE_MODE_REPEAT same as \fBwave_send_repeat\fP. + +.br + +.br +PI_WAVE_MODE_ONE_SHOT_SYNC same as \fBwave_send_once\fP but tries +to sync with the previous waveform. + +.br + +.br +PI_WAVE_MODE_REPEAT_SYNC same as \fBwave_send_repeat\fP but tries +to sync with the previous waveform. + +.br + +.br +WARNING: bad things may happen if you delete the previous +waveform before it has been synced to the new waveform. + +.br + +.br +NOTE: Any hardware PWM started by \fBhardware_PWM\fP will be cancelled. + +.br + +.br +Returns the number of DMA control blocks in the waveform if OK, +otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE. + +.IP "\fBint wave_chain(int pi, char *buf, unsigned bufSize)\fP" +.IP "" 4 +This function transmits a chain of waveforms. + +.br + +.br +NOTE: Any hardware PWM started by \fBhardware_PWM\fP will be cancelled. + +.br + +.br +The waves to be transmitted are specified by the contents of buf +which contains an ordered list of \fBwave_id\fPs and optional command +codes and related data. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + buf: pointer to the wave_ids and optional command codes +.br +bufSize: the number of bytes in buf +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_CHAIN_NESTING, PI_CHAIN_LOOP_CNT, PI_BAD_CHAIN_LOOP, PI_BAD_CHAIN_CMD, PI_CHAIN_COUNTER, +PI_BAD_CHAIN_DELAY, PI_CHAIN_TOO_BIG, or PI_BAD_WAVE_ID. + +.br + +.br +Each wave is transmitted in the order specified. A wave may +occur multiple times per chain. + +.br + +.br +A blocks of waves may be transmitted multiple times by using +the loop commands. The block is bracketed by loop start and +end commands. Loops may be nested. + +.br + +.br +Delays between waves may be added with the delay command. + +.br + +.br +The following command codes are supported: + +.br + +.br +Name Cmd & Data Meaning +.br +Loop Start 255 0 Identify start of a wave block +.br +Loop Repeat 255 1 x y loop x + y*256 times +.br +Delay 255 2 x y delay x + y*256 microseconds +.br +Loop Forever 255 3 loop forever +.br + +.br + +.br +If present Loop Forever must be the last entry in the chain. + +.br + +.br +The code is currently dimensioned to support a chain with roughly +600 entries and 20 loop counters. + +.br + +.br +\fBExample\fP +.br + +.EX +#include +.br +#include +.br + +.br +#define WAVES 5 +.br +#define GPIO 4 +.br + +.br +int main(int argc, char *argv[]) +.br +{ +.br + int i, pi, wid[WAVES]; +.br + +.br + pi = pigpio_start(0, 0); +.br + if (pi<0) return -1; +.br + +.br + set_mode(pi, GPIO, PI_OUTPUT); +.br + +.br + for (i=0; i=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.br + +.br +Returns the waveform id or one of the following special values: + +.br + +.br +PI_WAVE_NOT_FOUND (9998) - transmitted wave not found. +.br +PI_NO_TX_WAVE (9999) - no wave being transmitted. + +.IP "\fBint wave_tx_busy(int pi)\fP" +.IP "" 4 +This function checks to see if a waveform is currently being +transmitted. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.br + +.br +Returns 1 if a waveform is currently being transmitted, otherwise 0. + +.IP "\fBint wave_tx_stop(int pi)\fP" +.IP "" 4 +This function stops the transmission of the current waveform. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.br + +.br +Returns 0 if OK. + +.br + +.br +This function is intended to stop a waveform started with the repeat mode. + +.IP "\fBint wave_get_micros(int pi)\fP" +.IP "" 4 +This function returns the length in microseconds of the current +waveform. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.IP "\fBint wave_get_high_micros(int pi)\fP" +.IP "" 4 +This function returns the length in microseconds of the longest waveform +created since the pigpio daemon was started. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.IP "\fBint wave_get_max_micros(int pi)\fP" +.IP "" 4 +This function returns the maximum possible size of a waveform in +.br +microseconds. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.IP "\fBint wave_get_pulses(int pi)\fP" +.IP "" 4 +This function returns the length in pulses of the current waveform. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.IP "\fBint wave_get_high_pulses(int pi)\fP" +.IP "" 4 +This function returns the length in pulses of the longest waveform +created since the pigpio daemon was started. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.IP "\fBint wave_get_max_pulses(int pi)\fP" +.IP "" 4 +This function returns the maximum possible size of a waveform in pulses. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.IP "\fBint wave_get_cbs(int pi)\fP" +.IP "" 4 +This function returns the length in DMA control blocks of the current +waveform. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.IP "\fBint wave_get_high_cbs(int pi)\fP" +.IP "" 4 +This function returns the length in DMA control blocks of the longest +waveform created since the pigpio daemon was started. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.IP "\fBint wave_get_max_cbs(int pi)\fP" +.IP "" 4 +This function returns the maximum possible size of a waveform in DMA +control blocks. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br + +.EE + +.IP "\fBint gpio_trigger(int pi, unsigned user_gpio, unsigned pulseLen, unsigned level)\fP" +.IP "" 4 +This function sends a trigger pulse to a GPIO. The GPIO is set to +level for pulseLen microseconds and then reset to not level. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br + pulseLen: 1-100. +.br + level: 0,1. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_LEVEL, +PI_BAD_PULSELEN, or PI_NOT_PERMITTED. + +.IP "\fBint store_script(int pi, char *script)\fP" +.IP "" 4 +This function stores a script for later execution. + +.br + +.br +See \fBhttp://abyz.co.uk/rpi/pigpio/pigs.html#Scripts\fP for details. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +script: the text of the script. +.br + +.EE + +.br + +.br +The function returns a script id if the script is valid, +otherwise PI_BAD_SCRIPT. + +.IP "\fBint run_script(int pi, unsigned script_id, unsigned numPar, uint32_t *param)\fP" +.IP "" 4 +This function runs a stored script. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +script_id: >=0, as returned by \fBstore_script\fP. +.br + numPar: 0-10, the number of parameters. +.br + param: an array of parameters. +.br + +.EE + +.br + +.br +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID, or +PI_TOO_MANY_PARAM + +.br + +.br +param is an array of up to 10 parameters which may be referenced in +the script as p0 to p9. + +.IP "\fBint script_status(int pi, unsigned script_id, uint32_t *param)\fP" +.IP "" 4 +This function returns the run status of a stored script as well +as the current values of parameters 0 to 9. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +script_id: >=0, as returned by \fBstore_script\fP. +.br + param: an array to hold the returned 10 parameters. +.br + +.EE + +.br + +.br +The function returns greater than or equal to 0 if OK, +otherwise PI_BAD_SCRIPT_ID. + +.br + +.br +The run status may be + +.br + +.br + +.EX +PI_SCRIPT_INITING +.br +PI_SCRIPT_HALTED +.br +PI_SCRIPT_RUNNING +.br +PI_SCRIPT_WAITING +.br +PI_SCRIPT_FAILED +.br + +.EE + +.br + +.br +The current value of script parameters 0 to 9 are returned in param. + +.IP "\fBint stop_script(int pi, unsigned script_id)\fP" +.IP "" 4 +This function stops a running script. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +script_id: >=0, as returned by \fBstore_script\fP. +.br + +.EE + +.br + +.br +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. + +.IP "\fBint delete_script(int pi, unsigned script_id)\fP" +.IP "" 4 +This function deletes a stored script. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +script_id: >=0, as returned by \fBstore_script\fP. +.br + +.EE + +.br + +.br +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. + +.IP "\fBint bb_serial_read_open(int pi, unsigned user_gpio, unsigned baud, unsigned data_bits)\fP" +.IP "" 4 +This function opens a GPIO for bit bang reading of serial data. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br + baud: 50-250000 +.br +data_bits: 1-32 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, +or PI_GPIO_IN_USE. + +.br + +.br +The serial data is returned in a cyclic buffer and is read using +bb_serial_read. + +.br + +.br +It is the caller's responsibility to read data from the cyclic buffer +in a timely fashion. + +.IP "\fBint bb_serial_read(int pi, unsigned user_gpio, void *buf, size_t bufSize)\fP" +.IP "" 4 +This function copies up to bufSize bytes of data read from the +bit bang serial cyclic buffer to the buffer starting at buf. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31, previously opened with \fBbb_serial_read_open\fP. +.br + buf: an array to receive the read bytes. +.br + bufSize: >=0 +.br + +.EE + +.br + +.br +Returns the number of bytes copied if OK, otherwise PI_BAD_USER_GPIO +or PI_NOT_SERIAL_GPIO. + +.br + +.br +The bytes returned for each character depend upon the number of +data bits \fBdata_bits\fP specified in the \fBbb_serial_read_open\fP command. + +.br + +.br +For \fBdata_bits\fP 1-8 there will be one byte per character. +.br +For \fBdata_bits\fP 9-16 there will be two bytes per character. +.br +For \fBdata_bits\fP 17-32 there will be four bytes per character. + +.IP "\fBint bb_serial_read_close(int pi, unsigned user_gpio)\fP" +.IP "" 4 +This function closes a GPIO for bit bang reading of serial data. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31, previously opened with \fBbb_serial_read_open\fP. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SERIAL_GPIO. + +.IP "\fBint bb_serial_invert(int pi, unsigned user_gpio, unsigned invert)\fP" +.IP "" 4 +This function inverts serial logic for big bang serial reads. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31, previously opened with \fBbb_serial_read_open\fP. +.br + invert: 0-1, 1 invert, 0 normal. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_NOT_SERIAL_GPIO or PI_BAD_SER_INVERT. + +.IP "\fBint i2c_open(int pi, unsigned i2c_bus, unsigned i2c_addr, unsigned i2c_flags)\fP" +.IP "" 4 +This returns a handle for the device at address i2c_addr on bus i2c_bus. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + i2c_bus: >=0. +.br + i2c_addr: 0-0x7F. +.br +i2c_flags: 0. +.br + +.EE + +.br + +.br +No flags are currently defined. This parameter should be set to zero. + +.br + +.br +Physically buses 0 and 1 are available on the Pi. Higher numbered buses +will be available if a kernel supported bus multiplexor is being used. + +.br + +.br +Returns a handle (>=0) if OK, otherwise PI_BAD_I2C_BUS, PI_BAD_I2C_ADDR, +PI_BAD_FLAGS, PI_NO_HANDLE, or PI_I2C_OPEN_FAILED. + +.br + +.br +For the SMBus commands the low level transactions are shown at the end +of the function description. The following abbreviations are used. + +.br + +.br + +.EX +S (1 bit) : Start bit +.br +P (1 bit) : Stop bit +.br +Rd/Wr (1 bit) : Read/Write bit. Rd equals 1, Wr equals 0. +.br +A, NA (1 bit) : Accept and not accept bit. +.br +.br +.br +Addr (7 bits): I2C 7 bit address. +.br +i2c_reg (8 bits): A byte which often selects a register. +.br +Data (8 bits): A data byte. +.br +Count (8 bits): A byte defining the length of a block operation. +.br + +.br +[..]: Data sent by the device. +.br + +.EE + +.IP "\fBint i2c_close(int pi, unsigned handle)\fP" +.IP "" 4 +This closes the I2C device associated with the handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBi2c_open\fP. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.IP "\fBint i2c_write_quick(int pi, unsigned handle, unsigned bit)\fP" +.IP "" 4 +This sends a single bit (in the Rd/Wr bit) to the device associated +with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBi2c_open\fP. +.br + bit: 0-1, the value to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Quick command. SMBus 2.0 5.5.1 + +.EX +S Addr bit [A] P +.br + +.EE + +.IP "\fBint i2c_write_byte(int pi, unsigned handle, unsigned bVal)\fP" +.IP "" 4 +This sends a single byte to the device associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBi2c_open\fP. +.br + bVal: 0-0xFF, the value to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Send byte. SMBus 2.0 5.5.2 + +.EX +S Addr Wr [A] bVal [A] P +.br + +.EE + +.IP "\fBint i2c_read_byte(int pi, unsigned handle)\fP" +.IP "" 4 +This reads a single byte from the device associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBi2c_open\fP. +.br + +.EE + +.br + +.br +Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, +or PI_I2C_READ_FAILED. + +.br + +.br +Receive byte. SMBus 2.0 5.5.3 + +.EX +S Addr Rd [A] [Data] NA P +.br + +.EE + +.IP "\fBint i2c_write_byte_data(int pi, unsigned handle, unsigned i2c_reg, unsigned bVal)\fP" +.IP "" 4 +This writes a single byte to the specified register of the device +associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to write. +.br + bVal: 0-0xFF, the value to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Write byte. SMBus 2.0 5.5.4 + +.EX +S Addr Wr [A] i2c_reg [A] bVal [A] P +.br + +.EE + +.IP "\fBint i2c_write_word_data(int pi, unsigned handle, unsigned i2c_reg, unsigned wVal)\fP" +.IP "" 4 +This writes a single 16 bit word to the specified register of the device +associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to write. +.br + wVal: 0-0xFFFF, the value to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Write word. SMBus 2.0 5.5.4 + +.EX +S Addr Wr [A] i2c_reg [A] wval_Low [A] wVal_High [A] P +.br + +.EE + +.IP "\fBint i2c_read_byte_data(int pi, unsigned handle, unsigned i2c_reg)\fP" +.IP "" 4 +This reads a single byte from the specified register of the device +associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to read. +.br + +.EE + +.br + +.br +Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +Read byte. SMBus 2.0 5.5.5 + +.EX +S Addr Wr [A] i2c_reg [A] S Addr Rd [A] [Data] NA P +.br + +.EE + +.IP "\fBint i2c_read_word_data(int pi, unsigned handle, unsigned i2c_reg)\fP" +.IP "" 4 +This reads a single 16 bit word from the specified register of the device +associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to read. +.br + +.EE + +.br + +.br +Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +Read word. SMBus 2.0 5.5.5 + +.EX +S Addr Wr [A] i2c_reg [A] +.br + S Addr Rd [A] [DataLow] A [DataHigh] NA P +.br + +.EE + +.IP "\fBint i2c_process_call(int pi, unsigned handle, unsigned i2c_reg, unsigned wVal)\fP" +.IP "" 4 +This writes 16 bits of data to the specified register of the device +associated with handle and and reads 16 bits of data in return. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to write/read. +.br + wVal: 0-0xFFFF, the value to write. +.br + +.EE + +.br + +.br +Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +Process call. SMBus 2.0 5.5.6 + +.EX +S Addr Wr [A] i2c_reg [A] wVal_Low [A] wVal_High [A] +.br + S Addr Rd [A] [DataLow] A [DataHigh] NA P +.br + +.EE + +.IP "\fBint i2c_write_block_data(int pi, unsigned handle, unsigned i2c_reg, char *buf, unsigned count)\fP" +.IP "" 4 +This writes up to 32 bytes to the specified register of the device +associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to write. +.br + buf: an array with the data to send. +.br + count: 1-32, the number of bytes to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br +Block write. SMBus 2.0 5.5.7 + +.EX +S Addr Wr [A] i2c_reg [A] count [A] buf0 [A] buf1 [A] ... +.br + [A] bufn [A] P +.br + +.EE + +.IP "\fBint i2c_read_block_data(int pi, unsigned handle, unsigned i2c_reg, char *buf)\fP" +.IP "" 4 +This reads a block of up to 32 bytes from the specified register of +the device associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to read. +.br + buf: an array to receive the read data. +.br + +.EE + +.br + +.br +The amount of returned data is set by the device. + +.br + +.br +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +Block read. SMBus 2.0 5.5.7 + +.EX +S Addr Wr [A] i2c_reg [A] +.br + S Addr Rd [A] [Count] A [buf0] A [buf1] A ... A [bufn] NA P +.br + +.EE + +.IP "\fBint i2c_block_process_call(int pi, unsigned handle, unsigned i2c_reg, char *buf, unsigned count)\fP" +.IP "" 4 +This writes data bytes to the specified register of the device +associated with handle and reads a device specified number +of bytes of data in return. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to write/read. +.br + buf: an array with the data to send and to receive the read data. +.br + count: 1-32, the number of bytes to write. +.br + +.EE + +.br + +.br + +.br + +.br +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br +The smbus 2.0 documentation states that a minimum of 1 byte may be +sent and a minimum of 1 byte may be received. The total number of +bytes sent/received must be 32 or less. + +.br + +.br +Block write-block read. SMBus 2.0 5.5.8 + +.EX +S Addr Wr [A] i2c_reg [A] count [A] buf0 [A] ... +.br + S Addr Rd [A] [Count] A [Data] ... A P +.br + +.EE + +.IP "\fBint i2c_read_i2c_block_data(int pi, unsigned handle, unsigned i2c_reg, char *buf, unsigned count)\fP" +.IP "" 4 +This reads count bytes from the specified register of the device +associated with handle . The count may be 1-32. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to read. +.br + buf: an array to receive the read data. +.br + count: 1-32, the number of bytes to read. +.br + +.EE + +.br + +.br +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +.br + +.br + +.EX +S Addr Wr [A] i2c_reg [A] +.br + S Addr Rd [A] [buf0] A [buf1] A ... A [bufn] NA P +.br + +.EE + +.IP "\fBint i2c_write_i2c_block_data(int pi, unsigned handle, unsigned i2c_reg, char *buf, unsigned count)\fP" +.IP "" 4 +This writes 1 to 32 bytes to the specified register of the device +associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + handle: >=0, as returned by a call to \fBi2c_open\fP. +.br +i2c_reg: 0-255, the register to write. +.br + buf: the data to write. +.br + count: 1-32, the number of bytes to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br + +.EX +S Addr Wr [A] i2c_reg [A] buf0 [A] buf1 [A] ... [A] bufn [A] P +.br + +.EE + +.IP "\fBint i2c_read_device(int pi, unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This reads count bytes from the raw device into buf. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBi2c_open\fP. +.br + buf: an array to receive the read data bytes. +.br + count: >0, the number of bytes to read. +.br + +.EE + +.br + +.br +Returns count (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_READ_FAILED. + +.br + +.br + +.EX +S Addr Rd [A] [buf0] A [buf1] A ... A [bufn] NA P +.br + +.EE + +.IP "\fBint i2c_write_device(int pi, unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This writes count bytes from buf to the raw device. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBi2c_open\fP. +.br + buf: an array containing the data bytes to write. +.br + count: >0, the number of bytes to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +.br + +.br + +.EX +S Addr Wr [A] buf0 [A] buf1 [A] ... [A] bufn [A] P +.br + +.EE + +.IP "\fBint i2c_zip(int pi, unsigned handle, char *inBuf, unsigned inLen, char *outBuf, unsigned outLen)\fP" +.IP "" 4 +This function executes a sequence of I2C operations. The +operations to be performed are specified by the contents of inBuf +which contains the concatenated command codes and associated data. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBi2cOpen\fP +.br + inBuf: pointer to the concatenated I2C commands, see below +.br + inLen: size of command buffer +.br +outBuf: pointer to buffer to hold returned data +.br +outLen: size of output buffer +.br + +.EE + +.br + +.br +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_HANDLE, PI_BAD_POINTER, PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN. +PI_BAD_I2C_WLEN, or PI_BAD_I2C_SEG. + +.br + +.br +The following command codes are supported: + +.br + +.br +Name Cmd & Data Meaning +.br +End 0 No more commands +.br +Escape 1 Next P is two bytes +.br +On 2 Switch combined flag on +.br +Off 3 Switch combined flag off +.br +Address 4 P Set I2C address to P +.br +Flags 5 lsb msb Set I2C flags to lsb + (msb << 8) +.br +Read 6 P Read P bytes of data +.br +Write 7 P ... Write P bytes of data +.br + +.br + +.br +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +.br + +.br +The address defaults to that associated with the handle. +The flags default to 0. The address and flags maintain their +previous value until updated. + +.br + +.br +The returned I2C data is stored in consecutive locations of outBuf. + +.br + +.br +\fBExample\fP +.br + +.EX +Set address 0x53, write 0x32, read 6 bytes +.br +Set address 0x1E, write 0x03, read 6 bytes +.br +Set address 0x68, write 0x1B, read 8 bytes +.br +End +.br + +.br +0x04 0x53 0x07 0x01 0x32 0x06 0x06 +.br +0x04 0x1E 0x07 0x01 0x03 0x06 0x06 +.br +0x04 0x68 0x07 0x01 0x1B 0x06 0x08 +.br +0x00 +.br + +.EE + +.br + +.br + +.IP "\fBint bb_i2c_open(int pi, unsigned SDA, unsigned SCL, unsigned baud)\fP" +.IP "" 4 +This function selects a pair of GPIO for bit banging I2C at a +specified baud rate. + +.br + +.br +Bit banging I2C allows for certain operations which are not possible +with the standard I2C driver. + +.br + +.br +o baud rates as low as 50 +.br +o repeated starts +.br +o clock stretching +.br +o I2C on any pair of spare GPIO + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + SDA: 0-31 +.br + SCL: 0-31 +.br +baud: 50-500000 +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_I2C_BAUD, or +PI_GPIO_IN_USE. + +.br + +.br +NOTE: + +.br + +.br +The GPIO used for SDA and SCL must have pull-ups to 3V3 connected. As +a guide the hardware pull-ups on pins 3 and 5 are 1k8 in value. + +.IP "\fBint bb_i2c_close(int pi, unsigned SDA)\fP" +.IP "" 4 +This function stops bit banging I2C on a pair of GPIO previously +opened with \fBbb_i2c_open\fP. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +SDA: 0-31, the SDA GPIO used in a prior call to \fBbb_i2c_open\fP +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_I2C_GPIO. + +.IP "\fBint bb_i2c_zip(int pi, unsigned SDA, char *inBuf, unsigned inLen, char *outBuf, unsigned outLen)\fP" +.IP "" 4 +This function executes a sequence of bit banged I2C operations. The +operations to be performed are specified by the contents of inBuf +which contains the concatenated command codes and associated data. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + SDA: 0-31 (as used in a prior call to \fBbb_i2c_open\fP) +.br + inBuf: pointer to the concatenated I2C commands, see below +.br + inLen: size of command buffer +.br +outBuf: pointer to buffer to hold returned data +.br +outLen: size of output buffer +.br + +.EE + +.br + +.br +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_USER_GPIO, PI_NOT_I2C_GPIO, PI_BAD_POINTER, +PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN, PI_BAD_I2C_WLEN, +PI_I2C_READ_FAILED, or PI_I2C_WRITE_FAILED. + +.br + +.br +The following command codes are supported: + +.br + +.br +Name Cmd & Data Meaning +.br +End 0 No more commands +.br +Escape 1 Next P is two bytes +.br +Start 2 Start condition +.br +Stop 3 Stop condition +.br +Address 4 P Set I2C address to P +.br +Flags 5 lsb msb Set I2C flags to lsb + (msb << 8) +.br +Read 6 P Read P bytes of data +.br +Write 7 P ... Write P bytes of data +.br + +.br + +.br +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +.br + +.br +The address and flags default to 0. The address and flags maintain +their previous value until updated. + +.br + +.br +No flags are currently defined. + +.br + +.br +The returned I2C data is stored in consecutive locations of outBuf. + +.br + +.br +\fBExample\fP +.br + +.EX +Set address 0x53 +.br +start, write 0x32, (re)start, read 6 bytes, stop +.br +Set address 0x1E +.br +start, write 0x03, (re)start, read 6 bytes, stop +.br +Set address 0x68 +.br +start, write 0x1B, (re)start, read 8 bytes, stop +.br +End +.br + +.br +0x04 0x53 +.br +0x02 0x07 0x01 0x32 0x02 0x06 0x06 0x03 +.br + +.br +0x04 0x1E +.br +0x02 0x07 0x01 0x03 0x02 0x06 0x06 0x03 +.br + +.br +0x04 0x68 +.br +0x02 0x07 0x01 0x1B 0x02 0x06 0x08 0x03 +.br + +.br +0x00 +.br + +.EE + +.IP "\fBint bb_spi_open(int pi, unsigned CS, unsigned MISO, unsigned MOSI, unsigned SCLK, unsigned baud, unsigned spi_flags)\fP" +.IP "" 4 +This function selects a set of GPIO for bit banging SPI at a +specified baud rate. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + CS: 0-31 +.br + MISO: 0-31 +.br + MOSI: 0-31 +.br + SCLK: 0-31 +.br + baud: 50-250000 +.br +spi_flags: see below +.br + +.EE + +.br + +.br +spi_flags consists of the least significant 22 bits. + +.br + +.br + +.EX +21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 +.br + 0 0 0 0 0 0 R T 0 0 0 0 0 0 0 0 0 0 0 p m m +.br + +.EE + +.br + +.br +mm defines the SPI mode, defaults to 0 + +.br + +.br + +.EX +Mode CPOL CPHA +.br + 0 0 0 +.br + 1 0 1 +.br + 2 1 0 +.br + 3 1 1 +.br + +.EE + +.br + +.br +p is 0 if CS is active low (default) and 1 for active high. + +.br + +.br +T is 1 if the least significant bit is transmitted on MOSI first, the +default (0) shifts the most significant bit out first. + +.br + +.br +R is 1 if the least significant bit is received on MISO first, the +default (0) receives the most significant bit first. + +.br + +.br +The other bits in flags should be set to zero. + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_SPI_BAUD, or +PI_GPIO_IN_USE. + +.br + +.br +If more than one device is connected to the SPI bus (defined by +SCLK, MOSI, and MISO) each must have its own CS. + +.br + +.br +\fBExample\fP +.br + +.EX +bb_spi_open(pi,10, MISO, MOSI, SCLK, 10000, 0); // device 1 +.br +bb_spi_open(pi,11, MISO, MOSI, SCLK, 20000, 3); // device 2 +.br + +.EE + +.IP "\fBint bb_spi_close(int pi, unsigned CS)\fP" +.IP "" 4 +This function stops bit banging SPI on a set of GPIO +opened with \fBbbSPIOpen\fP. + +.br + +.br + +.EX +pi: >=0 (as returned by \fBpigpio_start\fP). +.br +CS: 0-31, the CS GPIO used in a prior call to \fBbb_spi_open\fP +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SPI_GPIO. + +.IP "\fBint bb_spi_xfer(int pi, unsigned CS, char *txBuf, char *rxBuf, unsigned count)\fP" +.IP "" 4 +This function executes a bit banged SPI transfer. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + CS: 0-31 (as used in a prior call to \fBbb_spi_open\fP) +.br +txBuf: pointer to buffer to hold data to be sent +.br +rxBuf: pointer to buffer to hold returned data +.br +count: size of data transfer +.br + +.EE + +.br + +.br +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_USER_GPIO, PI_NOT_SPI_GPIO or PI_BAD_POINTER. + +.br + +.br +\fBExample\fP +.br + +.EX +// gcc -Wall -pthread -o bb_spi_x_test bb_spi_x_test.c -lpigpiod_if2 +.br +// ./bb_spi_x_test +.br + +.br +#include +.br + +.br +#include "pigpiod_if2.h" +.br + +.br +#define CE0 5 +.br +#define CE1 6 +.br +#define MISO 13 +.br +#define MOSI 19 +.br +#define SCLK 12 +.br + +.br +int main(int argc, char *argv[]) +.br +{ +.br + int i, pi, count, set_val, read_val; +.br + unsigned char inBuf[3]; +.br + char cmd1[] = {0, 0}; +.br + char cmd2[] = {12, 0}; +.br + char cmd3[] = {1, 128, 0}; +.br + +.br + if ((pi = pigpio_start(0, 0)) < 0) +.br + { +.br + fprintf(stderr, "pigpio initialisation failed (%d).\n", pi); +.br + return 1; +.br + } +.br + +.br + bb_spi_open(pi, CE0, MISO, MOSI, SCLK, 10000, 0); // MCP4251 DAC +.br + bb_spi_open(pi, CE1, MISO, MOSI, SCLK, 20000, 3); // MCP3008 ADC +.br + +.br + for (i=0; i<256; i++) +.br + { +.br + cmd1[1] = i; +.br + +.br + count = bb_spi_xfer(pi, CE0, cmd1, (char *)inBuf, 2); // > DAC +.br + +.br + if (count == 2) +.br + { +.br + count = bb_spi_xfer(pi, CE0, cmd2, (char *)inBuf, 2); // < DAC +.br + +.br + if (count == 2) +.br + { +.br + set_val = inBuf[1]; +.br + +.br + count = bb_spi_xfer(pi, CE1, cmd3, (char *)inBuf, 3); // < ADC +.br + +.br + if (count == 3) +.br + { +.br + read_val = ((inBuf[1]&3)<<8) | inBuf[2]; +.br + printf("%d %d\n", set_val, read_val); +.br + } +.br + } +.br + } +.br + } +.br + +.br + bb_spi_close(pi, CE0); +.br + bb_spi_close(pi, CE1); +.br + +.br + pigpio_stop(pi); +.br +} +.br + +.EE + +.IP "\fBint spi_open(int pi, unsigned spi_channel, unsigned baud, unsigned spi_flags)\fP" +.IP "" 4 +This function returns a handle for the SPI device on channel. +Data will be transferred at baud bits per second. The flags may +be used to modify the default behaviour of 4-wire operation, mode 0, +active low chip select. + +.br + +.br +An auxiliary SPI device is available on all models but the +A and B and may be selected by setting the A bit in the +flags. The auxiliary device has 3 chip selects and a +selectable word size in bits. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +spi_channel: 0-1 (0-2 for the auxiliary device). +.br + baud: 32K-125M (values above 30M are unlikely to work). +.br + spi_flags: see below. +.br + +.EE + +.br + +.br +Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL, +PI_BAD_SPI_SPEED, PI_BAD_FLAGS, PI_NO_AUX_SPI, or PI_SPI_OPEN_FAILED. + +.br + +.br +spi_flags consists of the least significant 22 bits. + +.br + +.br + +.EX +21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 +.br + b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m +.br + +.EE + +.br + +.br +mm defines the SPI mode. + +.br + +.br +Warning: modes 1 and 3 do not appear to work on the auxiliary device. + +.br + +.br + +.EX +Mode POL PHA +.br + 0 0 0 +.br + 1 0 1 +.br + 2 1 0 +.br + 3 1 1 +.br + +.EE + +.br + +.br +px is 0 if CEx is active low (default) and 1 for active high. + +.br + +.br +ux is 0 if the CEx GPIO is reserved for SPI (default) and 1 otherwise. + +.br + +.br +A is 0 for the standard SPI device, 1 for the auxiliary SPI. + +.br + +.br +W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard +SPI device only. + +.br + +.br +nnnn defines the number of bytes (0-15) to write before switching +the MOSI line to MISO to read data. This field is ignored +if W is not set. Standard SPI device only. + +.br + +.br +T is 1 if the least significant bit is transmitted on MOSI first, the +default (0) shifts the most significant bit out first. Auxiliary SPI +device only. + +.br + +.br +R is 1 if the least significant bit is received on MISO first, the +default (0) receives the most significant bit first. Auxiliary SPI +device only. + +.br + +.br +bbbbbb defines the word size in bits (0-32). The default (0) +sets 8 bits per word. Auxiliary SPI device only. + +.br + +.br +The \fBspi_read\fP, \fBspi_write\fP, and \fBspi_xfer\fP functions +transfer data packed into 1, 2, or 4 bytes according to +the word size in bits. + +.br + +.br +For bits 1-8 there will be one byte per character. +.br +For bits 9-16 there will be two bytes per character. +.br +For bits 17-32 there will be four bytes per character. + +.br + +.br +E.g. to transfer 32 12-bit words buf should contain 64 bytes +and count should be 64. + +.br + +.br +The other bits in flags should be set to zero. + +.IP "\fBint spi_close(int pi, unsigned handle)\fP" +.IP "" 4 +This functions closes the SPI device identified by the handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBspi_open\fP. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.IP "\fBint spi_read(int pi, unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function reads count bytes of data from the SPI +device associated with the handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBspi_open\fP. +.br + buf: an array to receive the read data bytes. +.br + count: the number of bytes to read. +.br + +.EE + +.br + +.br +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. + +.IP "\fBint spi_write(int pi, unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function writes count bytes of data from buf to the SPI +device associated with the handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBspi_open\fP. +.br + buf: the data bytes to write. +.br + count: the number of bytes to write. +.br + +.EE + +.br + +.br +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. + +.IP "\fBint spi_xfer(int pi, unsigned handle, char *txBuf, char *rxBuf, unsigned count)\fP" +.IP "" 4 +This function transfers count bytes of data from txBuf to the SPI +device associated with the handle. Simultaneously count bytes of +data are read from the device and placed in rxBuf. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBspi_open\fP. +.br + txBuf: the data bytes to write. +.br + rxBuf: the received data bytes. +.br + count: the number of bytes to transfer. +.br + +.EE + +.br + +.br +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. + +.IP "\fBint serial_open(int pi, char *ser_tty, unsigned baud, unsigned ser_flags)\fP" +.IP "" 4 +This function opens a serial device at a specified baud rate +with specified flags. The device name must start with +/dev/tty or /dev/serial. + +.br + +.br + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + ser_tty: the serial device to open. +.br + baud: the baud rate in bits per second, see below. +.br +ser_flags: 0. +.br + +.EE + +.br + +.br +Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, or +PI_SER_OPEN_FAILED. + +.br + +.br +The baud rate must be one of 50, 75, 110, 134, 150, +200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200, +38400, 57600, 115200, or 230400. + +.br + +.br +No flags are currently defined. This parameter should be set to zero. + +.IP "\fBint serial_close(int pi, unsigned handle)\fP" +.IP "" 4 +This function closes the serial device associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBserial_open\fP. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.IP "\fBint serial_write_byte(int pi, unsigned handle, unsigned bVal)\fP" +.IP "" 4 +This function writes bVal to the serial port associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBserial_open\fP. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_SER_WRITE_FAILED. + +.IP "\fBint serial_read_byte(int pi, unsigned handle)\fP" +.IP "" 4 +This function reads a byte from the serial port associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBserial_open\fP. +.br + +.EE + +.br + +.br +Returns the read byte (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_SER_READ_NO_DATA, or PI_SER_READ_FAILED. + +.IP "\fBint serial_write(int pi, unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function writes count bytes from buf to the the serial port +associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBserial_open\fP. +.br + buf: the array of bytes to write. +.br + count: the number of bytes to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_SER_WRITE_FAILED. + +.IP "\fBint serial_read(int pi, unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function reads up to count bytes from the the serial port +associated with handle and writes them to buf. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBserial_open\fP. +.br + buf: an array to receive the read data. +.br + count: the maximum number of bytes to read. +.br + +.EE + +.br + +.br +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, PI_SER_READ_NO_DATA, or PI_SER_WRITE_FAILED. + +.IP "\fBint serial_data_available(int pi, unsigned handle)\fP" +.IP "" 4 +Returns the number of bytes available to be read from the +device associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0, as returned by a call to \fBserial_open\fP. +.br + +.EE + +.br + +.br +Returns the number of bytes of data available (>=0) if OK, +otherwise PI_BAD_HANDLE. + +.IP "\fBint custom_1(int pi, unsigned arg1, unsigned arg2, char *argx, unsigned argc)\fP" +.IP "" 4 +This function is available for user customisation. + +.br + +.br +It returns a single integer value. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +arg1: >=0 +.br +arg2: >=0 +.br +argx: extra (byte) arguments +.br +argc: number of extra arguments +.br + +.EE + +.br + +.br +Returns >= 0 if OK, less than 0 indicates a user defined error. + +.IP "\fBint custom_2(int pi, unsigned arg1, char *argx, unsigned argc, char *retBuf, unsigned retMax)\fP" +.IP "" 4 +This function is available for user customisation. + +.br + +.br +It differs from custom_1 in that it returns an array of bytes +rather than just an integer. + +.br + +.br +The return value is an integer indicating the number of returned bytes. + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + arg1: >=0 +.br + argc: extra (byte) arguments +.br + count: number of extra arguments +.br +retBuf: buffer for returned data +.br +retMax: maximum number of bytes to return +.br + +.EE + +.br + +.br +Returns >= 0 if OK, less than 0 indicates a user defined error. + +.br + +.br +Note, the number of returned bytes will be retMax or less. + +.IP "\fBint get_pad_strength(int pi, unsigned pad)\fP" +.IP "" 4 +This function returns the pad drive strength in mA. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +pad: 0-2, the pad to get. +.br + +.EE + +.br + +.br +Returns the pad drive strength if OK, otherwise PI_BAD_PAD. + +.br + +.br +Pad GPIO +.br +0 0-27 +.br +1 28-45 +.br +2 46-53 +.br + +.br + +.br +\fBExample\fP +.br + +.EX +strength = get_pad_strength(pi, 0); // get pad 0 strength +.br + +.EE + +.IP "\fBint set_pad_strength(int pi, unsigned pad, unsigned padStrength)\fP" +.IP "" 4 +This function sets the pad drive strength in mA. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + pad: 0-2, the pad to set. +.br +padStrength: 1-16 mA. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_PAD, or PI_BAD_STRENGTH. + +.br + +.br +Pad GPIO +.br +0 0-27 +.br +1 28-45 +.br +2 46-53 +.br + +.br + +.br +\fBExample\fP +.br + +.EX +set_pad_strength(pi, 0, 10); // set pad 0 strength to 10 mA +.br + +.EE + +.IP "\fBint shell_(int pi, char *scriptName, char *scriptString)\fP" +.IP "" 4 +This function uses the system call to execute a shell script +with the given string as its parameter. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + scriptName: the name of the script, only alphanumeric characters, +.br + '-' and '_' are allowed in the name. +.br +scriptString: the string to pass to the script. +.br + +.EE + +.br + +.br +The exit status of the system call is returned if OK, otherwise +PI_BAD_SHELL_STATUS. + +.br + +.br +scriptName must exist in /opt/pigpio/cgi and must be executable. + +.br + +.br +The returned exit status is normally 256 times that set by the +shell script exit function. If the script can't be found 32512 will +be returned. + +.br + +.br +The following table gives some example returned statuses. + +.br + +.br +Script exit status Returned system call status +.br +1 256 +.br +5 1280 +.br +10 2560 +.br +200 51200 +.br +script not found 32512 +.br + +.br + +.br +\fBExample\fP +.br + +.EX +// pass two parameters, hello and world +.br +status = shell_(pi, "scr1", "hello world"); +.br + +.br +// pass three parameters, hello, string with spaces, and world +.br +status = shell_(pi, "scr1", "hello 'string with spaces' world"); +.br + +.br +// pass one parameter, hello string with spaces world +.br +status = shell_(pi, "scr1", "\"hello string with spaces world\""); +.br + +.EE + +.IP "\fBint file_open(int pi, char *file, unsigned mode)\fP" +.IP "" 4 +This function returns a handle to a file opened in a specified mode. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +file: the file to open. +.br +mode: the file open mode. +.br + +.EE + +.br + +.br +Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, PI_NO_FILE_ACCESS, +PI_BAD_FILE_MODE, PI_FILE_OPEN_FAILED, or PI_FILE_IS_A_DIR. + +.br + +.br +File + +.br + +.br +A file may only be opened if permission is granted by an entry in +/opt/pigpio/access. This is intended to allow remote access to files +in a more or less controlled manner. + +.br + +.br +Each entry in /opt/pigpio/access takes the form of a file path +which may contain wildcards followed by a single letter permission. +The permission may be R for read, W for write, U for read/write, +and N for no access. + +.br + +.br +Where more than one entry matches a file the most specific rule +applies. If no entry matches a file then access is denied. + +.br + +.br +Suppose /opt/pigpio/access contains the following entries + +.br + +.br + +.EX +/home/* n +.br +/home/pi/shared/dir_1/* w +.br +/home/pi/shared/dir_2/* r +.br +/home/pi/shared/dir_3/* u +.br +/home/pi/shared/dir_1/file.txt n +.br + +.EE + +.br + +.br +Files may be written in directory dir_1 with the exception +of file.txt. + +.br + +.br +Files may be read in directory dir_2. + +.br + +.br +Files may be read and written in directory dir_3. + +.br + +.br +If a directory allows read, write, or read/write access then files may +be created in that directory. + +.br + +.br +In an attempt to prevent risky permissions the following paths are +ignored in /opt/pigpio/access. + +.br + +.br + +.EX +a path containing .. +.br +a path containing only wildcards (*?) +.br +a path containing less than two non-wildcard parts +.br + +.EE + +.br + +.br +Mode + +.br + +.br +The mode may have the following values. + +.br + +.br +Macro Value Meaning +.br +PI_FILE_READ 1 open file for reading +.br +PI_FILE_WRITE 2 open file for writing +.br +PI_FILE_RW 3 open file for reading and writing +.br + +.br + +.br +The following values may be or'd into the mode. + +.br + +.br +Macro Value Meaning +.br +PI_FILE_APPEND 4 Writes append data to the end of the file +.br +PI_FILE_CREATE 8 The file is created if it doesn't exist +.br +PI_FILE_TRUNC 16 The file is truncated +.br + +.br + +.br +Newly created files are owned by root with permissions owner read and write. + +.br + +.br +\fBExample\fP +.br + +.EX +#include +.br +#include +.br + +.br +int main(int argc, char *argv[]) +.br +{ +.br + int pi, handle, c; +.br + char buf[60000]; +.br + +.br + pi = pigpio_start(NULL, NULL); +.br + +.br + if (pi < 0) return 1; +.br + +.br + // assumes /opt/pigpio/access contains the following line +.br + // /ram/*.c r +.br + +.br + handle = file_open(pi, "/ram/pigpio.c", PI_FILE_READ); +.br + +.br + if (handle >= 0) +.br + { +.br + while ((c=file_read(pi, handle, buf, sizeof(buf)-1))) +.br + { +.br + buf[c] = 0; +.br + printf("%s", buf); +.br + } +.br + +.br + file_close(pi, handle); +.br + } +.br + +.br + pigpio_stop(pi); +.br +} +.br + +.EE + +.IP "\fBint file_close(int pi, unsigned handle)\fP" +.IP "" 4 +This function closes the file associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0 (as returned by \fBfile_open\fP). +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +.br + +.br +\fBExample\fP +.br + +.EX +file_close(pi, handle); +.br + +.EE + +.IP "\fBint file_write(int pi, unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function writes count bytes from buf to the the file +associated with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0 (as returned by \fBfile_open\fP). +.br + buf: the array of bytes to write. +.br + count: the number of bytes to write. +.br + +.EE + +.br + +.br +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, +PI_FILE_NOT_WOPEN, or PI_BAD_FILE_WRITE. + +.br + +.br +\fBExample\fP +.br + +.EX +if (file_write(pi, handle, buf, 100) == 0) +.br +{ +.br + // file written okay +.br +} +.br +else +.br +{ +.br + // error +.br +} +.br + +.EE + +.IP "\fBint file_read(int pi, unsigned handle, char *buf, unsigned count)\fP" +.IP "" 4 +This function reads up to count bytes from the the file +associated with handle and writes them to buf. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +handle: >=0 (as returned by \fBfile_open\fP). +.br + buf: an array to receive the read data. +.br + count: the maximum number of bytes to read. +.br + +.EE + +.br + +.br +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, PI_FILE_NOT_ROPEN, or PI_BAD_FILE_WRITE. + +.br + +.br +\fBExample\fP +.br + +.EX + bytes = file_read(pi, handle, buf, sizeof(buf)); +.br + +.br + if (bytes >= 0) +.br + { +.br + // process read data +.br + } +.br + +.EE + +.IP "\fBint file_seek(int pi, unsigned handle, int32_t seekOffset, int seekFrom)\fP" +.IP "" 4 +This function seeks to a position within the file associated +with handle. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + handle: >=0 (as returned by \fBfile_open\fP). +.br +seekOffset: the number of bytes to move. Positive offsets +.br + move forward, negative offsets backwards. +.br + seekFrom: one of PI_FROM_START (0), PI_FROM_CURRENT (1), +.br + or PI_FROM_END (2). +.br + +.EE + +.br + +.br +Returns the new byte position within the file (>=0) if OK, otherwise PI_BAD_HANDLE, or PI_BAD_FILE_SEEK. + +.br + +.br +\fBExample\fP +.br + +.EX +file_seek(pi, handle, 123, PI_FROM_START); // Start plus 123 +.br + +.br +size = file_seek(pi, handle, 0, PI_FROM_END); // End, return size +.br + +.br +pos = file_seek(pi, handle, 0, PI_FROM_CURRENT); // Current position +.br + +.EE + +.IP "\fBint file_list(int pi, char *fpat, char *buf, unsigned count)\fP" +.IP "" 4 +This function returns a list of files which match a pattern. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br + fpat: file pattern to match. +.br + buf: an array to receive the matching file names. +.br +count: the maximum number of bytes to read. +.br + +.EE + +.br + +.br +Returns the number of returned bytes if OK, otherwise PI_NO_FILE_ACCESS, +or PI_NO_FILE_MATCH. + +.br + +.br +The pattern must match an entry in /opt/pigpio/access. The pattern +may contain wildcards. See \fBfile_open\fP. + +.br + +.br +NOTE + +.br + +.br +The returned value is not the number of files, it is the number +of bytes in the buffer. The file names are separated by newline +characters. + +.br + +.br +\fBExample\fP +.br + +.EX +#include +.br +#include +.br + +.br +int main(int argc, char *argv[]) +.br +{ +.br + int pi, handle, c; +.br + char buf[60000]; +.br + +.br + pi = pigpio_start(NULL, NULL); +.br + +.br + if (pi < 0) return 1; +.br + +.br + // assumes /opt/pigpio/access contains the following line +.br + // /ram/*.c r +.br + +.br + c = file_list(pi, "/ram/p*.c", buf, sizeof(buf)); +.br + +.br + if (c >= 0) +.br + { +.br + buf[c] = 0; +.br + printf("%s", buf); +.br + } +.br + +.br + pigpio_stop(pi); +.br +} +.br + +.EE + +.IP "\fBint callback(int pi, unsigned user_gpio, unsigned edge, CBFunc_t f)\fP" +.IP "" 4 +This function initialises a new callback. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE. +.br + f: the callback function. +.br + +.EE + +.br + +.br +The function returns a callback id if OK, otherwise pigif_bad_malloc, +pigif_duplicate_callback, or pigif_bad_callback. + +.br + +.br +The callback is called with the GPIO, edge, and tick, whenever the +GPIO has the identified edge. + +.IP "\fBint callback_ex(int pi, unsigned user_gpio, unsigned edge, CBFuncEx_t f, void *userdata)\fP" +.IP "" 4 +This function initialises a new callback. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE. +.br + f: the callback function. +.br + userdata: a pointer to arbitrary user data. +.br + +.EE + +.br + +.br +The function returns a callback id if OK, otherwise pigif_bad_malloc, +pigif_duplicate_callback, or pigif_bad_callback. + +.br + +.br +The callback is called with the GPIO, edge, tick, and user, whenever +the GPIO has the identified edge. + +.IP "\fBint callback_cancel(unsigned callback_id)\fP" +.IP "" 4 +This function cancels a callback identified by its id. + +.br + +.br + +.EX +callback_id: >=0, as returned by a call to \fBcallback\fP or \fBcallback_ex\fP. +.br + +.EE + +.br + +.br +The function returns 0 if OK, otherwise pigif_callback_not_found. + +.IP "\fBint wait_for_edge(int pi, unsigned user_gpio, unsigned edge, double timeout)\fP" +.IP "" 4 +This function waits for edge on the GPIO for up to timeout +seconds. + +.br + +.br + +.EX + pi: >=0 (as returned by \fBpigpio_start\fP). +.br +user_gpio: 0-31. +.br + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE. +.br + timeout: >=0. +.br + +.EE + +.br + +.br +The function returns when the edge occurs or after the timeout. + +.br + +.br +Do not use this function for precise timing purposes, +the edge is only checked 20 times a second. Whenever +you need to know the accurate time of GPIO events use +a \fBcallback\fP function. + +.br + +.br +The function returns 1 if the edge occurred, otherwise 0. +.SH PARAMETERS + +.br + +.br + +.IP "\fBactive\fP: 0-1000000" 0 + +.br + +.br +The number of microseconds level changes are reported for once +a noise filter has been triggered (by \fBsteady\fP microseconds of +a stable level). + +.br + +.br + +.IP "\fB*addrStr\fP" 0 +A string specifying the host or IP address of the Pi running +the pigpio daemon. It may be NULL in which case localhost +is used unless overridden by the PIGPIO_ADDR environment +variable. + +.br + +.br + +.IP "\fBarg1\fP" 0 +An unsigned argument passed to a user customised function. Its +meaning is defined by the customiser. + +.br + +.br + +.IP "\fBarg2\fP" 0 +An unsigned argument passed to a user customised function. Its +meaning is defined by the customiser. + +.br + +.br + +.IP "\fBargc\fP" 0 +The count of bytes passed to a user customised function. + +.br + +.br + +.IP "\fB*argx\fP" 0 +A pointer to an array of bytes passed to a user customised function. +Its meaning and content is defined by the customiser. + +.br + +.br + +.IP "\fBbaud\fP" 0 +The speed of serial communication (I2C, SPI, serial link, waves) in +bits per second. + +.br + +.br + +.IP "\fBbit\fP" 0 +A value of 0 or 1. + +.br + +.br + +.IP "\fBbits\fP" 0 +A value used to select GPIO. If bit n of bits is set then GPIO n is +selected. + +.br + +.br +A convenient way to set bit n is to or in (1<=0, as returned by a call to \fBcallback\fP or \fBcallback_ex\fP. This is +passed to \fBcallback_cancel\fP to cancel the callback. + +.br + +.br + +.IP "\fBCBFunc_t\fP" 0 + +.EX +typedef void (*CBFunc_t) +.br + (unsigned user_gpio, unsigned level, uint32_t tick); +.br + +.EE + +.br + +.br + +.IP "\fBCBFuncEx_t\fP" 0 + +.EX +typedef void (*CBFuncEx_t) +.br + (unsigned user_gpio, unsigned level, uint32_t tick, void * user); +.br + +.EE + +.br + +.br + +.IP "\fBchar\fP" 0 +A single character, an 8 bit quantity able to store 0-255. + +.br + +.br + +.IP "\fBclkfreq\fP: 4689-250000000 (250M)" 0 +The hardware clock frequency. + +.br + +.br + +.IP "\fBcount\fP" 0 +The number of bytes to be transferred in a file, I2C, SPI, or serial +command. + +.br + +.br + +.IP "\fBCS\fP" 0 +The GPIO used for the slave select signal when bit banging SPI. + +.br + +.br + +.IP "\fBdata_bits\fP: 1-32" 0 +The number of data bits in each character of serial data. + +.br + +.br + +.EX +#define PI_MIN_WAVE_DATABITS 1 +.br +#define PI_MAX_WAVE_DATABITS 32 +.br + +.EE + +.br + +.br + +.IP "\fBdouble\fP" 0 +A floating point number. + +.br + +.br + +.IP "\fBdutycycle\fP: 0-range" 0 +A number representing the ratio of on time to off time for PWM. + +.br + +.br +The number may vary between 0 and range (default 255) where +0 is off and range is fully on. + +.br + +.br + +.IP "\fBedge\fP" 0 +Used to identify a GPIO level transition of interest. A rising edge is +a level change from 0 to 1. A falling edge is a level change from 1 to 0. + +.br + +.br + +.EX +RISING_EDGE 0 +.br +FALLING_EDGE 1 +.br +EITHER_EDGE. 2 +.br + +.EE + +.br + +.br + +.IP "\fBerrnum\fP" 0 +A negative number indicating a function call failed and the nature +of the error. + +.br + +.br + +.IP "\fBf\fP" 0 +A function. + +.br + +.br + +.IP "\fB*file\fP" 0 +A full file path. To be accessible the path must match an entry in +/opt/pigpio/access. + +.br + +.br + +.IP "\fB*fpat\fP" 0 +A file path which may contain wildcards. To be accessible the path +must match an entry in /opt/pigpio/access. + +.br + +.br + +.IP "\fBfrequency\fP: >=0" 0 +The number of times a GPIO is swiched on and off per second. This +can be set per GPIO and may be as little as 5Hz or as much as +40KHz. The GPIO will be on for a proportion of the time as defined +by its dutycycle. + +.br + +.br + +.IP "\fBgpio\fP" 0 +A Broadcom numbered GPIO, in the range 0-53. + +.br + +.br +There are 54 General Purpose Input Outputs (GPIO) named GPIO0 through +GPIO53. + +.br + +.br +They are split into two banks. Bank 1 consists of GPIO0 through +GPIO31. Bank 2 consists of GPIO32 through GPIO53. + +.br + +.br +All the GPIO which are safe for the user to read and write are in +bank 1. Not all GPIO in bank 1 are safe though. Type 1 boards +have 17 safe GPIO. Type 2 boards have 21. Type 3 boards have 26. + +.br + +.br +See \fBget_hardware_revision\fP. + +.br + +.br +The user GPIO are marked with an X in the following table. + +.br + +.br + +.EX + 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 +.br +Type 1 X X - - X - - X X X X X - - X X +.br +Type 2 - - X X X - - X X X X X - - X X +.br +Type 3 X X X X X X X X X X X X X X +.br + +.br + 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 +.br +Type 1 - X X - - X X X X X - - - - - - +.br +Type 2 - X X - - - X X X X - X X X X X +.br +Type 3 X X X X X X X X X X X X - - - - +.br + +.EE + +.br + +.br + +.IP "\fBgpioPulse_t\fP" 0 + +.EX +typedef struct +.br +{ +.br +uint32_t gpioOn; +.br +uint32_t gpioOff; +.br +uint32_t usDelay; +.br +} gpioPulse_t; +.br + +.EE + +.br + +.br + +.IP "\fBgpioThreadFunc_t\fP" 0 + +.EX +typedef void *(gpioThreadFunc_t) (void *); +.br + +.EE + +.br + +.br + +.IP "\fBhandle\fP: >=0" 0 +A number referencing an object opened by one of \fBfile_open\fP, +\fBi2c_open\fP, \fBnotify_open\fP, \fBserial_open\fP, and \fBspi_open\fP. + +.br + +.br + +.IP "\fBi2c_addr\fP: 0-0x7F" 0 +The address of a device on the I2C bus. + +.br + +.br + +.IP "\fBi2c_bus\fP: >=0" 0 +An I2C bus number. + +.br + +.br + +.IP "\fBi2c_flags\fP: 0" 0 +Flags which modify an I2C open command. None are currently defined. + +.br + +.br + +.IP "\fBi2c_reg\fP: 0-255" 0 +A register of an I2C device. + +.br + +.br + +.IP "\fB*inBuf\fP" 0 +A buffer used to pass data to a function. + +.br + +.br + +.IP "\fBinLen\fP" 0 +The number of bytes of data in a buffer. + +.br + +.br + +.IP "\fBint\fP" 0 +A whole number, negative or positive. + +.br + +.br + +.IP "\fBint32_t\fP" 0 +A 32-bit signed value. + +.br + +.br + +.IP "\fBinvert\fP" 0 +A flag used to set normal or inverted bit bang serial data level logic. + +.br + +.br + +.IP "\fBlevel\fP" 0 +The level of a GPIO. Low or High. + +.br + +.br + +.EX +PI_OFF 0 +.br +PI_ON 1 +.br + +.br +PI_CLEAR 0 +.br +PI_SET 1 +.br + +.br +PI_LOW 0 +.br +PI_HIGH 1 +.br + +.EE + +.br + +.br +There is one exception. If a watchdog expires on a GPIO the level will be +reported as PI_TIMEOUT. See \fBset_watchdog\fP. + +.br + +.br + +.EX +PI_TIMEOUT 2 +.br + +.EE + +.br + +.br + +.IP "\fBMISO\fP" 0 +The GPIO used for the MISO signal when bit banging SPI. + +.br + +.br + +.IP "\fBmode\fP" 0 +1. The operational mode of a GPIO, normally INPUT or OUTPUT. + +.br + +.br + +.EX +PI_INPUT 0 +.br +PI_OUTPUT 1 +.br +PI_ALT0 4 +.br +PI_ALT1 5 +.br +PI_ALT2 6 +.br +PI_ALT3 7 +.br +PI_ALT4 3 +.br +PI_ALT5 2 +.br + +.EE + +.br + +.br +2. The mode of waveform transmission. + +.br + +.br + +.EX +PI_WAVE_MODE_ONE_SHOT 0 +.br +PI_WAVE_MODE_REPEAT 1 +.br +PI_WAVE_MODE_ONE_SHOT_SYNC 2 +.br +PI_WAVE_MODE_REPEAT_SYNC 3 +.br + +.EE + +.br + +.br +3. A file open mode. + +.br + +.br + +.EX +PI_FILE_READ 1 +.br +PI_FILE_WRITE 2 +.br +PI_FILE_RW 3 +.br + +.EE + +.br + +.br +The following values can be or'd into the mode. + +.br + +.br + +.EX +PI_FILE_APPEND 4 +.br +PI_FILE_CREATE 8 +.br +PI_FILE_TRUNC 16 +.br + +.EE + +.br + +.br + +.IP "\fBMOSI\fP" 0 +The GPIO used for the MOSI signal when bit banging SPI. + +.br + +.br + +.IP "\fBnumBytes\fP" 0 +The number of bytes used to store characters in a string. Depending +on the number of bits per character there may be 1, 2, or 4 bytes +per character. + +.br + +.br + +.IP "\fBnumPar\fP: 0-10" 0 +The number of parameters passed to a script. + +.br + +.br + +.IP "\fBnumPulses\fP" 0 +The number of pulses to be added to a waveform. + +.br + +.br + +.IP "\fBoffset\fP" 0 +The associated data starts this number of microseconds from the start of +the waveform. + +.br + +.br + +.IP "\fB*outBuf\fP" 0 +A buffer used to return data from a function. + +.br + +.br + +.IP "\fBoutLen\fP" 0 +The size in bytes of an output buffer. + +.br + +.br + +.IP "\fBpad\fP: 0-2" 0 +A set of GPIO which share common drivers. + +.br + +.br +Pad GPIO +.br +0 0-27 +.br +1 28-45 +.br +2 46-53 +.br + +.br + +.br + +.IP "\fBpadStrength\fP: 1-16" 0 +The mA which may be drawn from each GPIO whilst still guaranteeing the +high and low levels. + +.br + +.br + +.IP "\fB*param\fP" 0 +An array of script parameters. + +.br + +.br + +.IP "\fBpi\fP" 0 +An integer defining a connected Pi. The value is returned by +\fBpigpio_start\fP upon success. + +.br + +.br + +.IP "\fB*portStr\fP" 0 +A string specifying the port address used by the Pi running +the pigpio daemon. It may be NULL in which case "8888" +is used unless overridden by the PIGPIO_PORT environment +variable. + +.br + +.br + +.IP "\fB*pth\fP" 0 +A thread identifier, returned by \fBstart_thread\fP. + +.br + +.br + +.br + +.br + +.IP "\fBpthread_t\fP" 0 +A thread identifier. + +.br + +.br + +.IP "\fBpud\fP: 0-2" 0 +The setting of the pull up/down resistor for a GPIO, which may be off, +pull-up, or pull-down. + +.EX +PI_PUD_OFF 0 +.br +PI_PUD_DOWN 1 +.br +PI_PUD_UP 2 +.br + +.EE + +.br + +.br + +.IP "\fBpulseLen\fP" 0 +1-100, the length of a trigger pulse in microseconds. + +.br + +.br + +.IP "\fB*pulses\fP" 0 +An array of pulses to be added to a waveform. + +.br + +.br + +.IP "\fBpulsewidth\fP: 0, 500-2500" 0 + +.EX +PI_SERVO_OFF 0 +.br +PI_MIN_SERVO_PULSEWIDTH 500 +.br +PI_MAX_SERVO_PULSEWIDTH 2500 +.br + +.EE + +.br + +.br + +.IP "\fBPWMduty\fP: 0-1000000 (1M)" 0 +The hardware PWM dutycycle. + +.br + +.br + +.EX +#define PI_HW_PWM_RANGE 1000000 +.br + +.EE + +.br + +.br + +.IP "\fBPWMfreq\fP: 1-125000000 (125M)" 0 +The hardware PWM frequency. + +.br + +.br + +.EX +#define PI_HW_PWM_MIN_FREQ 1 +.br +#define PI_HW_PWM_MAX_FREQ 125000000 +.br + +.EE + +.br + +.br + +.IP "\fBrange\fP: 25-40000" 0 +The permissible dutycycle values are 0-range. + +.EX +PI_MIN_DUTYCYCLE_RANGE 25 +.br +PI_MAX_DUTYCYCLE_RANGE 40000 +.br + +.EE + +.br + +.br + +.IP "\fB*retBuf\fP" 0 +A buffer to hold a number of bytes returned to a used customised function, + +.br + +.br + +.IP "\fBretMax\fP" 0 +The maximum number of bytes a user customised function should return. + +.br + +.br + +.br + +.br + +.IP "\fB*rxBuf\fP" 0 +A pointer to a buffer to receive data. + +.br + +.br + +.IP "\fBSCL\fP" 0 +The user GPIO to use for the clock when bit banging I2C. + +.br + +.br + +.IP "\fBSCLK\fP" 0 +The GPIO used for the SCLK signal when bit banging SPI. + +.br + +.br + +.IP "\fB*script\fP" 0 +A pointer to the text of a script. + +.br + +.br + +.IP "\fBscript_id\fP" 0 +An id of a stored script as returned by \fBstore_script\fP. + +.br + +.br + +.IP "\fB*scriptName\fP" 0 +The name of a \fBshell_\fP script to be executed. The script must be present in +/opt/pigpio/cgi and must have execute permission. + +.br + +.br + +.IP "\fB*scriptString\fP" 0 +The string to be passed to a \fBshell_\fP script to be executed. + +.br + +.br + +.IP "\fBSDA\fP" 0 +The user GPIO to use for data when bit banging I2C. + +.br + +.br + +.IP "\fBseconds\fP" 0 +The number of seconds. + +.br + +.br + +.IP "\fBseekFrom\fP" 0 + +.br + +.br + +.EX +PI_FROM_START 0 +.br +PI_FROM_CURRENT 1 +.br +PI_FROM_END 2 +.br + +.EE + +.br + +.br + +.IP "\fBseekOffset\fP" 0 +The number of bytes to move forward (positive) or backwards (negative) +from the seek position (start, current, or end of file). + +.br + +.br + +.IP "\fBser_flags\fP" 0 +Flags which modify a serial open command. None are currently defined. + +.br + +.br + +.IP "\fB*ser_tty\fP" 0 +The name of a serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0, /dev/tty1. + +.br + +.br + +.IP "\fBsize_t\fP" 0 +A standard type used to indicate the size of an object in bytes. + +.br + +.br + +.IP "\fBspi_channel\fP" 0 +A SPI channel, 0-2. + +.br + +.br + +.IP "\fBspi_flags\fP" 0 +See \fBspi_open\fP and \fBbb_spi_open\fP. + +.br + +.br + +.IP "\fBsteady\fP: 0-300000" 0 + +.br + +.br +The number of microseconds level changes must be stable for +before reporting the level changed (\fBset_glitch_filter\fP) or triggering +the active part of a noise filter (\fBset_noise_filter\fP). + +.br + +.br + +.IP "\fBstop_bits\fP: 2-8" 0 +The number of (half) stop bits to be used when adding serial data +to a waveform. + +.br + +.br + +.EX +#define PI_MIN_WAVE_HALFSTOPBITS 2 +.br +#define PI_MAX_WAVE_HALFSTOPBITS 8 +.br + +.EE + +.br + +.br + +.IP "\fB*str\fP" 0 + An array of characters. + +.br + +.br + +.IP "\fBthread_func\fP" 0 +A function of type gpioThreadFunc_t used as the main function of a +thread. + +.br + +.br + +.IP "\fBtimeout\fP" 0 +A GPIO watchdog timeout in milliseconds. + +.EX +PI_MIN_WDOG_TIMEOUT 0 +.br +PI_MAX_WDOG_TIMEOUT 60000 +.br + +.EE + +.br + +.br + +.IP "\fB*txBuf\fP" 0 +An array of bytes to transmit. + +.br + +.br + +.IP "\fBuint32_t\fP: 0-0-4,294,967,295 (Hex 0x0-0xFFFFFFFF)" 0 +A 32-bit unsigned value. + +.br + +.br + +.IP "\fBunsigned\fP" 0 +A whole number >= 0. + +.br + +.br + +.IP "\fBuser_gpio\fP" 0 +0-31, a Broadcom numbered GPIO. + +.br + +.br +See \fBgpio\fP. + +.br + +.br + +.IP "\fB*userdata\fP" 0 + +.br + +.br +A pointer to arbitrary user data. This may be used to identify the instance. + +.br + +.br +You must ensure that the pointer is in scope at the time it is processed. If +it is a pointer to a global this is automatic. Do not pass the address of a +local variable. If you want to pass a transient object then use the +following technique. + +.br + +.br +In the calling function: + +.br + +.br +user_type *userdata; +.br +user_type my_userdata; + +.br + +.br +userdata = malloc(sizeof(user_type)); +.br +*userdata = my_userdata; + +.br + +.br +In the receiving function: + +.br + +.br +user_type my_userdata = *(user_type*)userdata; + +.br + +.br +free(userdata); + +.br + +.br + +.IP "\fBvoid\fP" 0 +Denoting no parameter is required + +.br + +.br + +.IP "\fBwave_add_*\fP" 0 +One of \fBwave_add_new\fP, \fBwave_add_generic\fP, \fBwave_add_serial\fP. + +.br + +.br + +.IP "\fBwave_id\fP" 0 +A number representing a waveform created by \fBwave_create\fP. + +.br + +.br + +.IP "\fBwave_send_*\fP" 0 +One of \fBwave_send_once\fP, \fBwave_send_repeat\fP. + +.br + +.br + +.IP "\fBwVal\fP: 0-65535 (Hex 0x0-0xFFFF, Octal 0-0177777)" 0 +A 16-bit word value. + +.br + +.br +.SH pigpiod_if2 Error Codes + +.EX + +.br +typedef enum +.br +{ +.br + pigif_bad_send = -2000, +.br + pigif_bad_recv = -2001, +.br + pigif_bad_getaddrinfo = -2002, +.br + pigif_bad_connect = -2003, +.br + pigif_bad_socket = -2004, +.br + pigif_bad_noib = -2005, +.br + pigif_duplicate_callback = -2006, +.br + pigif_bad_malloc = -2007, +.br + pigif_bad_callback = -2008, +.br + pigif_notify_failed = -2009, +.br + pigif_callback_not_found = -2010, +.br + pigif_unconnected_pi = -2011, +.br + pigif_too_many_pis = -2012, +.br +} pigifError_t; +.br + +.br + +.EE + +.SH SEE ALSO + +pigpiod(1), pig2vcd(1), pigs(1), pigpio(3), pigpiod_if(3) +.SH AUTHOR + +joan@abyz.co.uk diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if2.c b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if2.c new file mode 100644 index 0000000..842fb4b --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if2.c @@ -0,0 +1,1877 @@ +/* +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 +*/ + +/* PIGPIOD_IF2_VERSION 8 */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include + +#include "pigpio.h" +#include "command.h" + +#include "pigpiod_if2.h" + +#define PI_MAX_REPORTS_PER_READ 4096 + +#define STACK_SIZE (256*1024) + +#define MAX_PI 32 + +typedef void (*CBF_t) (); + +struct callback_s +{ + + int id; + int pi; + int gpio; + int edge; + CBF_t f; + void * user; + int ex; + callback_t *prev; + callback_t *next; +}; + +/* GLOBALS ---------------------------------------------------------------- */ + +static int gPiInUse [MAX_PI]; + +static int gPigCommand [MAX_PI]; +static int gPigHandle [MAX_PI]; +static int gPigNotify [MAX_PI]; + +static uint32_t gNotifyBits [MAX_PI]; +static uint32_t gLastLevel [MAX_PI]; + +static pthread_t *gPthNotify [MAX_PI]; + +static pthread_mutex_t gCmdMutex [MAX_PI]; +static int gCancelState [MAX_PI]; + +static callback_t *gCallBackFirst = 0; +static callback_t *gCallBackLast = 0; + +/* PRIVATE ---------------------------------------------------------------- */ + +static void _pml(int pi) +{ + int cancelState; + + pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, &cancelState); + pthread_mutex_lock(&gCmdMutex[pi]); + gCancelState[pi] = cancelState; +} + +static void _pmu(int pi) +{ + int cancelState; + + cancelState = gCancelState[pi]; + pthread_mutex_unlock(&gCmdMutex[pi]); + pthread_setcancelstate(cancelState, NULL); +} + +static int pigpio_command(int pi, int command, int p1, int p2, int rl) +{ + cmdCmd_t cmd; + + if ((pi < 0) || (pi >= MAX_PI) || !gPiInUse[pi]) + return pigif_unconnected_pi; + + cmd.cmd = command; + cmd.p1 = p1; + cmd.p2 = p2; + cmd.res = 0; + + _pml(pi); + + if (send(gPigCommand[pi], &cmd, sizeof(cmd), 0) != sizeof(cmd)) + { + _pmu(pi); + return pigif_bad_send; + } + + if (recv(gPigCommand[pi], &cmd, sizeof(cmd), MSG_WAITALL) != sizeof(cmd)) + { + _pmu(pi); + return pigif_bad_recv; + } + + if (rl) _pmu(pi); + + return cmd.res; +} + +static int pigpio_notify(int pi) +{ + cmdCmd_t cmd; + + if ((pi < 0) || (pi >= MAX_PI) || !gPiInUse[pi]) + return pigif_unconnected_pi; + + cmd.cmd = PI_CMD_NOIB; + cmd.p1 = 0; + cmd.p2 = 0; + cmd.res = 0; + + _pml(pi); + + if (send(gPigNotify[pi], &cmd, sizeof(cmd), 0) != sizeof(cmd)) + { + _pmu(pi); + return pigif_bad_send; + } + + if (recv(gPigNotify[pi], &cmd, sizeof(cmd), MSG_WAITALL) != sizeof(cmd)) + { + _pmu(pi); + return pigif_bad_recv; + } + + _pmu(pi); + + return cmd.res; +} + +static int pigpio_command_ext + (int pi, int command, int p1, int p2, int p3, + int extents, gpioExtent_t *ext, int rl) +{ + int i; + cmdCmd_t cmd; + + if ((pi < 0) || (pi >= MAX_PI) || !gPiInUse[pi]) + return pigif_unconnected_pi; + + cmd.cmd = command; + cmd.p1 = p1; + cmd.p2 = p2; + cmd.p3 = p3; + + _pml(pi); + + if (send(gPigCommand[pi], &cmd, sizeof(cmd), 0) != sizeof(cmd)) + { + _pmu(pi); + return pigif_bad_send; + } + + for (i=0; iai_next) + { + sock = socket(rp->ai_family, rp->ai_socktype, rp->ai_protocol); + + if (sock == -1) continue; + + /* Disable the Nagle algorithm. */ + opt = 1; + setsockopt(sock, IPPROTO_TCP, TCP_NODELAY, (char*)&opt, sizeof(int)); + + if (connect(sock, rp->ai_addr, rp->ai_addrlen) != -1) break; + } + + freeaddrinfo(res); + + if (rp == NULL) return pigif_bad_connect; + + return sock; +} + +static void dispatch_notification(int pi, gpioReport_t *r) +{ + callback_t *p; + uint32_t changed; + int l, g; + +/* + printf("s=%4x f=%4x t=%10u l=%8x\n", + r->seqno, r->flags, r->tick, r->level); +*/ + + if (r->flags == 0) + { + changed = (r->level ^ gLastLevel[pi]) & gNotifyBits[pi]; + + gLastLevel[pi] = r->level; + + p = gCallBackFirst; + + while (p) + { + if (((p->pi) == pi) && (changed & (1<<(p->gpio)))) + { + if ((r->level) & (1<<(p->gpio))) l = 1; else l = 0; + if ((p->edge) ^ l) + { + if (p->ex) (p->f)(pi, p->gpio, l, r->tick, p->user); + else (p->f)(pi, p->gpio, l, r->tick); + } + } + p = p->next; + } + } + else + { + g = (r->flags) & 31; + + p = gCallBackFirst; + + while (p) + { + if (((p->pi) == pi) && ((p->gpio) == g)) + { + if (p->ex) (p->f)(pi, g, PI_TIMEOUT, r->tick, p->user); + else (p->f)(pi, g, PI_TIMEOUT, r->tick); + } + p = p->next; + } + } +} + +static void *pthNotifyThread(void *x) +{ + static int got = 0; + int pi; + int bytes, r; + gpioReport_t report[PI_MAX_REPORTS_PER_READ]; + + pi = *((int*)x); + free(x); /* memory allocated in pigpio_start */ + + while (1) + { + bytes = read(gPigNotify[pi], (char*)&report+got, sizeof(report)-got); + + if (bytes > 0) got += bytes; + else break; + + r = 0; + + while (got >= sizeof(gpioReport_t)) + { + dispatch_notification(pi, &report[r]); + + r++; + + got -= sizeof(gpioReport_t); + } + + /* copy any partial report to start of array */ + + if (got && r) report[0] = report[r]; + } + + fprintf(stderr, "notify thread for pi %d broke with read error %d\n", + pi, bytes); + + while (1) sleep(1); + + return NULL; +} + +static void findNotifyBits(int pi) +{ + callback_t *p; + uint32_t bits = 0; + + p = gCallBackFirst; + + while (p) + { + if (p->pi == pi) bits |= (1<<(p->gpio)); + p = p->next; + } + + if (bits != gNotifyBits[pi]) + { + gNotifyBits[pi] = bits; + pigpio_command(pi, PI_CMD_NB, gPigHandle[pi], gNotifyBits[pi], 1); + } +} + +static void _wfe( + int pi, unsigned user_gpio, unsigned level, uint32_t tick, void *user) +{ + *(int *)user = 1; +} + +static int intCallback( + int pi, unsigned user_gpio, unsigned edge, void *f, void *user, int ex) +{ + static int id = 0; + callback_t *p; + + if ((user_gpio >=0) && (user_gpio < 32) && (edge >=0) && (edge <= 2) && f) + { + /* prevent duplicates */ + + p = gCallBackFirst; + + while (p) + { + if ((p->pi == pi) && + (p->gpio == user_gpio) && + (p->edge == edge) && + (p->f == f)) + { + return pigif_duplicate_callback; + } + p = p->next; + } + + p = malloc(sizeof(callback_t)); + + if (p) + { + if (!gCallBackFirst) gCallBackFirst = p; + + p->id = id++; + p->pi = pi; + p->gpio = user_gpio; + p->edge = edge; + p->f = f; + p->user = user; + p->ex = ex; + p->next = 0; + p->prev = gCallBackLast; + + if (p->prev) (p->prev)->next = p; + gCallBackLast = p; + + findNotifyBits(pi); + + return p->id; + } + + return pigif_bad_malloc; + } + + return pigif_bad_callback; +} + +static int recvMax(int pi, void *buf, int bufsize, int sent) +{ + uint8_t scratch[4096]; + int remaining, fetch, count; + + if (sent < bufsize) count = sent; else count = bufsize; + + if (count) recv(gPigCommand[pi], buf, count, MSG_WAITALL); + + remaining = sent - count; + + while (remaining) + { + fetch = remaining; + if (fetch > sizeof(scratch)) fetch = sizeof(scratch); + recv(gPigCommand[pi], scratch, fetch, MSG_WAITALL); + remaining -= fetch; + } + + return count; +} + +/* PUBLIC ----------------------------------------------------------------- */ + +double time_time(void) +{ + struct timeval tv; + double t; + + gettimeofday(&tv, 0); + + t = (double)tv.tv_sec + ((double)tv.tv_usec / 1E6); + + return t; +} + +void time_sleep(double seconds) +{ + struct timespec ts, rem; + + if (seconds > 0.0) + { + ts.tv_sec = seconds; + ts.tv_nsec = (seconds-(double)ts.tv_sec) * 1E9; + + while (clock_nanosleep(CLOCK_REALTIME, 0, &ts, &rem)) + { + /* copy remaining time to ts */ + ts.tv_sec = rem.tv_sec; + ts.tv_nsec = rem.tv_nsec; + } + } +} + +char *pigpio_error(int errnum) +{ + if (errnum > -1000) return cmdErrStr(errnum); + else + { + switch(errnum) + { + case pigif_bad_send: + return "failed to send to pigpiod"; + case pigif_bad_recv: + return "failed to receive from pigpiod"; + case pigif_bad_getaddrinfo: + return "failed to find address of pigpiod"; + case pigif_bad_connect: + return "failed to connect to pigpiod"; + case pigif_bad_socket: + return "failed to create socket"; + case pigif_bad_noib: + return "failed to open notification in band"; + case pigif_duplicate_callback: + return "identical callback exists"; + case pigif_bad_malloc: + return "failed to malloc"; + case pigif_bad_callback: + return "bad callback parameter"; + case pigif_notify_failed: + return "failed to create notification thread"; + case pigif_callback_not_found: + return "callback not found"; + case pigif_unconnected_pi: + return "not connected to Pi"; + case pigif_too_many_pis: + return "too many connected Pis"; + + default: + return "unknown error"; + } + } +} + +unsigned pigpiod_if_version(void) +{ + return PIGPIOD_IF2_VERSION; +} + +pthread_t *start_thread(gpioThreadFunc_t thread_func, void *userdata) +{ + pthread_t *pth; + pthread_attr_t pthAttr; + + pth = malloc(sizeof(pthread_t)); + + if (pth) + { + if (pthread_attr_init(&pthAttr)) + { + perror("pthread_attr_init failed"); + free(pth); + return NULL; + } + + if (pthread_attr_setstacksize(&pthAttr, STACK_SIZE)) + { + perror("pthread_attr_setstacksize failed"); + free(pth); + return NULL; + } + + if (pthread_create(pth, &pthAttr, thread_func, userdata)) + { + perror("pthread_create socket failed"); + free(pth); + return NULL; + } + } + return pth; +} + +void stop_thread(pthread_t *pth) +{ + if (pth) + { + pthread_cancel(*pth); + pthread_join(*pth, NULL); + free(pth); + } +} + +int pigpio_start(char *addrStr, char *portStr) +{ + int pi; + int *userdata; + + for (pi=0; pi= MAX_PI) return pigif_too_many_pis; + + gPiInUse[pi] = 1; + + pthread_mutex_init(&gCmdMutex[pi], NULL); + + gPigCommand[pi] = pigpioOpenSocket(addrStr, portStr); + + if (gPigCommand[pi] >= 0) + { + gPigNotify[pi] = pigpioOpenSocket(addrStr, portStr); + + if (gPigNotify[pi] >= 0) + { + gPigHandle[pi] = pigpio_notify(pi); + + if (gPigHandle[pi] < 0) return pigif_bad_noib; + else + { + gLastLevel[pi] = read_bank_1(pi); + + /* must be freed by pthNotifyThread */ + userdata = malloc(sizeof(*userdata)); + *userdata = pi; + + gPthNotify[pi] = start_thread(pthNotifyThread, userdata); + + if (gPthNotify[pi]) return pi; + else return pigif_notify_failed; + + } + } + else return gPigNotify[pi]; + } + else return gPigCommand[pi]; +} + +void pigpio_stop(int pi) +{ + if ((pi < 0) || (pi >= MAX_PI) || !gPiInUse[pi]) return; + + if (gPthNotify[pi]) + { + stop_thread(gPthNotify[pi]); + gPthNotify[pi] = 0; + } + + if (gPigCommand[pi] >= 0) + { + if (gPigHandle[pi] >= 0) + { + pigpio_command(pi, PI_CMD_NC, gPigHandle[pi], 0, 1); + gPigHandle[pi] = -1; + } + + close(gPigCommand[pi]); + gPigCommand[pi] = -1; + } + + if (gPigNotify[pi] >= 0) + { + close(gPigNotify[pi]); + gPigNotify[pi] = -1; + } + + gPiInUse[pi] = 0; +} + +int set_mode(int pi, unsigned gpio, unsigned mode) + {return pigpio_command(pi, PI_CMD_MODES, gpio, mode, 1);} + +int get_mode(int pi, unsigned gpio) + {return pigpio_command(pi, PI_CMD_MODEG, gpio, 0, 1);} + +int set_pull_up_down(int pi, unsigned gpio, unsigned pud) + {return pigpio_command(pi, PI_CMD_PUD, gpio, pud, 1);} + +int gpio_read(int pi, unsigned gpio) + {return pigpio_command(pi, PI_CMD_READ, gpio, 0, 1);} + +int gpio_write(int pi, unsigned gpio, unsigned level) + {return pigpio_command(pi, PI_CMD_WRITE, gpio, level, 1);} + +int set_PWM_dutycycle(int pi, unsigned user_gpio, unsigned dutycycle) + {return pigpio_command(pi, PI_CMD_PWM, user_gpio, dutycycle, 1);} + +int get_PWM_dutycycle(int pi, unsigned user_gpio) + {return pigpio_command(pi, PI_CMD_GDC, user_gpio, 0, 1);} + +int set_PWM_range(int pi, unsigned user_gpio, unsigned range) + {return pigpio_command(pi, PI_CMD_PRS, user_gpio, range, 1);} + +int get_PWM_range(int pi, unsigned user_gpio) + {return pigpio_command(pi, PI_CMD_PRG, user_gpio, 0, 1);} + +int get_PWM_real_range(int pi, unsigned user_gpio) + {return pigpio_command(pi, PI_CMD_PRRG, user_gpio, 0, 1);} + +int set_PWM_frequency(int pi, unsigned user_gpio, unsigned frequency) + {return pigpio_command(pi, PI_CMD_PFS, user_gpio, frequency, 1);} + +int get_PWM_frequency(int pi, unsigned user_gpio) + {return pigpio_command(pi, PI_CMD_PFG, user_gpio, 0, 1);} + +int set_servo_pulsewidth(int pi, unsigned user_gpio, unsigned pulsewidth) + {return pigpio_command(pi, PI_CMD_SERVO, user_gpio, pulsewidth, 1);} + +int get_servo_pulsewidth(int pi, unsigned user_gpio) + {return pigpio_command(pi, PI_CMD_GPW, user_gpio, 0, 1);} + +int notify_open(int pi) + {return pigpio_command(pi, PI_CMD_NO, 0, 0, 1);} + +int notify_begin(int pi, unsigned handle, uint32_t bits) + {return pigpio_command(pi, PI_CMD_NB, handle, bits, 1);} + +int notify_pause(int pi, unsigned handle) + {return pigpio_command(pi, PI_CMD_NB, handle, 0, 1);} + +int notify_close(int pi, unsigned handle) + {return pigpio_command(pi, PI_CMD_NC, handle, 0, 1);} + +int set_watchdog(int pi, unsigned user_gpio, unsigned timeout) + {return pigpio_command(pi, PI_CMD_WDOG, user_gpio, timeout, 1);} + +uint32_t read_bank_1(int pi) + {return pigpio_command(pi, PI_CMD_BR1, 0, 0, 1);} + +uint32_t read_bank_2(int pi) + {return pigpio_command(pi, PI_CMD_BR2, 0, 0, 1);} + +int clear_bank_1(int pi, uint32_t levels) + {return pigpio_command(pi, PI_CMD_BC1, levels, 0, 1);} + +int clear_bank_2(int pi, uint32_t levels) + {return pigpio_command(pi, PI_CMD_BC2, levels, 0, 1);} + +int set_bank_1(int pi, uint32_t levels) + {return pigpio_command(pi, PI_CMD_BS1, levels, 0, 1);} + +int set_bank_2(int pi, uint32_t levels) + {return pigpio_command(pi, PI_CMD_BS2, levels, 0, 1);} + +int hardware_clock(int pi, unsigned gpio, unsigned frequency) + {return pigpio_command(pi, PI_CMD_HC, gpio, frequency, 1);} + +int hardware_PWM(int pi, unsigned gpio, unsigned frequency, uint32_t dutycycle) +{ + gpioExtent_t ext[1]; + + /* + p1=gpio + p2=frequency + p3=4 + ## extension ## + uint32_t dutycycle + */ + + ext[0].size = sizeof(dutycycle); + ext[0].ptr = &dutycycle; + + return pigpio_command_ext( + pi, PI_CMD_HP, gpio, frequency, sizeof(dutycycle), 1, ext, 1); +} + +uint32_t get_current_tick(int pi) + {return pigpio_command(pi, PI_CMD_TICK, 0, 0, 1);} + +uint32_t get_hardware_revision(int pi) + {return pigpio_command(pi, PI_CMD_HWVER, 0, 0, 1);} + +uint32_t get_pigpio_version(int pi) + {return pigpio_command(pi, PI_CMD_PIGPV, 0, 0, 1);} + +int wave_clear(int pi) + {return pigpio_command(pi, PI_CMD_WVCLR, 0, 0, 1);} + +int wave_add_new(int pi) + {return pigpio_command(pi, PI_CMD_WVNEW, 0, 0, 1);} + +int wave_add_generic(int pi, unsigned numPulses, gpioPulse_t *pulses) +{ + gpioExtent_t ext[1]; + + /* + p1=0 + p2=0 + p3=pulses*sizeof(gpioPulse_t) + ## extension ## + gpioPulse_t[] pulses + */ + + if (!numPulses) return 0; + + ext[0].size = numPulses * sizeof(gpioPulse_t); + ext[0].ptr = pulses; + + return pigpio_command_ext( + pi, PI_CMD_WVAG, 0, 0, ext[0].size, 1, ext, 1); +} + +int wave_add_serial( + int pi, unsigned user_gpio, unsigned baud, uint32_t databits, + uint32_t stophalfbits, uint32_t offset, unsigned numChar, char *str) +{ + uint8_t buf[12]; + gpioExtent_t ext[2]; + + /* + p1=user_gpio + p2=baud + p3=len+12 + ## extension ## + uint32_t databits + uint32_t stophalfbits + uint32_t offset + char[len] str + */ + + if (!numChar) return 0; + + memcpy(buf, &databits, 4); + memcpy(buf+4, &stophalfbits, 4); + memcpy(buf+8, &offset, 4); + + ext[0].size = sizeof(buf); + ext[0].ptr = buf; + + ext[1].size = numChar; + ext[1].ptr = str; + + return pigpio_command_ext(pi, PI_CMD_WVAS, + user_gpio, baud, numChar+sizeof(buf), 2, ext, 1); +} + +int wave_create(int pi) + {return pigpio_command(pi, PI_CMD_WVCRE, 0, 0, 1);} + +int wave_delete(int pi, unsigned wave_id) + {return pigpio_command(pi, PI_CMD_WVDEL, wave_id, 0, 1);} + +int wave_tx_start(int pi) /* DEPRECATED */ + {return pigpio_command(pi, PI_CMD_WVGO, 0, 0, 1);} + +int wave_tx_repeat(int pi) /* DEPRECATED */ + {return pigpio_command(pi, PI_CMD_WVGOR, 0, 0, 1);} + +int wave_send_once(int pi, unsigned wave_id) + {return pigpio_command(pi, PI_CMD_WVTX, wave_id, 0, 1);} + +int wave_send_repeat(int pi, unsigned wave_id) + {return pigpio_command(pi, PI_CMD_WVTXR, wave_id, 0, 1);} + +int wave_send_using_mode(int pi, unsigned wave_id, unsigned mode) + {return pigpio_command(pi, PI_CMD_WVTXM, wave_id, mode, 1);} + +int wave_chain(int pi, char *buf, unsigned bufSize) +{ + gpioExtent_t ext[1]; + + /* + p1=0 + p2=0 + p3=bufSize + ## extension ## + char buf[bufSize] + */ + + ext[0].size = bufSize; + ext[0].ptr = buf; + + return pigpio_command_ext + (pi, PI_CMD_WVCHA, 0, 0, bufSize, 1, ext, 1); +} + +int wave_tx_at(int pi) + {return pigpio_command(pi, PI_CMD_WVTAT, 0, 0, 1);} + +int wave_tx_busy(int pi) + {return pigpio_command(pi, PI_CMD_WVBSY, 0, 0, 1);} + +int wave_tx_stop(int pi) + {return pigpio_command(pi, PI_CMD_WVHLT, 0, 0, 1);} + +int wave_get_micros(int pi) + {return pigpio_command(pi, PI_CMD_WVSM, 0, 0, 1);} + +int wave_get_high_micros(int pi) + {return pigpio_command(pi, PI_CMD_WVSM, 1, 0, 1);} + +int wave_get_max_micros(int pi) + {return pigpio_command(pi, PI_CMD_WVSM, 2, 0, 1);} + +int wave_get_pulses(int pi) + {return pigpio_command(pi, PI_CMD_WVSP, 0, 0, 1);} + +int wave_get_high_pulses(int pi) + {return pigpio_command(pi, PI_CMD_WVSP, 1, 0, 1);} + +int wave_get_max_pulses(int pi) + {return pigpio_command(pi, PI_CMD_WVSP, 2, 0, 1);} + +int wave_get_cbs(int pi) + {return pigpio_command(pi, PI_CMD_WVSC, 0, 0, 1);} + +int wave_get_high_cbs(int pi) + {return pigpio_command(pi, PI_CMD_WVSC, 1, 0, 1);} + +int wave_get_max_cbs(int pi) + {return pigpio_command(pi, PI_CMD_WVSC, 2, 0, 1);} + +int gpio_trigger(int pi, unsigned user_gpio, unsigned pulseLen, uint32_t level) +{ + gpioExtent_t ext[1]; + + /* + p1=user_gpio + p2=pulseLen + p3=4 + ## extension ## + unsigned level + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &level; + + return pigpio_command_ext( + pi, PI_CMD_TRIG, user_gpio, pulseLen, 4, 1, ext, 1); +} + +int set_glitch_filter(int pi, unsigned user_gpio, unsigned steady) + {return pigpio_command(pi, PI_CMD_FG, user_gpio, steady, 1);} + +int set_noise_filter(int pi, unsigned user_gpio, unsigned steady, unsigned active) +{ + gpioExtent_t ext[1]; + + /* + p1=user_gpio + p2=steady + p3=4 + ## extension ## + unsigned active + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &active; + + return pigpio_command_ext( + pi, PI_CMD_FN, user_gpio, steady, 4, 1, ext, 1); +} + +int store_script(int pi, char *script) +{ + unsigned len; + gpioExtent_t ext[1]; + + /* + p1=0 + p2=0 + p3=len + ## extension ## + char[len] script + */ + + len = strlen(script); + + if (!len) return 0; + + ext[0].size = len; + ext[0].ptr = script; + + return pigpio_command_ext(pi, PI_CMD_PROC, 0, 0, len, 1, ext, 1); +} + +int run_script(int pi, unsigned script_id, unsigned numPar, uint32_t *param) +{ + gpioExtent_t ext[1]; + + /* + p1=script id + p2=0 + p3=numPar * 4 + ## extension ## + uint32_t[numPar] pars + */ + + ext[0].size = 4 * numPar; + ext[0].ptr = param; + + return pigpio_command_ext + (pi, PI_CMD_PROCR, script_id, 0, numPar*4, 1, ext, 1); +} + +int script_status(int pi, unsigned script_id, uint32_t *param) +{ + int status; + uint32_t p[PI_MAX_SCRIPT_PARAMS+1]; /* space for script status */ + + status = pigpio_command(pi, PI_CMD_PROCP, script_id, 0, 0); + + if (status > 0) + { + recvMax(pi, p, sizeof(p), status); + status = p[0]; + if (param) memcpy(param, p+1, sizeof(p)-4); + } + + _pmu(pi); + + return status; +} + +int stop_script(int pi, unsigned script_id) + {return pigpio_command(pi, PI_CMD_PROCS, script_id, 0, 1);} + +int delete_script(int pi, unsigned script_id) + {return pigpio_command(pi, PI_CMD_PROCD, script_id, 0, 1);} + +int bb_serial_read_open(int pi, unsigned user_gpio, unsigned baud, uint32_t bbBits) +{ + gpioExtent_t ext[1]; + + /* + p1=user_gpio + p2=baud + p3=4 + ## extension ## + unsigned bbBits + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &bbBits; + + return pigpio_command_ext( + pi, PI_CMD_SLRO, user_gpio, baud, 4, 1, ext, 1); +} + +int bb_serial_read(int pi, unsigned user_gpio, void *buf, size_t bufSize) +{ + int bytes; + + bytes = pigpio_command(pi, PI_CMD_SLR, user_gpio, bufSize, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, buf, bufSize, bytes); + } + + _pmu(pi); + + return bytes; +} + +int bb_serial_read_close(int pi, unsigned user_gpio) + {return pigpio_command(pi, PI_CMD_SLRC, user_gpio, 0, 1);} + +int bb_serial_invert(int pi, unsigned user_gpio, unsigned invert) + {return pigpio_command(pi, PI_CMD_SLRI, user_gpio, invert, 1);} + +int i2c_open(int pi, unsigned i2c_bus, unsigned i2c_addr, uint32_t i2c_flags) +{ + gpioExtent_t ext[1]; + + /* + p1=i2c_bus + p2=i2c_addr + p3=4 + ## extension ## + uint32_t i2c_flags + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &i2c_flags; + + return pigpio_command_ext + (pi, PI_CMD_I2CO, i2c_bus, i2c_addr, 4, 1, ext, 1); +} + +int i2c_close(int pi, unsigned handle) + {return pigpio_command(pi, PI_CMD_I2CC, handle, 0, 1);} + +int i2c_write_quick(int pi, unsigned handle, unsigned bit) + {return pigpio_command(pi, PI_CMD_I2CWQ, handle, bit, 1);} + +int i2c_write_byte(int pi, unsigned handle, unsigned val) + {return pigpio_command(pi, PI_CMD_I2CWS, handle, val, 1);} + +int i2c_read_byte(int pi, unsigned handle) + {return pigpio_command(pi, PI_CMD_I2CRS, handle, 0, 1);} + +int i2c_write_byte_data(int pi, unsigned handle, unsigned reg, uint32_t val) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=4 + ## extension ## + uint32_t val + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &val; + + return pigpio_command_ext + (pi, PI_CMD_I2CWB, handle, reg, 4, 1, ext, 1); +} + +int i2c_write_word_data(int pi, unsigned handle, unsigned reg, uint32_t val) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=4 + ## extension ## + uint32_t val + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &val; + + return pigpio_command_ext + (pi, PI_CMD_I2CWW, handle, reg, 4, 1, ext, 1); +} + +int i2c_read_byte_data(int pi, unsigned handle, unsigned reg) + {return pigpio_command(pi, PI_CMD_I2CRB, handle, reg, 1);} + +int i2c_read_word_data(int pi, unsigned handle, unsigned reg) + {return pigpio_command(pi, PI_CMD_I2CRW, handle, reg, 1);} + +int i2c_process_call(int pi, unsigned handle, unsigned reg, uint32_t val) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=4 + ## extension ## + uint32_t val + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &val; + + return pigpio_command_ext + (pi, PI_CMD_I2CPK, handle, reg, 4, 1, ext, 1); +} + +int i2c_write_block_data( + int pi, unsigned handle, unsigned reg, char *buf, unsigned count) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = buf; + + return pigpio_command_ext + (pi, PI_CMD_I2CWK, handle, reg, count, 1, ext, 1); +} + +int i2c_read_block_data(int pi, unsigned handle, unsigned reg, char *buf) +{ + int bytes; + + bytes = pigpio_command(pi, PI_CMD_I2CRK, handle, reg, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, buf, 32, bytes); + } + + _pmu(pi); + + return bytes; +} + +int i2c_block_process_call( + int pi, unsigned handle, unsigned reg, char *buf, unsigned count) +{ + int bytes; + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = buf; + + bytes = pigpio_command_ext + (pi, PI_CMD_I2CPK, handle, reg, count, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, buf, 32, bytes); + } + + _pmu(pi); + + return bytes; +} + +int i2c_read_i2c_block_data( + int pi, unsigned handle, unsigned reg, char *buf, uint32_t count) +{ + int bytes; + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=4 + ## extension ## + uint32_t count + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &count; + + bytes = pigpio_command_ext + (pi, PI_CMD_I2CRI, handle, reg, 4, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, buf, count, bytes); + } + + _pmu(pi); + + return bytes; +} + + +int i2c_write_i2c_block_data( + int pi, unsigned handle, unsigned reg, char *buf, unsigned count) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=reg + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = buf; + + return pigpio_command_ext + (pi, PI_CMD_I2CWI, handle, reg, count, 1, ext, 1); +} + +int i2c_read_device(int pi, unsigned handle, char *buf, unsigned count) +{ + int bytes; + + bytes = pigpio_command(pi, PI_CMD_I2CRD, handle, count, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, buf, count, bytes); + } + + _pmu(pi); + + return bytes; +} + +int i2c_write_device(int pi, unsigned handle, char *buf, unsigned count) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=0 + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = buf; + + return pigpio_command_ext + (pi, PI_CMD_I2CWD, handle, 0, count, 1, ext, 1); +} + +int i2c_zip( + int pi, + unsigned handle, + char *inBuf, + unsigned inLen, + char *outBuf, + unsigned outLen) +{ + int bytes; + gpioExtent_t ext[1]; + + /* + p1=handle + p2=0 + p3=inLen + ## extension ## + char inBuf[inLen] + */ + + ext[0].size = inLen; + ext[0].ptr = inBuf; + + bytes = pigpio_command_ext + (pi, PI_CMD_I2CZ, handle, 0, inLen, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, outBuf, outLen, bytes); + } + + _pmu(pi); + + return bytes; +} + +int bb_i2c_open(int pi, unsigned SDA, unsigned SCL, unsigned baud) +{ + gpioExtent_t ext[1]; + + /* + p1=SDA + p2=SCL + p3=4 + ## extension ## + uint32_t baud + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &baud; + + return pigpio_command_ext + (pi, PI_CMD_BI2CO, SDA, SCL, 4, 1, ext, 1); +} + +int bb_i2c_close(int pi, unsigned SDA) + {return pigpio_command(pi, PI_CMD_BI2CC, SDA, 0, 1);} + +int bb_i2c_zip( + int pi, + unsigned SDA, + char *inBuf, + unsigned inLen, + char *outBuf, + unsigned outLen) +{ + int bytes; + gpioExtent_t ext[1]; + + /* + p1=SDA + p2=0 + p3=inLen + ## extension ## + char inBuf[inLen] + */ + + ext[0].size = inLen; + ext[0].ptr = inBuf; + + bytes = pigpio_command_ext + (pi, PI_CMD_BI2CZ, SDA, 0, inLen, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, outBuf, outLen, bytes); + } + + _pmu(pi); + + return bytes; +} + +int bb_spi_open( + int pi, + unsigned CS, unsigned MISO, unsigned MOSI, unsigned SCLK, + unsigned baud, unsigned spiFlags) +{ + uint8_t buf[20]; + gpioExtent_t ext[1]; + + /* + p1=CS + p2=0 + p3=20 + ## extension ## + uint32_t MISO + uint32_t MOSI + uint32_t SCLK + uint32_t baud + uint32_t spiFlags + */ + + ext[0].size = 20; + ext[0].ptr = &buf; + + memcpy(buf + 0, &MISO, 4); + memcpy(buf + 4, &MOSI, 4); + memcpy(buf + 8, &SCLK, 4); + memcpy(buf + 12, &baud, 4); + memcpy(buf + 16, &spiFlags, 4); + + return pigpio_command_ext + (pi, PI_CMD_BSPIO, CS, 0, 20, 1, ext, 1); +} + +int bb_spi_close(int pi, unsigned CS) + {return pigpio_command(pi, PI_CMD_BSPIC, CS, 0, 1);} + +int bb_spi_xfer( + int pi, + unsigned CS, + char *txBuf, + char *rxBuf, + unsigned count) +{ + int bytes; + gpioExtent_t ext[1]; + + /* + p1=CS + p2=0 + p3=count + ## extension ## + char txBuf[count] + */ + + ext[0].size = count; + ext[0].ptr = txBuf; + + bytes = pigpio_command_ext + (pi, PI_CMD_BSPIX, CS, 0, count, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, rxBuf, count, bytes); + } + + _pmu(pi); + + return bytes; +} + +int spi_open(int pi, unsigned channel, unsigned speed, uint32_t flags) +{ + gpioExtent_t ext[1]; + + /* + p1=channel + p2=speed + p3=4 + ## extension ## + uint32_t flags + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &flags; + + return pigpio_command_ext + (pi, PI_CMD_SPIO, channel, speed, 4, 1, ext, 1); +} + +int spi_close(int pi, unsigned handle) + {return pigpio_command(pi, PI_CMD_SPIC, handle, 0, 1);} + +int spi_read(int pi, unsigned handle, char *buf, unsigned count) +{ + int bytes; + + bytes = pigpio_command + (pi, PI_CMD_SPIR, handle, count, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, buf, count, bytes); + } + + _pmu(pi); + + return bytes; +} + +int spi_write(int pi, unsigned handle, char *buf, unsigned count) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=0 + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = buf; + + return pigpio_command_ext + (pi, PI_CMD_SPIW, handle, 0, count, 1, ext, 1); +} + +int spi_xfer(int pi, unsigned handle, char *txBuf, char *rxBuf, unsigned count) +{ + int bytes; + gpioExtent_t ext[1]; + + /* + p1=handle + p2=0 + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = txBuf; + + bytes = pigpio_command_ext + (pi, PI_CMD_SPIX, handle, 0, count, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, rxBuf, count, bytes); + } + + _pmu(pi); + + return bytes; +} + +int serial_open(int pi, char *dev, unsigned baud, unsigned flags) +{ + int len; + gpioExtent_t ext[1]; + + len = strlen(dev); + + /* + p1=baud + p2=flags + p3=len + ## extension ## + char dev[len] + */ + + ext[0].size = len; + ext[0].ptr = dev; + + return pigpio_command_ext + (pi, PI_CMD_SERO, baud, flags, len, 1, ext, 1); +} + +int serial_close(int pi, unsigned handle) + {return pigpio_command(pi, PI_CMD_SERC, handle, 0, 1);} + +int serial_write_byte(int pi, unsigned handle, unsigned val) + {return pigpio_command(pi, PI_CMD_SERWB, handle, val, 1);} + +int serial_read_byte(int pi, unsigned handle) + {return pigpio_command(pi, PI_CMD_SERRB, handle, 0, 1);} + +int serial_write(int pi, unsigned handle, char *buf, unsigned count) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=0 + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = buf; + + return pigpio_command_ext + (pi, PI_CMD_SERW, handle, 0, count, 1, ext, 1); +} + +int serial_read(int pi, unsigned handle, char *buf, unsigned count) +{ + int bytes; + + bytes = pigpio_command + (pi, PI_CMD_SERR, handle, count, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, buf, count, bytes); + } + + _pmu(pi); + + return bytes; +} + +int serial_data_available(int pi, unsigned handle) + {return pigpio_command(pi, PI_CMD_SERDA, handle, 0, 1);} + +int custom_1(int pi, unsigned arg1, unsigned arg2, char *argx, unsigned count) +{ + gpioExtent_t ext[1]; + + /* + p1=arg1 + p2=arg2 + p3=count + ## extension ## + char argx[count] + */ + + ext[0].size = count; + ext[0].ptr = argx; + + return pigpio_command_ext( + pi, PI_CMD_CF1, arg1, arg2, count, 1, ext, 1); +} + + +int custom_2(int pi, unsigned arg1, char *argx, unsigned count, + char *retBuf, uint32_t retMax) +{ + int bytes; + gpioExtent_t ext[1]; + + /* + p1=arg1 + p2=retMax + p3=count + ## extension ## + char argx[count] + */ + + ext[0].size = count; + ext[0].ptr = argx; + + bytes = pigpio_command_ext + (pi, PI_CMD_CF2, arg1, retMax, count, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, retBuf, retMax, bytes); + } + + _pmu(pi); + + return bytes; +} + +int get_pad_strength(int pi, unsigned pad) + {return pigpio_command(pi, PI_CMD_PADG, pad, 0, 1);} + +int set_pad_strength(int pi, unsigned pad, unsigned padStrength) + {return pigpio_command(pi, PI_CMD_PADS, pad, padStrength, 1);} + +int shell_(int pi, char *scriptName, char *scriptString) +{ + int ln, ls; + gpioExtent_t ext[2]; + + ln = strlen(scriptName); + ls = strlen(scriptString); + /* + p1=len(scriptName) + p2=0 + p3=len(scriptName) + len(scriptString) + 1 + ## extension ## + char[] + */ + + ext[0].size = ln + 1; /* include null byte */ + ext[0].ptr = scriptName; + + ext[1].size = ls; + ext[1].ptr = scriptString; + + return pigpio_command_ext + (pi, PI_CMD_SHELL, ln, 0, ln+ls+1, 2, ext, 1); +} + +int file_open(int pi, char *file, unsigned mode) +{ + int len; + gpioExtent_t ext[1]; + + len = strlen(file); + + /* + p1=mode + p2=0 + p3=len + ## extension ## + char file[len] + */ + + ext[0].size = len; + ext[0].ptr = file; + + return pigpio_command_ext + (pi, PI_CMD_FO, mode, 0, len, 1, ext, 1); +} + +int file_close(int pi, unsigned handle) + {return pigpio_command(pi, PI_CMD_FC, handle, 0, 1);} + +int file_write(int pi, unsigned handle, char *buf, unsigned count) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=0 + p3=count + ## extension ## + char buf[count] + */ + + ext[0].size = count; + ext[0].ptr = buf; + + return pigpio_command_ext + (pi, PI_CMD_FW, handle, 0, count, 1, ext, 1); +} + +int file_read(int pi, unsigned handle, char *buf, unsigned count) +{ + int bytes; + + bytes = pigpio_command + (pi, PI_CMD_FR, handle, count, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, buf, count, bytes); + } + + _pmu(pi); + + return bytes; +} + +int file_seek(int pi, unsigned handle, int32_t seekOffset, int seekFrom) +{ + gpioExtent_t ext[1]; + + /* + p1=handle + p2=seekOffset + p3=4 + ## extension ## + uint32_t seekFrom + */ + + ext[0].size = sizeof(uint32_t); + ext[0].ptr = &seekFrom; + + return pigpio_command_ext + (pi, PI_CMD_FS, handle, seekOffset, 4, 1, ext, 1); +} + +int file_list(int pi, char *fpat, char *buf, unsigned count) +{ + int len; + int bytes; + gpioExtent_t ext[1]; + + len = strlen(fpat); + + /* + p1=60000 + p2=0 + p3=len + ## extension ## + char fpat[len] + */ + + ext[0].size = len; + ext[0].ptr = fpat; + + bytes = pigpio_command_ext(pi, PI_CMD_FL, 60000, 0, len, 1, ext, 0); + + if (bytes > 0) + { + bytes = recvMax(pi, buf, count, bytes); + } + + _pmu(pi); + + return bytes; +} + +int callback(int pi, unsigned user_gpio, unsigned edge, CBFunc_t f) + {return intCallback(pi, user_gpio, edge, f, 0, 0);} + +int callback_ex( + int pi, unsigned user_gpio, unsigned edge, CBFuncEx_t f, void *user) + {return intCallback(pi, user_gpio, edge, f, user, 1);} + +int callback_cancel(unsigned id) +{ + callback_t *p; + int pi; + + p = gCallBackFirst; + + while (p) + { + if (p->id == id) + { + pi = p->pi; + + if (p->prev) {p->prev->next = p->next;} + else {gCallBackFirst = p->next;} + + if (p->next) {p->next->prev = p->prev;} + else {gCallBackLast = p->prev;} + + free(p); + + findNotifyBits(pi); + + return 0; + } + p = p->next; + } + return pigif_callback_not_found; +} + +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; +} + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if2.h b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if2.h new file mode 100644 index 0000000..ced2c9a --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if2.h @@ -0,0 +1,3819 @@ +/* +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 +*/ + +#ifndef PIGPIOD_IF2_H +#define PIGPIOD_IF2_H + +#include "pigpio.h" + +#define PIGPIOD_IF2_VERSION 9 + +/*TEXT + +pigpiod_if2 is a C library for the Raspberry which allows control +of the GPIO via the socket interface to the pigpio daemon. + +*Features* + +o hardware timed PWM on any of GPIO 0-31 + +o hardware timed servo pulses on any of GPIO 0-31 + +o callbacks when any of GPIO 0-31 change state + +o callbacks at timed intervals + +o reading/writing all of the GPIO in a bank as one operation + +o individually setting GPIO modes, reading and writing + +o notifications when any of GPIO 0-31 change state + +o the construction of output waveforms with microsecond timing + +o rudimentary permission control over GPIO + +o a simple interface to start and stop new threads + +o I2C, SPI, and serial link wrappers + +o creating and running scripts on the pigpio daemon + +*GPIO* + +ALL GPIO are identified by their Broadcom number. + +*Notes* + +The PWM and servo pulses are timed using the DMA and PWM/PCM peripherals. + +*Usage* + +Include in your source files. + +Assuming your source is in prog.c use the following command to build + +. . +gcc -Wall -pthread -o prog prog.c -lpigpiod_if2 -lrt +. . + +to run make sure the pigpio daemon is running + +. . +sudo pigpiod + + ./prog # sudo is not required to run programs linked to pigpiod_if2 +. . + +For examples see x_pigpiod_if2.c within the pigpio archive file. + +*Notes* + +All the functions which return an int return < 0 on error + +TEXT*/ + +/*OVERVIEW + +ESSENTIAL + +pigpio_start Connects to a pigpio daemon +pigpio_stop Disconnects from a pigpio daemon + +BEGINNER + +set_mode Set a GPIO mode +get_mode Get a GPIO mode + +set_pull_up_down Set/clear GPIO pull up/down resistor + +gpio_read Read a GPIO +gpio_write Write a GPIO + +set_PWM_dutycycle Start/stop PWM pulses on a GPIO +get_PWM_dutycycle Get the PWM dutycycle in use on a GPIO + +set_servo_pulsewidth Start/stop servo pulses on a GPIO +get_servo_pulsewidth Get the servo pulsewidth in use on a GPIO + +callback Create GPIO level change callback +callback_ex Create GPIO level change callback +callback_cancel Cancel a callback +wait_for_edge Wait for GPIO level change + +INTERMEDIATE + +gpio_trigger Send a trigger pulse to a GPIO. + +set_watchdog Set a watchdog on a GPIO. + +set_PWM_range Configure PWM range for a GPIO +get_PWM_range Get configured PWM range for a GPIO + +set_PWM_frequency Configure PWM frequency for a GPIO +get_PWM_frequency Get configured PWM frequency for a GPIO + +read_bank_1 Read all GPIO in bank 1 +read_bank_2 Read all GPIO in bank 2 + +clear_bank_1 Clear selected GPIO in bank 1 +clear_bank_2 Clear selected GPIO in bank 2 + +set_bank_1 Set selected GPIO in bank 1 +set_bank_2 Set selected GPIO in bank 2 + +start_thread Start a new thread +stop_thread Stop a previously started thread + +ADVANCED + +get_PWM_real_range Get underlying PWM range for a GPIO + +notify_open Request a notification handle +notify_begin Start notifications for selected GPIO +notify_pause Pause notifications +notify_close Close a notification + +bb_serial_read_open Opens a GPIO for bit bang serial reads +bb_serial_read Reads bit bang serial data from a GPIO +bb_serial_read_close Closes a GPIO for bit bang serial reads +bb_serial_invert Invert serial logic (1 invert, 0 normal) + +hardware_clock Start hardware clock on supported GPIO +hardware_PWM Start hardware PWM on supported GPIO + +set_glitch_filter Set a glitch filter on a GPIO +set_noise_filter Set a noise filter on a GPIO + +get_pad_strength Gets a pads drive strength +set_pad_strength Sets a pads drive strength + +shell_ Executes a shell command + +SCRIPTS + +store_script Store a script +run_script Run a stored script +script_status Get script status and parameters +stop_script Stop a running script +delete_script Delete a stored script + +WAVES + +wave_clear Deletes all waveforms + +wave_add_new Starts a new waveform +wave_add_generic Adds a series of pulses to the waveform +wave_add_serial Adds serial data to the waveform + +wave_create Creates a waveform from added data +wave_delete Deletes one or more waveforms + +wave_send_once Transmits a waveform once +wave_send_repeat Transmits a waveform repeatedly +wave_send_using_mode Transmits a waveform in the chosen mode + +wave_chain Transmits a chain of waveforms + +wave_tx_at Returns the current transmitting waveform +wave_tx_busy Checks to see if the waveform has ended +wave_tx_stop Aborts the current waveform + +wave_get_micros Length in microseconds of the current waveform +wave_get_high_micros Length of longest waveform so far +wave_get_max_micros Absolute maximum allowed micros + +wave_get_pulses Length in pulses of the current waveform +wave_get_high_pulses Length of longest waveform so far +wave_get_max_pulses Absolute maximum allowed pulses + +wave_get_cbs Length in cbs of the current waveform +wave_get_high_cbs Length of longest waveform so far +wave_get_max_cbs Absolute maximum allowed cbs + +I2C + +i2c_open Opens an I2C device +i2c_close Closes an I2C device + +i2c_write_quick smbus write quick +i2c_write_byte smbus write byte +i2c_read_byte smbus read byte +i2c_write_byte_data smbus write byte data +i2c_write_word_data smbus write word data +i2c_read_byte_data smbus read byte data +i2c_read_word_data smbus read word data +i2c_process_call smbus process call +i2c_write_block_data smbus write block data +i2c_read_block_data smbus read block data +i2c_block_process_call smbus block process call + +i2c_write_i2c_block_data smbus write I2C block data +i2c_read_i2c_block_data smbus read I2C block data + +i2c_read_device Reads the raw I2C device +i2c_write_device Writes the raw I2C device + +i2c_zip Performs multiple I2C transactions + +bb_i2c_open Opens GPIO for bit banging I2C +bb_i2c_close Closes GPIO for bit banging I2C +bb_i2c_zip Performs multiple bit banged I2C transactions + +SPI + +spi_open Opens a SPI device +spi_close Closes a SPI device + +spi_read Reads bytes from a SPI device +spi_write Writes bytes to a SPI device +spi_xfer Transfers bytes with a SPI device + +bb_spi_open Opens GPIO for bit banging SPI +bb_spi_close Closes GPIO for bit banging SPI +bb_spi_xfer Transfers bytes with bit banging SPI + +SERIAL + +serial_open Opens a serial device +serial_close Closes a serial device + +serial_write_byte Writes a byte to a serial device +serial_read_byte Reads a byte from a serial device +serial_write Writes bytes to a serial device +serial_read Reads bytes from a serial device + +serial_data_available Returns number of bytes ready to be read + +FILES + +file_open Opens a file +file_close Closes a file +file_read Reads bytes from a file +file_write Writes bytes to a file +file_seek Seeks to a position within a file +file_list List files which match a pattern + +CUSTOM + +custom_1 User custom function 1 +custom_2 User custom function 2 + +UTILITIES + +get_current_tick Get current tick (microseconds) + +get_hardware_revision Get hardware revision +get_pigpio_version Get the pigpio version +pigpiod_if_version Get the pigpiod_if2 version + +pigpio_error Get a text description of an error code. + +time_sleep Sleeps for a float number of seconds +time_time Float number of seconds since the epoch + +OVERVIEW*/ + +#ifdef __cplusplus +extern "C" { +#endif + +typedef void (*CBFunc_t) + (int pi, unsigned user_gpio, unsigned level, uint32_t tick); + +typedef void (*CBFuncEx_t) + (int pi, unsigned user_gpio, unsigned level, uint32_t tick, void * user); + +typedef struct callback_s callback_t; + +/*F*/ +double time_time(void); +/*D +Return the current time in seconds since the Epoch. +D*/ + +/*F*/ +void time_sleep(double seconds); +/*D +Delay execution for a given number of seconds. + +. . +seconds: the number of seconds to delay. +. . +D*/ + +/*F*/ +char *pigpio_error(int errnum); +/*D +Return a text description for an error code. + +. . +errnum: the error code. +. . +D*/ + +/*F*/ +unsigned pigpiod_if_version(void); +/*D +Return the pigpiod_if2 version. +D*/ + +/*F*/ +pthread_t *start_thread(gpioThreadFunc_t thread_func, void *userdata); +/*D +Starts a new thread of execution with thread_func as the main routine. + +. . +thread_func: the main function for the new thread. + userdata: a pointer to an arbitrary argument. +. . + +Returns a pointer to pthread_t if OK, otherwise NULL. + +The function is passed the single argument userdata. + +The thread can be cancelled by passing the pointer to pthread_t to +[*stop_thread*]. +D*/ + +/*F*/ +void stop_thread(pthread_t *pth); +/*D +Cancels the thread pointed at by pth. + +. . +pth: the thread to be stopped. +. . + +No value is returned. + +The thread to be stopped should have been started with [*start_thread*]. +D*/ + +/*F*/ +int pigpio_start(char *addrStr, char *portStr); +/*D +Connect to the pigpio daemon. Reserving command and +notification streams. + +. . +addrStr: specifies the host or IP address of the Pi running the + pigpio daemon. It may be NULL in which case localhost + is used unless overridden by the PIGPIO_ADDR environment + variable. + +portStr: specifies the port address used by the Pi running the + pigpio daemon. It may be NULL in which case "8888" + is used unless overridden by the PIGPIO_PORT environment + variable. +. . + +Returns an integer value greater than or equal to zero if OK. + +This value is passed to the GPIO routines to specify the Pi +to be operated on. +D*/ + +/*F*/ +void pigpio_stop(int pi); +/*D +Terminates the connection to a pigpio daemon and releases +resources used by the library. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . +D*/ + +/*F*/ +int set_mode(int pi, unsigned gpio, unsigned mode); +/*D +Set the GPIO mode. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +gpio: 0-53. +mode: PI_INPUT, PI_OUTPUT, PI_ALT0, PI_ALT1, + PI_ALT2, PI_ALT3, PI_ALT4, PI_ALT5. +. . + +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_MODE, +or PI_NOT_PERMITTED. +D*/ + +/*F*/ +int get_mode(int pi, unsigned gpio); +/*D +Get the GPIO mode. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +gpio: 0-53. +. . + +Returns the GPIO mode if OK, otherwise PI_BAD_GPIO. +D*/ + +/*F*/ +int set_pull_up_down(int pi, unsigned gpio, unsigned pud); +/*D +Set or clear the GPIO pull-up/down resistor. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +gpio: 0-53. + pud: PI_PUD_UP, PI_PUD_DOWN, PI_PUD_OFF. +. . + +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_PUD, +or PI_NOT_PERMITTED. +D*/ + +/*F*/ +int gpio_read(int pi, unsigned gpio); +/*D +Read the GPIO level. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +gpio:0-53. +. . + +Returns the GPIO level if OK, otherwise PI_BAD_GPIO. +D*/ + +/*F*/ +int gpio_write(int pi, unsigned gpio, unsigned level); +/*D +Write the GPIO level. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + gpio: 0-53. +level: 0, 1. +. . + +Returns 0 if OK, otherwise PI_BAD_GPIO, PI_BAD_LEVEL, +or PI_NOT_PERMITTED. + +Notes + +If PWM or servo pulses are active on the GPIO they are switched off. +D*/ + +/*F*/ +int set_PWM_dutycycle(int pi, unsigned user_gpio, unsigned dutycycle); +/*D +Start (non-zero dutycycle) or stop (0) PWM pulses on the GPIO. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. +dutycycle: 0-range (range defaults to 255). +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYCYCLE, +or PI_NOT_PERMITTED. +Notes + +The [*set_PWM_range*] function may be used to change the +default range of 255. +D*/ + +/*F*/ +int get_PWM_dutycycle(int pi, unsigned user_gpio); +/*D +Return the PWM dutycycle in use on a GPIO. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_PWM_GPIO. + +For normal PWM the dutycycle will be out of the defined range +for the GPIO (see [*get_PWM_range*]). + +If a hardware clock is active on the GPIO the reported dutycycle +will be 500000 (500k) out of 1000000 (1M). + +If hardware PWM is active on the GPIO the reported dutycycle +will be out of a 1000000 (1M). +D*/ + +/*F*/ +int set_PWM_range(int pi, unsigned user_gpio, unsigned range); +/*D +Set the range of PWM values to be used on the GPIO. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. + range: 25-40000. +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_DUTYRANGE, +or PI_NOT_PERMITTED. + +Notes + +If PWM is currently active on the GPIO its dutycycle will be +scaled to reflect the new range. + +The real range, the number of steps between fully off and fully on +for each of the 18 available GPIO frequencies is + +. . + 25(#1), 50(#2), 100(#3), 125(#4), 200(#5), 250(#6), + 400(#7), 500(#8), 625(#9), 800(#10), 1000(#11), 1250(#12), +2000(#13), 2500(#14), 4000(#15), 5000(#16), 10000(#17), 20000(#18) +. . + +The real value set by set_PWM_range is (dutycycle * real range) / range. +D*/ + +/*F*/ +int get_PWM_range(int pi, unsigned user_gpio); +/*D +Get the range of PWM values being used on the GPIO. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. +. . + +Returns the dutycycle range used for the GPIO if OK, +otherwise PI_BAD_USER_GPIO. + +If a hardware clock or hardware PWM is active on the GPIO the +reported range will be 1000000 (1M). +D*/ + +/*F*/ +int get_PWM_real_range(int pi, unsigned user_gpio); +/*D +Get the real underlying range of PWM values being used on the GPIO. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. +. . + +Returns the real range used for the GPIO if OK, +otherwise PI_BAD_USER_GPIO. + +If a hardware clock is active on the GPIO the reported +real range will be 1000000 (1M). + +If hardware PWM is active on the GPIO the reported real range +will be approximately 250M divided by the set PWM frequency. + +D*/ + +/*F*/ +int set_PWM_frequency(int pi, unsigned user_gpio, unsigned frequency); +/*D +Set the frequency (in Hz) of the PWM to be used on the GPIO. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. +frequency: >=0 (Hz). +. . + +Returns the numerically closest frequency if OK, otherwise +PI_BAD_USER_GPIO or PI_NOT_PERMITTED. + +If PWM is currently active on the GPIO it will be switched +off and then back on at the new frequency. + +Each GPIO can be independently set to one of 18 different +PWM frequencies. + +The selectable frequencies depend upon the sample rate which +may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). The +sample rate is set when the pigpio daemon is started. + +The frequencies for each sample rate are: + +. . + Hertz + + 1: 40000 20000 10000 8000 5000 4000 2500 2000 1600 + 1250 1000 800 500 400 250 200 100 50 + + 2: 20000 10000 5000 4000 2500 2000 1250 1000 800 + 625 500 400 250 200 125 100 50 25 + + 4: 10000 5000 2500 2000 1250 1000 625 500 400 + 313 250 200 125 100 63 50 25 13 +sample + rate + (us) 5: 8000 4000 2000 1600 1000 800 500 400 320 + 250 200 160 100 80 50 40 20 10 + + 8: 5000 2500 1250 1000 625 500 313 250 200 + 156 125 100 63 50 31 25 13 6 + + 10: 4000 2000 1000 800 500 400 250 200 160 + 125 100 80 50 40 25 20 10 5 +. . +D*/ + +/*F*/ +int get_PWM_frequency(int pi, unsigned user_gpio); +/*D +Get the frequency of PWM being used on the GPIO. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. +. . + +For normal PWM the frequency will be that defined for the GPIO by +[*set_PWM_frequency*]. + +If a hardware clock is active on the GPIO the reported frequency +will be that set by [*hardware_clock*]. + +If hardware PWM is active on the GPIO the reported frequency +will be that set by [*hardware_PWM*]. + +Returns the frequency (in hertz) used for the GPIO if OK, +otherwise PI_BAD_USER_GPIO. +D*/ + +/*F*/ +int set_servo_pulsewidth(int pi, unsigned user_gpio, unsigned pulsewidth); +/*D +Start (500-2500) or stop (0) servo pulses on the GPIO. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + user_gpio: 0-31. +pulsewidth: 0 (off), 500 (anti-clockwise) - 2500 (clockwise). +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_PULSEWIDTH or +PI_NOT_PERMITTED. + +The selected pulsewidth will continue to be transmitted until +changed by a subsequent call to set_servo_pulsewidth. + +The pulsewidths supported by servos varies and should probably be +determined by experiment. A value of 1500 should always be safe and +represents the mid-point of rotation. + +You can DAMAGE a servo if you command it to move beyond its limits. + +OTHER UPDATE RATES: + +This function updates servos at 50Hz. If you wish to use a different +update frequency you will have to use the PWM functions. + +. . +Update Rate (Hz) 50 100 200 400 500 +1E6/Hz 20000 10000 5000 2500 2000 +. . + +Firstly set the desired PWM frequency using [*set_PWM_frequency*]. + +Then set the PWM range using [*set_PWM_range*] to 1E6/Hz. +Doing this allows you to use units of microseconds when setting +the servo pulsewidth. + +E.g. If you want to update a servo connected to GPIO 25 at 400Hz + +. . +set_PWM_frequency(25, 400); +set_PWM_range(25, 2500); +. . + +Thereafter use the [*set_PWM_dutycycle*] function to move the servo, +e.g. set_PWM_dutycycle(25, 1500) will set a 1500 us pulse. +D*/ + +/*F*/ +int get_servo_pulsewidth(int pi, unsigned user_gpio); +/*D +Return the servo pulsewidth in use on a GPIO. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO or PI_NOT_SERVO_GPIO. +D*/ + +/*F*/ +int notify_open(int pi); +/*D +Get a free notification handle. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . + +Returns a handle greater than or equal to zero if OK, +otherwise PI_NO_HANDLE. + +A notification is a method for being notified of GPIO state +changes via a pipe. + +Pipes are only accessible from the local machine so this function +serves no purpose if you are using the library from a remote machine. +The in-built (socket) notifications provided by [*callback*] +should be used instead. + +Notifications for handle x will be available at the pipe +named /dev/pigpiox (where x is the handle number). +E.g. if the function returns 15 then the notifications must be +read from /dev/pigpio15. +D*/ + +/*F*/ +int notify_begin(int pi, unsigned handle, uint32_t bits); +/*D +Start notifications on a previously opened handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: 0-31 (as returned by [*notify_open*]) + bits: a mask indicating the GPIO to be notified. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +The notification sends state changes for each GPIO whose +corresponding bit in bits is set. + +Each notification occupies 12 bytes in the fifo as follows: + +. . +typedef struct +{ + uint16_t seqno; + uint16_t flags; + uint32_t tick; + uint32_t level; +} gpioReport_t; +. . + +seqno: starts at 0 each time the handle is opened and then increments +by one for each report. + +flags: two flags are defined, PI_NTFY_FLAGS_WDOG and PI_NTFY_FLAGS_ALIVE. + +PI_NTFY_FLAGS_WDOG, if bit 5 is set then bits 0-4 of the flags +indicate a GPIO which has had a watchdog timeout. + +PI_NTFY_FLAGS_ALIVE, if bit 6 is set this indicates a keep alive +signal on the pipe/socket and is sent once a minute in the absence +of other notification activity. + +tick: the number of microseconds since system boot. It wraps around +after 1h12m. + +level: indicates the level of each GPIO. If bit 1<=0 (as returned by [*pigpio_start*]). +handle: 0-31 (as returned by [*notify_open*]) +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +Notifications for the handle are suspended until +[*notify_begin*] is called again. +D*/ + +/*F*/ +int notify_close(int pi, unsigned handle); +/*D +Stop notifications on a previously opened handle and +release the handle for reuse. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: 0-31 (as returned by [*notify_open*]) +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. +D*/ + +/*F*/ +int set_watchdog(int pi, unsigned user_gpio, unsigned timeout); +/*D +Sets a watchdog for a GPIO. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. + timeout: 0-60000. +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO +or PI_BAD_WDOG_TIMEOUT. + +The watchdog is nominally in milliseconds. + +Only one watchdog may be registered per GPIO. + +The watchdog may be cancelled by setting timeout to 0. + +If no level change has been detected for the GPIO for timeout +milliseconds any notification for the GPIO has a report written +to the fifo with the flags set to indicate a watchdog timeout. + +The [*callback*] and [*callback_ex*] functions interpret the flags +and will call registered callbacks for the GPIO with level TIMEOUT. +D*/ + +/*F*/ +int set_glitch_filter(int pi, unsigned user_gpio, unsigned steady); +/*D +Sets a glitch filter on a GPIO. + +Level changes on the GPIO are not reported unless the level +has been stable for at least [*steady*] microseconds. The +level is then reported. Level changes of less than +[*steady*] microseconds are ignored. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31 + steady: 0-300000 +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. + +Note, each (stable) edge will be timestamped [*steady*] microseconds +after it was first detected. +D*/ + +/*F*/ +int set_noise_filter( + int pi, unsigned user_gpio, unsigned steady, unsigned active); +/*D +Sets a noise filter on a GPIO. + +Level changes on the GPIO are ignored until a level which has +been stable for [*steady*] microseconds is detected. Level changes +on the GPIO are then reported for [*active*] microseconds after +which the process repeats. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31 + steady: 0-300000 + active: 0-1000000 +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_BAD_FILTER. + +Note, level changes before and after the active period may +be reported. Your software must be designed to cope with +such reports. +D*/ + +/*F*/ +uint32_t read_bank_1(int pi); +/*D +Read the levels of the bank 1 GPIO (GPIO 0-31). + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . + +The returned 32 bit integer has a bit set if the corresponding +GPIO is logic 1. GPIO n has bit value (1<=0 (as returned by [*pigpio_start*]). +. . + +The returned 32 bit integer has a bit set if the corresponding +GPIO is logic 1. GPIO n has bit value (1<<(n-32)). +D*/ + +/*F*/ +int clear_bank_1(int pi, uint32_t bits); +/*D +Clears GPIO 0-31 if the corresponding bit in bits is set. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +bits: a bit mask with 1 set if the corresponding GPIO is + to be cleared. +. . + +Returns 0 if OK, otherwise PI_SOME_PERMITTED. + +A status of PI_SOME_PERMITTED indicates that the user is not +allowed to write to one or more of the GPIO. +D*/ + +/*F*/ +int clear_bank_2(int pi, uint32_t bits); +/*D +Clears GPIO 32-53 if the corresponding bit (0-21) in bits is set. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +bits: a bit mask with 1 set if the corresponding GPIO is + to be cleared. +. . + +Returns 0 if OK, otherwise PI_SOME_PERMITTED. + +A status of PI_SOME_PERMITTED indicates that the user is not +allowed to write to one or more of the GPIO. +D*/ + +/*F*/ +int set_bank_1(int pi, uint32_t bits); +/*D +Sets GPIO 0-31 if the corresponding bit in bits is set. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +bits: a bit mask with 1 set if the corresponding GPIO is + to be set. +. . + +Returns 0 if OK, otherwise PI_SOME_PERMITTED. + +A status of PI_SOME_PERMITTED indicates that the user is not +allowed to write to one or more of the GPIO. +D*/ + +/*F*/ +int set_bank_2(int pi, uint32_t bits); +/*D +Sets GPIO 32-53 if the corresponding bit (0-21) in bits is set. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +bits: a bit mask with 1 set if the corresponding GPIO is + to be set. +. . + +Returns 0 if OK, otherwise PI_SOME_PERMITTED. + +A status of PI_SOME_PERMITTED indicates that the user is not +allowed to write to one or more of the GPIO. +D*/ + + +/*F*/ +int hardware_clock(int pi, unsigned gpio, unsigned clkfreq); +/*D +Starts a hardware clock on a GPIO at the specified frequency. +Frequencies above 30MHz are unlikely to work. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + gpio: see description +frequency: 0 (off) or 4689-250000000 (250M) +. . + +Returns 0 if OK, otherwise PI_NOT_PERMITTED, PI_BAD_GPIO, +PI_NOT_HCLK_GPIO, PI_BAD_HCLK_FREQ,or PI_BAD_HCLK_PASS. + +The same clock is available on multiple GPIO. The latest +frequency setting will be used by all GPIO which share a clock. + +The GPIO must be one of the following. + +. . +4 clock 0 All models +5 clock 1 All models but A and B (reserved for system use) +6 clock 2 All models but A and B +20 clock 0 All models but A and B +21 clock 1 All models but A and Rev.2 B (reserved for system use) + +32 clock 0 Compute module only +34 clock 0 Compute module only +42 clock 1 Compute module only (reserved for system use) +43 clock 2 Compute module only +44 clock 1 Compute module only (reserved for system use) +. . + +Access to clock 1 is protected by a password as its use will likely +crash the Pi. The password is given by or'ing 0x5A000000 with the +GPIO number. +D*/ + + +/*F*/ +int hardware_PWM(int pi, unsigned gpio, unsigned PWMfreq, uint32_t PWMduty); +/*D +Starts hardware PWM on a GPIO at the specified frequency and dutycycle. +Frequencies above 30MHz are unlikely to work. + +NOTE: Any waveform started by [*wave_send_**] or [*wave_chain*] +will be cancelled. + +This function is only valid if the pigpio main clock is PCM. The +main clock defaults to PCM but may be overridden when the pigpio +daemon is started (option -t). + +. . + pi: >=0 (as returned by [*pigpio_start*]). + gpio: see descripton +PWMfreq: 0 (off) or 1-125000000 (125M) +PWMduty: 0 (off) to 1000000 (1M)(fully on) +. . + +Returns 0 if OK, otherwise PI_NOT_PERMITTED, PI_BAD_GPIO, +PI_NOT_HPWM_GPIO, PI_BAD_HPWM_DUTY, PI_BAD_HPWM_FREQ, +or PI_HPWM_ILLEGAL. + +The same PWM channel is available on multiple GPIO. The latest +frequency and dutycycle setting will be used by all GPIO which +share a PWM channel. + +The GPIO must be one of the following. + +. . +12 PWM channel 0 All models but A and B +13 PWM channel 1 All models but A and B +18 PWM channel 0 All models +19 PWM channel 1 All models but A and B + +40 PWM channel 0 Compute module only +41 PWM channel 1 Compute module only +45 PWM channel 1 Compute module only +52 PWM channel 0 Compute module only +53 PWM channel 1 Compute module only +. . + +The actual number of steps beween off and fully on is the +integral part of 250 million divided by PWMfreq. + +The actual frequency set is 250 million / steps. + +There will only be a million steps for a PWMfreq of 250. +Lower frequencies will have more steps and higher +frequencies will have fewer steps. PWMduty is +automatically scaled to take this into account. +D*/ + + +/*F*/ +uint32_t get_current_tick(int pi); +/*D +Gets the current system tick. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . + +Tick is the number of microseconds since system boot. + +As tick is an unsigned 32 bit quantity it wraps around after +2**32 microseconds, which is approximately 1 hour 12 minutes. + +D*/ + +/*F*/ +uint32_t get_hardware_revision(int pi); +/*D +Get the Pi's hardware revision number. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . + +The hardware revision is the last few characters on the Revision line +of /proc/cpuinfo. + +If the hardware revision can not be found or is not a valid +hexadecimal number the function returns 0. + +The revision number can be used to determine the assignment of GPIO +to pins (see [*gpio*]). + +There are at least three types of board. + +Type 1 boards have hardware revision numbers of 2 and 3. + +Type 2 boards have hardware revision numbers of 4, 5, 6, and 15. + +Type 3 boards have hardware revision numbers of 16 or greater. +D*/ + +/*F*/ +uint32_t get_pigpio_version(int pi); +/*D +Returns the pigpio version. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . +D*/ + + +/*F*/ +int wave_clear(int pi); +/*D +This function clears all waveforms and any data added by calls to the +[*wave_add_**] functions. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . + +Returns 0 if OK. +D*/ + +/*F*/ +int wave_add_new(int pi); +/*D +This function starts a new empty waveform. You wouldn't normally need +to call this function as it is automatically called after a waveform is +created with the [*wave_create*] function. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . + +Returns 0 if OK. +D*/ + +/*F*/ +int wave_add_generic(int pi, unsigned numPulses, gpioPulse_t *pulses); +/*D +This function adds a number of pulses to the current waveform. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +numPulses: the number of pulses. + pulses: an array of pulses. +. . + +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_TOO_MANY_PULSES. + +The pulses are interleaved in time order within the existing waveform +(if any). + +Merging allows the waveform to be built in parts, that is the settings +for GPIO#1 can be added, and then GPIO#2 etc. + +If the added waveform is intended to start after or within the existing +waveform then the first pulse should consist solely of a delay. +D*/ + +/*F*/ +int wave_add_serial + (int pi, unsigned user_gpio, unsigned baud, unsigned data_bits, + unsigned stop_bits, unsigned offset, unsigned numBytes, char *str); +/*D +This function adds a waveform representing serial data to the +existing waveform (if any). The serial data starts offset +microseconds from the start of the waveform. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. + baud: 50-1000000 +data_bits: number of data bits (1-32) +stop_bits: number of stop half bits (2-8) + offset: >=0 + numBytes: >=1 + str: an array of chars. +. . + +Returns the new total number of pulses in the current waveform if OK, +otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, PI_BAD_DATABITS, +PI_BAD_STOP_BITS, PI_TOO_MANY_CHARS, PI_BAD_SER_OFFSET, +or PI_TOO_MANY_PULSES. + +NOTES: + +The serial data is formatted as one start bit, [*data_bits*] data bits, +and [*stop_bits*]/2 stop bits. + +It is legal to add serial data streams with different baud rates to +the same waveform. + +[*numBytes*] is the number of bytes of data in str. + +The bytes required for each character depend upon [*data_bits*]. + +For [*data_bits*] 1-8 there will be one byte per character. +For [*data_bits*] 9-16 there will be two bytes per character. +For [*data_bits*] 17-32 there will be four bytes per character. +D*/ + +/*F*/ +int wave_create(int pi); +/*D +This function creates a waveform from the data provided by the prior +calls to the [*wave_add_**] functions. Upon success a wave id +greater than or equal to 0 is returned, otherwise PI_EMPTY_WAVEFORM, +PI_TOO_MANY_CBS, PI_TOO_MANY_OOL, or PI_NO_WAVEFORM_ID. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . + +The data provided by the [*wave_add_**] functions is consumed by this +function. + +As many waveforms may be created as there is space available. The +wave id is passed to [*wave_send_**] to specify the waveform to transmit. + +Normal usage would be + +Step 1. [*wave_clear*] to clear all waveforms and added data. + +Step 2. [*wave_add_**] calls to supply the waveform data. + +Step 3. [*wave_create*] to create the waveform and get a unique id + +Repeat steps 2 and 3 as needed. + +Step 4. [*wave_send_**] with the id of the waveform to transmit. + +A waveform comprises one or more pulses. Each pulse consists of a +[*gpioPulse_t*] structure. + +. . +typedef struct +{ + uint32_t gpioOn; + uint32_t gpioOff; + uint32_t usDelay; +} gpioPulse_t; +. . + +The fields specify + +1) the GPIO to be switched on at the start of the pulse. +2) the GPIO to be switched off at the start of the pulse. +3) the delay in microseconds before the next pulse. + +Any or all the fields can be zero. It doesn't make any sense to +set all the fields to zero (the pulse will be ignored). + +When a waveform is started each pulse is executed in order with the +specified delay between the pulse and the next. + +Returns the new waveform id if OK, otherwise PI_EMPTY_WAVEFORM, +PI_NO_WAVEFORM_ID, PI_TOO_MANY_CBS, or PI_TOO_MANY_OOL. +D*/ + + +/*F*/ +int wave_delete(int pi, unsigned wave_id); +/*D +This function deletes the waveform with id wave_id. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +wave_id: >=0, as returned by [*wave_create*]. +. . + +Wave ids are allocated in order, 0, 1, 2, etc. + +Returns 0 if OK, otherwise PI_BAD_WAVE_ID. +D*/ + + +/*F*/ +int wave_send_once(int pi, unsigned wave_id); +/*D +This function transmits the waveform with id wave_id. The waveform +is sent once. + +NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +wave_id: >=0, as returned by [*wave_create*]. +. . + +Returns the number of DMA control blocks in the waveform if OK, +otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE. +D*/ + + +/*F*/ +int wave_send_repeat(int pi, unsigned wave_id); +/*D +This function transmits the waveform with id wave_id. The waveform +cycles until cancelled (either by the sending of a new waveform or +by [*wave_tx_stop*]). + +NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +wave_id: >=0, as returned by [*wave_create*]. +. . + +Returns the number of DMA control blocks in the waveform if OK, +otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE. +D*/ + + +/*F*/ +int wave_send_using_mode(int pi, unsigned wave_id, unsigned mode); +/*D +Transmits the waveform with id wave_id using mode mode. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +wave_id: >=0, as returned by [*wave_create*]. + mode: PI_WAVE_MODE_ONE_SHOT, PI_WAVE_MODE_REPEAT, + PI_WAVE_MODE_ONE_SHOT_SYNC, or PI_WAVE_MODE_REPEAT_SYNC. +. . + +PI_WAVE_MODE_ONE_SHOT: same as [*wave_send_once*]. + +PI_WAVE_MODE_REPEAT same as [*wave_send_repeat*]. + +PI_WAVE_MODE_ONE_SHOT_SYNC same as [*wave_send_once*] but tries +to sync with the previous waveform. + +PI_WAVE_MODE_REPEAT_SYNC same as [*wave_send_repeat*] but tries +to sync with the previous waveform. + +WARNING: bad things may happen if you delete the previous +waveform before it has been synced to the new waveform. + +NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled. + +Returns the number of DMA control blocks in the waveform if OK, +otherwise PI_BAD_WAVE_ID, or PI_BAD_WAVE_MODE. +D*/ + +/*F*/ +int wave_chain(int pi, char *buf, unsigned bufSize); +/*D +This function transmits a chain of waveforms. + +NOTE: Any hardware PWM started by [*hardware_PWM*] will be cancelled. + +The waves to be transmitted are specified by the contents of buf +which contains an ordered list of [*wave_id*]s and optional command +codes and related data. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + buf: pointer to the wave_ids and optional command codes +bufSize: the number of bytes in buf +. . + +Returns 0 if OK, otherwise PI_CHAIN_NESTING, PI_CHAIN_LOOP_CNT, PI_BAD_CHAIN_LOOP, PI_BAD_CHAIN_CMD, PI_CHAIN_COUNTER, +PI_BAD_CHAIN_DELAY, PI_CHAIN_TOO_BIG, or PI_BAD_WAVE_ID. + +Each wave is transmitted in the order specified. A wave may +occur multiple times per chain. + +A blocks of waves may be transmitted multiple times by using +the loop commands. The block is bracketed by loop start and +end commands. Loops may be nested. + +Delays between waves may be added with the delay command. + +The following command codes are supported: + +Name @ Cmd & Data @ Meaning +Loop Start @ 255 0 @ Identify start of a wave block +Loop Repeat @ 255 1 x y @ loop x + y*256 times +Delay @ 255 2 x y @ delay x + y*256 microseconds +Loop Forever @ 255 3 @ loop forever + +If present Loop Forever must be the last entry in the chain. + +The code is currently dimensioned to support a chain with roughly +600 entries and 20 loop counters. + +... +#include +#include + +#define WAVES 5 +#define GPIO 4 + +int main(int argc, char *argv[]) +{ + int i, pi, wid[WAVES]; + + pi = pigpio_start(0, 0); + if (pi<0) return -1; + + set_mode(pi, GPIO, PI_OUTPUT); + + for (i=0; i=0 (as returned by [*pigpio_start*]). +. . + +Returns the waveform id or one of the following special values: + +PI_WAVE_NOT_FOUND (9998) - transmitted wave not found. +PI_NO_TX_WAVE (9999) - no wave being transmitted. +D*/ + +/*F*/ +int wave_tx_busy(int pi); +/*D +This function checks to see if a waveform is currently being +transmitted. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . + +Returns 1 if a waveform is currently being transmitted, otherwise 0. +D*/ + +/*F*/ +int wave_tx_stop(int pi); +/*D +This function stops the transmission of the current waveform. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . + +Returns 0 if OK. + +This function is intended to stop a waveform started with the repeat mode. +D*/ + +/*F*/ +int wave_get_micros(int pi); +/*D +This function returns the length in microseconds of the current +waveform. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . +D*/ + +/*F*/ +int wave_get_high_micros(int pi); +/*D +This function returns the length in microseconds of the longest waveform +created since the pigpio daemon was started. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . +D*/ + +/*F*/ +int wave_get_max_micros(int pi); +/*D +This function returns the maximum possible size of a waveform in +microseconds. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . +D*/ + +/*F*/ +int wave_get_pulses(int pi); +/*D +This function returns the length in pulses of the current waveform. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . +D*/ + +/*F*/ +int wave_get_high_pulses(int pi); +/*D +This function returns the length in pulses of the longest waveform +created since the pigpio daemon was started. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . +D*/ + +/*F*/ +int wave_get_max_pulses(int pi); +/*D +This function returns the maximum possible size of a waveform in pulses. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . +D*/ + +/*F*/ +int wave_get_cbs(int pi); +/*D +This function returns the length in DMA control blocks of the current +waveform. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . +D*/ + +/*F*/ +int wave_get_high_cbs(int pi); +/*D +This function returns the length in DMA control blocks of the longest +waveform created since the pigpio daemon was started. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . +D*/ + +/*F*/ +int wave_get_max_cbs(int pi); +/*D +This function returns the maximum possible size of a waveform in DMA +control blocks. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +. . +D*/ + +/*F*/ +int gpio_trigger(int pi, unsigned user_gpio, unsigned pulseLen, unsigned level); +/*D +This function sends a trigger pulse to a GPIO. The GPIO is set to +level for pulseLen microseconds and then reset to not level. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. + pulseLen: 1-100. + level: 0,1. +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_LEVEL, +PI_BAD_PULSELEN, or PI_NOT_PERMITTED. +D*/ + +/*F*/ +int store_script(int pi, char *script); +/*D +This function stores a script for later execution. + +See [[http://abyz.co.uk/rpi/pigpio/pigs.html#Scripts]] for details. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +script: the text of the script. +. . + +The function returns a script id if the script is valid, +otherwise PI_BAD_SCRIPT. +D*/ + +/*F*/ +int run_script(int pi, unsigned script_id, unsigned numPar, uint32_t *param); +/*D +This function runs a stored script. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +script_id: >=0, as returned by [*store_script*]. + numPar: 0-10, the number of parameters. + param: an array of parameters. +. . + +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID, or +PI_TOO_MANY_PARAM + +param is an array of up to 10 parameters which may be referenced in +the script as p0 to p9. +D*/ + +/*F*/ +int script_status(int pi, unsigned script_id, uint32_t *param); +/*D +This function returns the run status of a stored script as well +as the current values of parameters 0 to 9. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +script_id: >=0, as returned by [*store_script*]. + param: an array to hold the returned 10 parameters. +. . + +The function returns greater than or equal to 0 if OK, +otherwise PI_BAD_SCRIPT_ID. + +The run status may be + +. . +PI_SCRIPT_INITING +PI_SCRIPT_HALTED +PI_SCRIPT_RUNNING +PI_SCRIPT_WAITING +PI_SCRIPT_FAILED +. . + +The current value of script parameters 0 to 9 are returned in param. +D*/ + +/*F*/ +int stop_script(int pi, unsigned script_id); +/*D +This function stops a running script. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +script_id: >=0, as returned by [*store_script*]. +. . + +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. +D*/ + +/*F*/ +int delete_script(int pi, unsigned script_id); +/*D +This function deletes a stored script. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +script_id: >=0, as returned by [*store_script*]. +. . + +The function returns 0 if OK, otherwise PI_BAD_SCRIPT_ID. +D*/ + +/*F*/ +int bb_serial_read_open(int pi, unsigned user_gpio, unsigned baud, unsigned data_bits); +/*D +This function opens a GPIO for bit bang reading of serial data. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. + baud: 50-250000 +data_bits: 1-32 +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_WAVE_BAUD, +or PI_GPIO_IN_USE. + +The serial data is returned in a cyclic buffer and is read using +bb_serial_read. + +It is the caller's responsibility to read data from the cyclic buffer +in a timely fashion. +D*/ + +/*F*/ +int bb_serial_read(int pi, unsigned user_gpio, void *buf, size_t bufSize); +/*D +This function copies up to bufSize bytes of data read from the +bit bang serial cyclic buffer to the buffer starting at buf. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31, previously opened with [*bb_serial_read_open*]. + buf: an array to receive the read bytes. + bufSize: >=0 +. . + +Returns the number of bytes copied if OK, otherwise PI_BAD_USER_GPIO +or PI_NOT_SERIAL_GPIO. + +The bytes returned for each character depend upon the number of +data bits [*data_bits*] specified in the [*bb_serial_read_open*] command. + +For [*data_bits*] 1-8 there will be one byte per character. +For [*data_bits*] 9-16 there will be two bytes per character. +For [*data_bits*] 17-32 there will be four bytes per character. +D*/ + +/*F*/ +int bb_serial_read_close(int pi, unsigned user_gpio); +/*D +This function closes a GPIO for bit bang reading of serial data. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31, previously opened with [*bb_serial_read_open*]. +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SERIAL_GPIO. +D*/ + +/*F*/ +int bb_serial_invert(int pi, unsigned user_gpio, unsigned invert); +/*D +This function inverts serial logic for big bang serial reads. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31, previously opened with [*bb_serial_read_open*]. + invert: 0-1, 1 invert, 0 normal. +. . + +Returns 0 if OK, otherwise PI_NOT_SERIAL_GPIO or PI_BAD_SER_INVERT. +D*/ + +/*F*/ +int i2c_open(int pi, unsigned i2c_bus, unsigned i2c_addr, unsigned i2c_flags); +/*D +This returns a handle for the device at address i2c_addr on bus i2c_bus. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + i2c_bus: >=0. + i2c_addr: 0-0x7F. +i2c_flags: 0. +. . + +No flags are currently defined. This parameter should be set to zero. + +Physically buses 0 and 1 are available on the Pi. Higher numbered buses +will be available if a kernel supported bus multiplexor is being used. + +Returns a handle (>=0) if OK, otherwise PI_BAD_I2C_BUS, PI_BAD_I2C_ADDR, +PI_BAD_FLAGS, PI_NO_HANDLE, or PI_I2C_OPEN_FAILED. + +For the SMBus commands the low level transactions are shown at the end +of the function description. The following abbreviations are used. + +. . +S (1 bit) : Start bit +P (1 bit) : Stop bit +Rd/Wr (1 bit) : Read/Write bit. Rd equals 1, Wr equals 0. +A, NA (1 bit) : Accept and not accept bit. +Addr (7 bits): I2C 7 bit address. +i2c_reg (8 bits): A byte which often selects a register. +Data (8 bits): A data byte. +Count (8 bits): A byte defining the length of a block operation. + +[..]: Data sent by the device. +. . +D*/ + +/*F*/ +int i2c_close(int pi, unsigned handle); +/*D +This closes the I2C device associated with the handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*i2c_open*]. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. +D*/ + +/*F*/ +int i2c_write_quick(int pi, unsigned handle, unsigned bit); +/*D +This sends a single bit (in the Rd/Wr bit) to the device associated +with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*i2c_open*]. + bit: 0-1, the value to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Quick command. SMBus 2.0 5.5.1 +. . +S Addr bit [A] P +. . +D*/ + +/*F*/ +int i2c_write_byte(int pi, unsigned handle, unsigned bVal); +/*D +This sends a single byte to the device associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*i2c_open*]. + bVal: 0-0xFF, the value to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Send byte. SMBus 2.0 5.5.2 +. . +S Addr Wr [A] bVal [A] P +. . +D*/ + +/*F*/ +int i2c_read_byte(int pi, unsigned handle); +/*D +This reads a single byte from the device associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*i2c_open*]. +. . + +Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, +or PI_I2C_READ_FAILED. + +Receive byte. SMBus 2.0 5.5.3 +. . +S Addr Rd [A] [Data] NA P +. . +D*/ + +/*F*/ +int i2c_write_byte_data( + int pi, unsigned handle, unsigned i2c_reg, unsigned bVal); +/*D +This writes a single byte to the specified register of the device +associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to write. + bVal: 0-0xFF, the value to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Write byte. SMBus 2.0 5.5.4 +. . +S Addr Wr [A] i2c_reg [A] bVal [A] P +. . +D*/ + +/*F*/ +int i2c_write_word_data( + int pi, unsigned handle, unsigned i2c_reg, unsigned wVal); +/*D +This writes a single 16 bit word to the specified register of the device +associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to write. + wVal: 0-0xFFFF, the value to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Write word. SMBus 2.0 5.5.4 +. . +S Addr Wr [A] i2c_reg [A] wval_Low [A] wVal_High [A] P +. . +D*/ + +/*F*/ +int i2c_read_byte_data(int pi, unsigned handle, unsigned i2c_reg); +/*D +This reads a single byte from the specified register of the device +associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to read. +. . + +Returns the byte read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +Read byte. SMBus 2.0 5.5.5 +. . +S Addr Wr [A] i2c_reg [A] S Addr Rd [A] [Data] NA P +. . +D*/ + +/*F*/ +int i2c_read_word_data(int pi, unsigned handle, unsigned i2c_reg); +/*D +This reads a single 16 bit word from the specified register of the device +associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to read. +. . + +Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +Read word. SMBus 2.0 5.5.5 +. . +S Addr Wr [A] i2c_reg [A] + S Addr Rd [A] [DataLow] A [DataHigh] NA P +. . +D*/ + +/*F*/ +int i2c_process_call(int pi, unsigned handle, unsigned i2c_reg, unsigned wVal); +/*D +This writes 16 bits of data to the specified register of the device +associated with handle and and reads 16 bits of data in return. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to write/read. + wVal: 0-0xFFFF, the value to write. +. . + +Returns the word read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +Process call. SMBus 2.0 5.5.6 +. . +S Addr Wr [A] i2c_reg [A] wVal_Low [A] wVal_High [A] + S Addr Rd [A] [DataLow] A [DataHigh] NA P +. . +D*/ + +/*F*/ +int i2c_write_block_data( + int pi, unsigned handle, unsigned i2c_reg, char *buf, unsigned count); +/*D +This writes up to 32 bytes to the specified register of the device +associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to write. + buf: an array with the data to send. + count: 1-32, the number of bytes to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +Block write. SMBus 2.0 5.5.7 +. . +S Addr Wr [A] i2c_reg [A] count [A] buf0 [A] buf1 [A] ... + [A] bufn [A] P +. . +D*/ + +/*F*/ +int i2c_read_block_data(int pi, unsigned handle, unsigned i2c_reg, char *buf); +/*D +This reads a block of up to 32 bytes from the specified register of +the device associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to read. + buf: an array to receive the read data. +. . + +The amount of returned data is set by the device. + +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +Block read. SMBus 2.0 5.5.7 +. . +S Addr Wr [A] i2c_reg [A] + S Addr Rd [A] [Count] A [buf0] A [buf1] A ... A [bufn] NA P +. . +D*/ + +/*F*/ +int i2c_block_process_call( + int pi, unsigned handle, unsigned i2c_reg, char *buf, unsigned count); +/*D +This writes data bytes to the specified register of the device +associated with handle and reads a device specified number +of bytes of data in return. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to write/read. + buf: an array with the data to send and to receive the read data. + count: 1-32, the number of bytes to write. +. . + + +Returns the number of bytes read (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +The smbus 2.0 documentation states that a minimum of 1 byte may be +sent and a minimum of 1 byte may be received. The total number of +bytes sent/received must be 32 or less. + +Block write-block read. SMBus 2.0 5.5.8 +. . +S Addr Wr [A] i2c_reg [A] count [A] buf0 [A] ... + S Addr Rd [A] [Count] A [Data] ... A P +. . +D*/ + +/*F*/ +int i2c_read_i2c_block_data( + int pi, unsigned handle, unsigned i2c_reg, char *buf, unsigned count); +/*D +This reads count bytes from the specified register of the device +associated with handle . The count may be 1-32. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to read. + buf: an array to receive the read data. + count: 1-32, the number of bytes to read. +. . + +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, or PI_I2C_READ_FAILED. + +. . +S Addr Wr [A] i2c_reg [A] + S Addr Rd [A] [buf0] A [buf1] A ... A [bufn] NA P +. . +D*/ + + +/*F*/ +int i2c_write_i2c_block_data( + int pi, unsigned handle, unsigned i2c_reg, char *buf, unsigned count); +/*D +This writes 1 to 32 bytes to the specified register of the device +associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + handle: >=0, as returned by a call to [*i2c_open*]. +i2c_reg: 0-255, the register to write. + buf: the data to write. + count: 1-32, the number of bytes to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +. . +S Addr Wr [A] i2c_reg [A] buf0 [A] buf1 [A] ... [A] bufn [A] P +. . +D*/ + +/*F*/ +int i2c_read_device(int pi, unsigned handle, char *buf, unsigned count); +/*D +This reads count bytes from the raw device into buf. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*i2c_open*]. + buf: an array to receive the read data bytes. + count: >0, the number of bytes to read. +. . + +Returns count (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_READ_FAILED. + +. . +S Addr Rd [A] [buf0] A [buf1] A ... A [bufn] NA P +. . +D*/ + +/*F*/ +int i2c_write_device(int pi, unsigned handle, char *buf, unsigned count); +/*D +This writes count bytes from buf to the raw device. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*i2c_open*]. + buf: an array containing the data bytes to write. + count: >0, the number of bytes to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_I2C_WRITE_FAILED. + +. . +S Addr Wr [A] buf0 [A] buf1 [A] ... [A] bufn [A] P +. . +D*/ + +/*F*/ +int i2c_zip( + int pi, + unsigned handle, + char *inBuf, + unsigned inLen, + char *outBuf, + unsigned outLen); +/*D +This function executes a sequence of I2C operations. The +operations to be performed are specified by the contents of inBuf +which contains the concatenated command codes and associated data. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*i2cOpen*] + inBuf: pointer to the concatenated I2C commands, see below + inLen: size of command buffer +outBuf: pointer to buffer to hold returned data +outLen: size of output buffer +. . + +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_HANDLE, PI_BAD_POINTER, PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN. +PI_BAD_I2C_WLEN, or PI_BAD_I2C_SEG. + +The following command codes are supported: + +Name @ Cmd & Data @ Meaning +End @ 0 @ No more commands +Escape @ 1 @ Next P is two bytes +On @ 2 @ Switch combined flag on +Off @ 3 @ Switch combined flag off +Address @ 4 P @ Set I2C address to P +Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8) +Read @ 6 P @ Read P bytes of data +Write @ 7 P ... @ Write P bytes of data + +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +The address defaults to that associated with the handle. +The flags default to 0. The address and flags maintain their +previous value until updated. + +The returned I2C data is stored in consecutive locations of outBuf. + +... +Set address 0x53, write 0x32, read 6 bytes +Set address 0x1E, write 0x03, read 6 bytes +Set address 0x68, write 0x1B, read 8 bytes +End + +0x04 0x53 0x07 0x01 0x32 0x06 0x06 +0x04 0x1E 0x07 0x01 0x03 0x06 0x06 +0x04 0x68 0x07 0x01 0x1B 0x06 0x08 +0x00 +... + +D*/ + +/*F*/ +int bb_i2c_open(int pi, unsigned SDA, unsigned SCL, unsigned baud); +/*D +This function selects a pair of GPIO for bit banging I2C at a +specified baud rate. + +Bit banging I2C allows for certain operations which are not possible +with the standard I2C driver. + +o baud rates as low as 50 +o repeated starts +o clock stretching +o I2C on any pair of spare GPIO + +. . + pi: >=0 (as returned by [*pigpio_start*]). + SDA: 0-31 + SCL: 0-31 +baud: 50-500000 +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_I2C_BAUD, or +PI_GPIO_IN_USE. + +NOTE: + +The GPIO used for SDA and SCL must have pull-ups to 3V3 connected. As +a guide the hardware pull-ups on pins 3 and 5 are 1k8 in value. +D*/ + +/*F*/ +int bb_i2c_close(int pi, unsigned SDA); +/*D +This function stops bit banging I2C on a pair of GPIO previously +opened with [*bb_i2c_open*]. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +SDA: 0-31, the SDA GPIO used in a prior call to [*bb_i2c_open*] +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_I2C_GPIO. +D*/ + +/*F*/ +int bb_i2c_zip( + int pi, + unsigned SDA, + char *inBuf, + unsigned inLen, + char *outBuf, + unsigned outLen); +/*D +This function executes a sequence of bit banged I2C operations. The +operations to be performed are specified by the contents of inBuf +which contains the concatenated command codes and associated data. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + SDA: 0-31 (as used in a prior call to [*bb_i2c_open*]) + inBuf: pointer to the concatenated I2C commands, see below + inLen: size of command buffer +outBuf: pointer to buffer to hold returned data +outLen: size of output buffer +. . + +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_USER_GPIO, PI_NOT_I2C_GPIO, PI_BAD_POINTER, +PI_BAD_I2C_CMD, PI_BAD_I2C_RLEN, PI_BAD_I2C_WLEN, +PI_I2C_READ_FAILED, or PI_I2C_WRITE_FAILED. + +The following command codes are supported: + +Name @ Cmd & Data @ Meaning +End @ 0 @ No more commands +Escape @ 1 @ Next P is two bytes +Start @ 2 @ Start condition +Stop @ 3 @ Stop condition +Address @ 4 P @ Set I2C address to P +Flags @ 5 lsb msb @ Set I2C flags to lsb + (msb << 8) +Read @ 6 P @ Read P bytes of data +Write @ 7 P ... @ Write P bytes of data + +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +The address and flags default to 0. The address and flags maintain +their previous value until updated. + +No flags are currently defined. + +The returned I2C data is stored in consecutive locations of outBuf. + +... +Set address 0x53 +start, write 0x32, (re)start, read 6 bytes, stop +Set address 0x1E +start, write 0x03, (re)start, read 6 bytes, stop +Set address 0x68 +start, write 0x1B, (re)start, read 8 bytes, stop +End + +0x04 0x53 +0x02 0x07 0x01 0x32 0x02 0x06 0x06 0x03 + +0x04 0x1E +0x02 0x07 0x01 0x03 0x02 0x06 0x06 0x03 + +0x04 0x68 +0x02 0x07 0x01 0x1B 0x02 0x06 0x08 0x03 + +0x00 +... +D*/ + +/*F*/ +int bb_spi_open( + int pi, + unsigned CS, unsigned MISO, unsigned MOSI, unsigned SCLK, + unsigned baud, unsigned spi_flags); +/*D +This function selects a set of GPIO for bit banging SPI at a +specified baud rate. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + CS: 0-31 + MISO: 0-31 + MOSI: 0-31 + SCLK: 0-31 + baud: 50-250000 +spi_flags: see below +. . + +spi_flags consists of the least significant 22 bits. + +. . +21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 + 0 0 0 0 0 0 R T 0 0 0 0 0 0 0 0 0 0 0 p m m +. . + +mm defines the SPI mode, defaults to 0 + +. . +Mode CPOL CPHA + 0 0 0 + 1 0 1 + 2 1 0 + 3 1 1 +. . + +p is 0 if CS is active low (default) and 1 for active high. + +T is 1 if the least significant bit is transmitted on MOSI first, the +default (0) shifts the most significant bit out first. + +R is 1 if the least significant bit is received on MISO first, the +default (0) receives the most significant bit first. + +The other bits in flags should be set to zero. + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, PI_BAD_SPI_BAUD, or +PI_GPIO_IN_USE. + +If more than one device is connected to the SPI bus (defined by +SCLK, MOSI, and MISO) each must have its own CS. + +... +bb_spi_open(pi,10, MISO, MOSI, SCLK, 10000, 0); // device 1 +bb_spi_open(pi,11, MISO, MOSI, SCLK, 20000, 3); // device 2 +... +D*/ + +/*F*/ +int bb_spi_close(int pi, unsigned CS); +/*D +This function stops bit banging SPI on a set of GPIO +opened with [*bbSPIOpen*]. + +. . +pi: >=0 (as returned by [*pigpio_start*]). +CS: 0-31, the CS GPIO used in a prior call to [*bb_spi_open*] +. . + +Returns 0 if OK, otherwise PI_BAD_USER_GPIO, or PI_NOT_SPI_GPIO. +D*/ + +/*F*/ +int bb_spi_xfer( + int pi, + unsigned CS, + char *txBuf, + char *rxBuf, + unsigned count); +/*D +This function executes a bit banged SPI transfer. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + CS: 0-31 (as used in a prior call to [*bb_spi_open*]) +txBuf: pointer to buffer to hold data to be sent +rxBuf: pointer to buffer to hold returned data +count: size of data transfer +. . + +Returns >= 0 if OK (the number of bytes read), otherwise +PI_BAD_USER_GPIO, PI_NOT_SPI_GPIO or PI_BAD_POINTER. + +... +// gcc -Wall -pthread -o bb_spi_x_test bb_spi_x_test.c -lpigpiod_if2 +// ./bb_spi_x_test + +#include + +#include "pigpiod_if2.h" + +#define CE0 5 +#define CE1 6 +#define MISO 13 +#define MOSI 19 +#define SCLK 12 + +int main(int argc, char *argv[]) +{ + int i, pi, count, set_val, read_val; + unsigned char inBuf[3]; + char cmd1[] = {0, 0}; + char cmd2[] = {12, 0}; + char cmd3[] = {1, 128, 0}; + + if ((pi = pigpio_start(0, 0)) < 0) + { + fprintf(stderr, "pigpio initialisation failed (%d).\n", pi); + return 1; + } + + bb_spi_open(pi, CE0, MISO, MOSI, SCLK, 10000, 0); // MCP4251 DAC + bb_spi_open(pi, CE1, MISO, MOSI, SCLK, 20000, 3); // MCP3008 ADC + + for (i=0; i<256; i++) + { + cmd1[1] = i; + + count = bb_spi_xfer(pi, CE0, cmd1, (char *)inBuf, 2); // > DAC + + if (count == 2) + { + count = bb_spi_xfer(pi, CE0, cmd2, (char *)inBuf, 2); // < DAC + + if (count == 2) + { + set_val = inBuf[1]; + + count = bb_spi_xfer(pi, CE1, cmd3, (char *)inBuf, 3); // < ADC + + if (count == 3) + { + read_val = ((inBuf[1]&3)<<8) | inBuf[2]; + printf("%d %d\n", set_val, read_val); + } + } + } + } + + bb_spi_close(pi, CE0); + bb_spi_close(pi, CE1); + + pigpio_stop(pi); +} +... +D*/ + +/*F*/ +int spi_open(int pi, unsigned spi_channel, unsigned baud, unsigned spi_flags); +/*D +This function returns a handle for the SPI device on channel. +Data will be transferred at baud bits per second. The flags may +be used to modify the default behaviour of 4-wire operation, mode 0, +active low chip select. + +An auxiliary SPI device is available on all models but the +A and B and may be selected by setting the A bit in the +flags. The auxiliary device has 3 chip selects and a +selectable word size in bits. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +spi_channel: 0-1 (0-2 for the auxiliary device). + baud: 32K-125M (values above 30M are unlikely to work). + spi_flags: see below. +. . + +Returns a handle (>=0) if OK, otherwise PI_BAD_SPI_CHANNEL, +PI_BAD_SPI_SPEED, PI_BAD_FLAGS, PI_NO_AUX_SPI, or PI_SPI_OPEN_FAILED. + +spi_flags consists of the least significant 22 bits. + +. . +21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 + b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m +. . + +mm defines the SPI mode. + +Warning: modes 1 and 3 do not appear to work on the auxiliary device. + +. . +Mode POL PHA + 0 0 0 + 1 0 1 + 2 1 0 + 3 1 1 +. . + +px is 0 if CEx is active low (default) and 1 for active high. + +ux is 0 if the CEx GPIO is reserved for SPI (default) and 1 otherwise. + +A is 0 for the standard SPI device, 1 for the auxiliary SPI. + +W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard +SPI device only. + +nnnn defines the number of bytes (0-15) to write before switching +the MOSI line to MISO to read data. This field is ignored +if W is not set. Standard SPI device only. + +T is 1 if the least significant bit is transmitted on MOSI first, the +default (0) shifts the most significant bit out first. Auxiliary SPI +device only. + +R is 1 if the least significant bit is received on MISO first, the +default (0) receives the most significant bit first. Auxiliary SPI +device only. + +bbbbbb defines the word size in bits (0-32). The default (0) +sets 8 bits per word. Auxiliary SPI device only. + +The [*spi_read*], [*spi_write*], and [*spi_xfer*] functions +transfer data packed into 1, 2, or 4 bytes according to +the word size in bits. + +For bits 1-8 there will be one byte per character. +For bits 9-16 there will be two bytes per character. +For bits 17-32 there will be four bytes per character. + +E.g. to transfer 32 12-bit words buf should contain 64 bytes +and count should be 64. + +The other bits in flags should be set to zero. +D*/ + +/*F*/ +int spi_close(int pi, unsigned handle); +/*D +This functions closes the SPI device identified by the handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*spi_open*]. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. +D*/ + +/*F*/ +int spi_read(int pi, unsigned handle, char *buf, unsigned count); +/*D +This function reads count bytes of data from the SPI +device associated with the handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*spi_open*]. + buf: an array to receive the read data bytes. + count: the number of bytes to read. +. . + +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. +D*/ + +/*F*/ +int spi_write(int pi, unsigned handle, char *buf, unsigned count); +/*D +This function writes count bytes of data from buf to the SPI +device associated with the handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*spi_open*]. + buf: the data bytes to write. + count: the number of bytes to write. +. . + +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. +D*/ + +/*F*/ +int spi_xfer( + int pi, unsigned handle, char *txBuf, char *rxBuf, unsigned count); +/*D +This function transfers count bytes of data from txBuf to the SPI +device associated with the handle. Simultaneously count bytes of +data are read from the device and placed in rxBuf. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*spi_open*]. + txBuf: the data bytes to write. + rxBuf: the received data bytes. + count: the number of bytes to transfer. +. . + +Returns the number of bytes transferred if OK, otherwise +PI_BAD_HANDLE, PI_BAD_SPI_COUNT, or PI_SPI_XFER_FAILED. +D*/ + +/*F*/ +int serial_open(int pi, char *ser_tty, unsigned baud, unsigned ser_flags); +/*D +This function opens a serial device at a specified baud rate +with specified flags. The device name must start with +/dev/tty or /dev/serial. + + +. . + pi: >=0 (as returned by [*pigpio_start*]). + ser_tty: the serial device to open. + baud: the baud rate in bits per second, see below. +ser_flags: 0. +. . + +Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, or +PI_SER_OPEN_FAILED. + +The baud rate must be one of 50, 75, 110, 134, 150, +200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200, +38400, 57600, 115200, or 230400. + +No flags are currently defined. This parameter should be set to zero. +D*/ + +/*F*/ +int serial_close(int pi, unsigned handle); +/*D +This function closes the serial device associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*serial_open*]. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. +D*/ + +/*F*/ +int serial_write_byte(int pi, unsigned handle, unsigned bVal); +/*D +This function writes bVal to the serial port associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*serial_open*]. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_SER_WRITE_FAILED. +D*/ + +/*F*/ +int serial_read_byte(int pi, unsigned handle); +/*D +This function reads a byte from the serial port associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*serial_open*]. +. . + +Returns the read byte (>=0) if OK, otherwise PI_BAD_HANDLE, +PI_SER_READ_NO_DATA, or PI_SER_READ_FAILED. +D*/ + +/*F*/ +int serial_write(int pi, unsigned handle, char *buf, unsigned count); +/*D +This function writes count bytes from buf to the the serial port +associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*serial_open*]. + buf: the array of bytes to write. + count: the number of bytes to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, or +PI_SER_WRITE_FAILED. +D*/ + +/*F*/ +int serial_read(int pi, unsigned handle, char *buf, unsigned count); +/*D +This function reads up to count bytes from the the serial port +associated with handle and writes them to buf. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*serial_open*]. + buf: an array to receive the read data. + count: the maximum number of bytes to read. +. . + +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, +PI_BAD_PARAM, PI_SER_READ_NO_DATA, or PI_SER_WRITE_FAILED. +D*/ + +/*F*/ +int serial_data_available(int pi, unsigned handle); +/*D +Returns the number of bytes available to be read from the +device associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0, as returned by a call to [*serial_open*]. +. . + +Returns the number of bytes of data available (>=0) if OK, +otherwise PI_BAD_HANDLE. +D*/ + +/*F*/ +int custom_1(int pi, unsigned arg1, unsigned arg2, char *argx, unsigned argc); +/*D +This function is available for user customisation. + +It returns a single integer value. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +arg1: >=0 +arg2: >=0 +argx: extra (byte) arguments +argc: number of extra arguments +. . + +Returns >= 0 if OK, less than 0 indicates a user defined error. +D*/ + + +/*F*/ +int custom_2(int pi, unsigned arg1, char *argx, unsigned argc, + char *retBuf, unsigned retMax); +/*D +This function is available for user customisation. + +It differs from custom_1 in that it returns an array of bytes +rather than just an integer. + +The return value is an integer indicating the number of returned bytes. +. . + pi: >=0 (as returned by [*pigpio_start*]). + arg1: >=0 + argc: extra (byte) arguments + count: number of extra arguments +retBuf: buffer for returned data +retMax: maximum number of bytes to return +. . + +Returns >= 0 if OK, less than 0 indicates a user defined error. + +Note, the number of returned bytes will be retMax or less. +D*/ + +/*F*/ +int get_pad_strength(int pi, unsigned pad); +/*D +This function returns the pad drive strength in mA. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +pad: 0-2, the pad to get. +. . + +Returns the pad drive strength if OK, otherwise PI_BAD_PAD. + +Pad @ GPIO +0 @ 0-27 +1 @ 28-45 +2 @ 46-53 + +... +strength = get_pad_strength(pi, 0); // get pad 0 strength +... +D*/ + + +/*F*/ +int set_pad_strength(int pi, unsigned pad, unsigned padStrength); +/*D +This function sets the pad drive strength in mA. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + pad: 0-2, the pad to set. +padStrength: 1-16 mA. +. . + +Returns 0 if OK, otherwise PI_BAD_PAD, or PI_BAD_STRENGTH. + +Pad @ GPIO +0 @ 0-27 +1 @ 28-45 +2 @ 46-53 + +... +set_pad_strength(pi, 0, 10); // set pad 0 strength to 10 mA +... +D*/ + + +/*F*/ +int shell_(int pi, char *scriptName, char *scriptString); +/*D +This function uses the system call to execute a shell script +with the given string as its parameter. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + scriptName: the name of the script, only alphanumeric characters, + '-' and '_' are allowed in the name. +scriptString: the string to pass to the script. +. . + +The exit status of the system call is returned if OK, otherwise +PI_BAD_SHELL_STATUS. + +scriptName must exist in /opt/pigpio/cgi and must be executable. + +The returned exit status is normally 256 times that set by the +shell script exit function. If the script can't be found 32512 will +be returned. + +The following table gives some example returned statuses. + +Script exit status @ Returned system call status +1 @ 256 +5 @ 1280 +10 @ 2560 +200 @ 51200 +script not found @ 32512 + +... +// pass two parameters, hello and world +status = shell_(pi, "scr1", "hello world"); + +// pass three parameters, hello, string with spaces, and world +status = shell_(pi, "scr1", "hello 'string with spaces' world"); + +// pass one parameter, hello string with spaces world +status = shell_(pi, "scr1", "\"hello string with spaces world\""); +... +D*/ + +#pragma GCC diagnostic push + +#pragma GCC diagnostic ignored "-Wcomment" + +/*F*/ +int file_open(int pi, char *file, unsigned mode); +/*D +This function returns a handle to a file opened in a specified mode. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +file: the file to open. +mode: the file open mode. +. . + +Returns a handle (>=0) if OK, otherwise PI_NO_HANDLE, PI_NO_FILE_ACCESS, +PI_BAD_FILE_MODE, PI_FILE_OPEN_FAILED, or PI_FILE_IS_A_DIR. + +File + +A file may only be opened if permission is granted by an entry in +/opt/pigpio/access. This is intended to allow remote access to files +in a more or less controlled manner. + +Each entry in /opt/pigpio/access takes the form of a file path +which may contain wildcards followed by a single letter permission. +The permission may be R for read, W for write, U for read/write, +and N for no access. + +Where more than one entry matches a file the most specific rule +applies. If no entry matches a file then access is denied. + +Suppose /opt/pigpio/access contains the following entries + +. . +/home/* n +/home/pi/shared/dir_1/* w +/home/pi/shared/dir_2/* r +/home/pi/shared/dir_3/* u +/home/pi/shared/dir_1/file.txt n +. . + +Files may be written in directory dir_1 with the exception +of file.txt. + +Files may be read in directory dir_2. + +Files may be read and written in directory dir_3. + +If a directory allows read, write, or read/write access then files may +be created in that directory. + +In an attempt to prevent risky permissions the following paths are +ignored in /opt/pigpio/access. + +. . +a path containing .. +a path containing only wildcards (*?) +a path containing less than two non-wildcard parts +. . + +Mode + +The mode may have the following values. + +Macro @ Value @ Meaning +PI_FILE_READ @ 1 @ open file for reading +PI_FILE_WRITE @ 2 @ open file for writing +PI_FILE_RW @ 3 @ open file for reading and writing + +The following values may be or'd into the mode. + +Macro @ Value @ Meaning +PI_FILE_APPEND @ 4 @ Writes append data to the end of the file +PI_FILE_CREATE @ 8 @ The file is created if it doesn't exist +PI_FILE_TRUNC @ 16 @ The file is truncated + +Newly created files are owned by root with permissions owner read and write. + +... +#include +#include + +int main(int argc, char *argv[]) +{ + int pi, handle, c; + char buf[60000]; + + pi = pigpio_start(NULL, NULL); + + if (pi < 0) return 1; + + // assumes /opt/pigpio/access contains the following line + // /ram/*.c r + + handle = file_open(pi, "/ram/pigpio.c", PI_FILE_READ); + + if (handle >= 0) + { + while ((c=file_read(pi, handle, buf, sizeof(buf)-1))) + { + buf[c] = 0; + printf("%s", buf); + } + + file_close(pi, handle); + } + + pigpio_stop(pi); +} +... +D*/ + +#pragma GCC diagnostic pop + +/*F*/ +int file_close(int pi, unsigned handle); +/*D +This function closes the file associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0 (as returned by [*file_open*]). +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE. + +... +file_close(pi, handle); +... +D*/ + + +/*F*/ +int file_write(int pi, unsigned handle, char *buf, unsigned count); +/*D +This function writes count bytes from buf to the the file +associated with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0 (as returned by [*file_open*]). + buf: the array of bytes to write. + count: the number of bytes to write. +. . + +Returns 0 if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, +PI_FILE_NOT_WOPEN, or PI_BAD_FILE_WRITE. + +... +if (file_write(pi, handle, buf, 100) == 0) +{ + // file written okay +} +else +{ + // error +} +... +D*/ + + +/*F*/ +int file_read(int pi, unsigned handle, char *buf, unsigned count); +/*D +This function reads up to count bytes from the the file +associated with handle and writes them to buf. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +handle: >=0 (as returned by [*file_open*]). + buf: an array to receive the read data. + count: the maximum number of bytes to read. +. . + +Returns the number of bytes read (>0) if OK, otherwise PI_BAD_HANDLE, PI_BAD_PARAM, PI_FILE_NOT_ROPEN, or PI_BAD_FILE_WRITE. + +... + bytes = file_read(pi, handle, buf, sizeof(buf)); + + if (bytes >= 0) + { + // process read data + } +... +D*/ + + +/*F*/ +int file_seek(int pi, unsigned handle, int32_t seekOffset, int seekFrom); +/*D +This function seeks to a position within the file associated +with handle. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + handle: >=0 (as returned by [*file_open*]). +seekOffset: the number of bytes to move. Positive offsets + move forward, negative offsets backwards. + seekFrom: one of PI_FROM_START (0), PI_FROM_CURRENT (1), + or PI_FROM_END (2). +. . + +Returns the new byte position within the file (>=0) if OK, otherwise PI_BAD_HANDLE, or PI_BAD_FILE_SEEK. + +... +file_seek(pi, handle, 123, PI_FROM_START); // Start plus 123 + +size = file_seek(pi, handle, 0, PI_FROM_END); // End, return size + +pos = file_seek(pi, handle, 0, PI_FROM_CURRENT); // Current position +... +D*/ + +#pragma GCC diagnostic push + +#pragma GCC diagnostic ignored "-Wcomment" + +/*F*/ +int file_list(int pi, char *fpat, char *buf, unsigned count); +/*D +This function returns a list of files which match a pattern. + +. . + pi: >=0 (as returned by [*pigpio_start*]). + fpat: file pattern to match. + buf: an array to receive the matching file names. +count: the maximum number of bytes to read. +. . + +Returns the number of returned bytes if OK, otherwise PI_NO_FILE_ACCESS, +or PI_NO_FILE_MATCH. + +The pattern must match an entry in /opt/pigpio/access. The pattern +may contain wildcards. See [*file_open*]. + +NOTE + +The returned value is not the number of files, it is the number +of bytes in the buffer. The file names are separated by newline +characters. + +... +#include +#include + +int main(int argc, char *argv[]) +{ + int pi, handle, c; + char buf[60000]; + + pi = pigpio_start(NULL, NULL); + + if (pi < 0) return 1; + + // assumes /opt/pigpio/access contains the following line + // /ram/*.c r + + c = file_list(pi, "/ram/p*.c", buf, sizeof(buf)); + + if (c >= 0) + { + buf[c] = 0; + printf("%s", buf); + } + + pigpio_stop(pi); +} +... +D*/ + +#pragma GCC diagnostic pop + + +/*F*/ +int callback(int pi, unsigned user_gpio, unsigned edge, CBFunc_t f); +/*D +This function initialises a new callback. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE. + f: the callback function. +. . + +The function returns a callback id if OK, otherwise pigif_bad_malloc, +pigif_duplicate_callback, or pigif_bad_callback. + +The callback is called with the GPIO, edge, and tick, whenever the +GPIO has the identified edge. +D*/ + +/*F*/ +int callback_ex + (int pi, unsigned user_gpio, unsigned edge, CBFuncEx_t f, void *userdata); +/*D +This function initialises a new callback. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE. + f: the callback function. + userdata: a pointer to arbitrary user data. +. . + +The function returns a callback id if OK, otherwise pigif_bad_malloc, +pigif_duplicate_callback, or pigif_bad_callback. + +The callback is called with the GPIO, edge, tick, and user, whenever +the GPIO has the identified edge. +D*/ + +/*F*/ +int callback_cancel(unsigned callback_id); +/*D +This function cancels a callback identified by its id. + +. . +callback_id: >=0, as returned by a call to [*callback*] or [*callback_ex*]. +. . + +The function returns 0 if OK, otherwise pigif_callback_not_found. +D*/ + +/*F*/ +int wait_for_edge(int pi, unsigned user_gpio, unsigned edge, double timeout); +/*D +This function waits for edge on the GPIO for up to timeout +seconds. + +. . + pi: >=0 (as returned by [*pigpio_start*]). +user_gpio: 0-31. + edge: RISING_EDGE, FALLING_EDGE, or EITHER_EDGE. + timeout: >=0. +. . + +The function returns when the edge occurs or after the timeout. + +Do not use this function for precise timing purposes, +the edge is only checked 20 times a second. Whenever +you need to know the accurate time of GPIO events use +a [*callback*] function. + +The function returns 1 if the edge occurred, otherwise 0. +D*/ + +/*PARAMS + +active :: 0-1000000 + +The number of microseconds level changes are reported for once +a noise filter has been triggered (by [*steady*] microseconds of +a stable level). + +*addrStr:: +A string specifying the host or IP address of the Pi running +the pigpio daemon. It may be NULL in which case localhost +is used unless overridden by the PIGPIO_ADDR environment +variable. + +arg1:: +An unsigned argument passed to a user customised function. Its +meaning is defined by the customiser. + +arg2:: +An unsigned argument passed to a user customised function. Its +meaning is defined by the customiser. + +argc:: +The count of bytes passed to a user customised function. + +*argx:: +A pointer to an array of bytes passed to a user customised function. +Its meaning and content is defined by the customiser. + +baud:: +The speed of serial communication (I2C, SPI, serial link, waves) in +bits per second. + +bit:: +A value of 0 or 1. + +bits:: +A value used to select GPIO. If bit n of bits is set then GPIO n is +selected. + +A convenient way to set bit n is to or in (1<=0, as returned by a call to [*callback*] or [*callback_ex*]. This is +passed to [*callback_cancel*] to cancel the callback. + +CBFunc_t:: +. . +typedef void (*CBFunc_t) + (unsigned user_gpio, unsigned level, uint32_t tick); +. . + +CBFuncEx_t:: +. . +typedef void (*CBFuncEx_t) + (unsigned user_gpio, unsigned level, uint32_t tick, void * user); +. . + +char:: +A single character, an 8 bit quantity able to store 0-255. + +clkfreq::4689-250000000 (250M) +The hardware clock frequency. + +count:: +The number of bytes to be transferred in a file, I2C, SPI, or serial +command. + +CS:: +The GPIO used for the slave select signal when bit banging SPI. + +data_bits::1-32 +The number of data bits in each character of serial data. + +. . +#define PI_MIN_WAVE_DATABITS 1 +#define PI_MAX_WAVE_DATABITS 32 +. . + +double:: +A floating point number. + +dutycycle::0-range +A number representing the ratio of on time to off time for PWM. + +The number may vary between 0 and range (default 255) where +0 is off and range is fully on. + +edge:: +Used to identify a GPIO level transition of interest. A rising edge is +a level change from 0 to 1. A falling edge is a level change from 1 to 0. + +. . +RISING_EDGE 0 +FALLING_EDGE 1 +EITHER_EDGE. 2 +. . + +errnum:: +A negative number indicating a function call failed and the nature +of the error. + +f:: +A function. + +*file:: +A full file path. To be accessible the path must match an entry in +/opt/pigpio/access. + +*fpat:: +A file path which may contain wildcards. To be accessible the path +must match an entry in /opt/pigpio/access. + +frequency::>=0 +The number of times a GPIO is swiched on and off per second. This +can be set per GPIO and may be as little as 5Hz or as much as +40KHz. The GPIO will be on for a proportion of the time as defined +by its dutycycle. + +gpio:: +A Broadcom numbered GPIO, in the range 0-53. + +There are 54 General Purpose Input Outputs (GPIO) named GPIO0 through +GPIO53. + +They are split into two banks. Bank 1 consists of GPIO0 through +GPIO31. Bank 2 consists of GPIO32 through GPIO53. + +All the GPIO which are safe for the user to read and write are in +bank 1. Not all GPIO in bank 1 are safe though. Type 1 boards +have 17 safe GPIO. Type 2 boards have 21. Type 3 boards have 26. + +See [*get_hardware_revision*]. + +The user GPIO are marked with an X in the following table. + +. . + 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 +Type 1 X X - - X - - X X X X X - - X X +Type 2 - - X X X - - X X X X X - - X X +Type 3 X X X X X X X X X X X X X X + + 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 +Type 1 - X X - - X X X X X - - - - - - +Type 2 - X X - - - X X X X - X X X X X +Type 3 X X X X X X X X X X X X - - - - +. . + +gpioPulse_t:: +. . +typedef struct +{ +uint32_t gpioOn; +uint32_t gpioOff; +uint32_t usDelay; +} gpioPulse_t; +. . + +gpioThreadFunc_t:: +. . +typedef void *(gpioThreadFunc_t) (void *); +. . + +handle::>=0 +A number referencing an object opened by one of [*file_open*], +[*i2c_open*], [*notify_open*], [*serial_open*], and [*spi_open*]. + +i2c_addr::0-0x7F +The address of a device on the I2C bus. + +i2c_bus::>=0 +An I2C bus number. + +i2c_flags::0 +Flags which modify an I2C open command. None are currently defined. + +i2c_reg:: 0-255 +A register of an I2C device. + +*inBuf:: +A buffer used to pass data to a function. + +inLen:: +The number of bytes of data in a buffer. + +int:: +A whole number, negative or positive. + +int32_t:: +A 32-bit signed value. + +invert:: +A flag used to set normal or inverted bit bang serial data level logic. + +level:: +The level of a GPIO. Low or High. + +. . +PI_OFF 0 +PI_ON 1 + +PI_CLEAR 0 +PI_SET 1 + +PI_LOW 0 +PI_HIGH 1 +. . + +There is one exception. If a watchdog expires on a GPIO the level will be +reported as PI_TIMEOUT. See [*set_watchdog*]. + +. . +PI_TIMEOUT 2 +. . + +MISO:: +The GPIO used for the MISO signal when bit banging SPI. + +mode:: +1. The operational mode of a GPIO, normally INPUT or OUTPUT. + +. . +PI_INPUT 0 +PI_OUTPUT 1 +PI_ALT0 4 +PI_ALT1 5 +PI_ALT2 6 +PI_ALT3 7 +PI_ALT4 3 +PI_ALT5 2 +. . + +2. The mode of waveform transmission. + +. . +PI_WAVE_MODE_ONE_SHOT 0 +PI_WAVE_MODE_REPEAT 1 +PI_WAVE_MODE_ONE_SHOT_SYNC 2 +PI_WAVE_MODE_REPEAT_SYNC 3 +. . + +3. A file open mode. + +. . +PI_FILE_READ 1 +PI_FILE_WRITE 2 +PI_FILE_RW 3 +. . + +The following values can be or'd into the mode. + +. . +PI_FILE_APPEND 4 +PI_FILE_CREATE 8 +PI_FILE_TRUNC 16 +. . + +MOSI:: +The GPIO used for the MOSI signal when bit banging SPI. + +numBytes:: +The number of bytes used to store characters in a string. Depending +on the number of bits per character there may be 1, 2, or 4 bytes +per character. + +numPar:: 0-10 +The number of parameters passed to a script. + +numPulses:: +The number of pulses to be added to a waveform. + +offset:: +The associated data starts this number of microseconds from the start of +the waveform. + +*outBuf:: +A buffer used to return data from a function. + +outLen:: +The size in bytes of an output buffer. + +pad:: 0-2 +A set of GPIO which share common drivers. + +Pad @ GPIO +0 @ 0-27 +1 @ 28-45 +2 @ 46-53 + +padStrength:: 1-16 +The mA which may be drawn from each GPIO whilst still guaranteeing the +high and low levels. + +*param:: +An array of script parameters. + +pi:: +An integer defining a connected Pi. The value is returned by +[*pigpio_start*] upon success. + +*portStr:: +A string specifying the port address used by the Pi running +the pigpio daemon. It may be NULL in which case "8888" +is used unless overridden by the PIGPIO_PORT environment +variable. + +*pth:: +A thread identifier, returned by [*start_thread*]. + + +pthread_t:: +A thread identifier. + +pud::0-2 +The setting of the pull up/down resistor for a GPIO, which may be off, +pull-up, or pull-down. +. . +PI_PUD_OFF 0 +PI_PUD_DOWN 1 +PI_PUD_UP 2 +. . + +pulseLen:: +1-100, the length of a trigger pulse in microseconds. + +*pulses:: +An array of pulses to be added to a waveform. + +pulsewidth::0, 500-2500 +. . +PI_SERVO_OFF 0 +PI_MIN_SERVO_PULSEWIDTH 500 +PI_MAX_SERVO_PULSEWIDTH 2500 +. . + +PWMduty::0-1000000 (1M) +The hardware PWM dutycycle. + +. . +#define PI_HW_PWM_RANGE 1000000 +. . + +PWMfreq::1-125000000 (125M) +The hardware PWM frequency. + +. . +#define PI_HW_PWM_MIN_FREQ 1 +#define PI_HW_PWM_MAX_FREQ 125000000 +. . + +range::25-40000 +The permissible dutycycle values are 0-range. +. . +PI_MIN_DUTYCYCLE_RANGE 25 +PI_MAX_DUTYCYCLE_RANGE 40000 +. . + +*retBuf:: +A buffer to hold a number of bytes returned to a used customised function, + +retMax:: +The maximum number of bytes a user customised function should return. + + +*rxBuf:: +A pointer to a buffer to receive data. + +SCL:: +The user GPIO to use for the clock when bit banging I2C. + +SCLK:: +The GPIO used for the SCLK signal when bit banging SPI. + +*script:: +A pointer to the text of a script. + +script_id:: +An id of a stored script as returned by [*store_script*]. + +*scriptName:: +The name of a [*shell_*] script to be executed. The script must be present in +/opt/pigpio/cgi and must have execute permission. + +*scriptString:: +The string to be passed to a [*shell_*] script to be executed. + +SDA:: +The user GPIO to use for data when bit banging I2C. + +seconds:: +The number of seconds. + +seekFrom:: + +. . +PI_FROM_START 0 +PI_FROM_CURRENT 1 +PI_FROM_END 2 +. . + +seekOffset:: +The number of bytes to move forward (positive) or backwards (negative) +from the seek position (start, current, or end of file). + +ser_flags:: +Flags which modify a serial open command. None are currently defined. + +*ser_tty:: +The name of a serial tty device, e.g. /dev/ttyAMA0, /dev/ttyUSB0, /dev/tty1. + +size_t:: +A standard type used to indicate the size of an object in bytes. + +spi_channel:: +A SPI channel, 0-2. + +spi_flags:: +See [*spi_open*] and [*bb_spi_open*]. + +steady:: 0-300000 + +The number of microseconds level changes must be stable for +before reporting the level changed ([*set_glitch_filter*]) or triggering +the active part of a noise filter ([*set_noise_filter*]). + +stop_bits::2-8 +The number of (half) stop bits to be used when adding serial data +to a waveform. + +. . +#define PI_MIN_WAVE_HALFSTOPBITS 2 +#define PI_MAX_WAVE_HALFSTOPBITS 8 +. . + +*str:: + An array of characters. + +thread_func:: +A function of type gpioThreadFunc_t used as the main function of a +thread. + +timeout:: +A GPIO watchdog timeout in milliseconds. +. . +PI_MIN_WDOG_TIMEOUT 0 +PI_MAX_WDOG_TIMEOUT 60000 +. . + +*txBuf:: +An array of bytes to transmit. + +uint32_t::0-0-4,294,967,295 (Hex 0x0-0xFFFFFFFF) +A 32-bit unsigned value. + +unsigned:: +A whole number >= 0. + +user_gpio:: +0-31, a Broadcom numbered GPIO. + +See [*gpio*]. + +*userdata:: + +A pointer to arbitrary user data. This may be used to identify the instance. + +You must ensure that the pointer is in scope at the time it is processed. If +it is a pointer to a global this is automatic. Do not pass the address of a +local variable. If you want to pass a transient object then use the +following technique. + +In the calling function: + +user_type *userdata; +user_type my_userdata; + +userdata = malloc(sizeof(user_type)); +*userdata = my_userdata; + +In the receiving function: + +user_type my_userdata = *(user_type*)userdata; + +free(userdata); + +void:: +Denoting no parameter is required + +wave_add_*:: +One of [*wave_add_new*], [*wave_add_generic*], [*wave_add_serial*]. + +wave_id:: +A number representing a waveform created by [*wave_create*]. + +wave_send_*:: +One of [*wave_send_once*], [*wave_send_repeat*]. + +wVal::0-65535 (Hex 0x0-0xFFFF, Octal 0-0177777) +A 16-bit word value. + +PARAMS*/ + +/*DEF_S pigpiod_if2 Error Codes*/ + +typedef enum +{ + pigif_bad_send = -2000, + pigif_bad_recv = -2001, + pigif_bad_getaddrinfo = -2002, + pigif_bad_connect = -2003, + pigif_bad_socket = -2004, + pigif_bad_noib = -2005, + pigif_duplicate_callback = -2006, + pigif_bad_malloc = -2007, + pigif_bad_callback = -2008, + pigif_notify_failed = -2009, + pigif_callback_not_found = -2010, + pigif_unconnected_pi = -2011, + pigif_too_many_pis = -2012, +} pigifError_t; + +/*DEF_E*/ + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if2.o b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if2.o new file mode 100644 index 0000000..2f0d1ce Binary files /dev/null and b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigpiod_if2.o differ diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigs.1 b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigs.1 new file mode 100644 index 0000000..f8fcb7a --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigs.1 @@ -0,0 +1,5400 @@ + +." Process this file with +." groff -man -Tascii foo.1 +." +.TH pigs 1 2012-2015 Linux "pigpio archive" +.SH NAME +pigs - command line socket access to the pigpio daemon. + +/dev/pigpio - command line pipe access to the pigpio daemon. + +.SH SYNOPSIS + +.B sudo pigpiod + +then + +.B pigs {command}+ + +or + +.B "echo {command}+ >/dev/pigpio" + +.SH DESCRIPTION + +.ad l + +.nh + + +.br +The socket and pipe interfaces allow control of the GPIO by passing +messages to the running pigpio library. + +.br +The normal way to start the pigpio library would be as a daemon during boot. + +.br + +.EX +sudo pigpiod +.br + +.EE + +.br +pigs is a program and internally uses the socket interface to pigpio +whereas /dev/pigpio uses the pipe interface. + +.br +.SS Features +.br +o hardware timed PWM on any of GPIO 0-31 + +.br +o hardware timed servo pulses on any of GPIO 0-31 + +.br +o reading/writing all of the GPIO in a bank as one operation + +.br +o individually setting GPIO modes, reading and writing + +.br +o notifications when any of GPIO 0-31 change state + +.br +o the construction of output waveforms with microsecond timing + +.br +o I2C, SPI, and serial link wrappers + +.br +o creating and running scripts on the pigpio daemon + +.br +.SS GPIO +.br +ALL GPIO are identified by their Broadcom number. + +.br +.SS Usage +.br +pigs and the socket interface share the same commands and are invoked in +a similar fashion from the command line. + +.br +The pigpio library must be running, either by running a program linked +with the library or starting the pigpio daemon (sudo pigpiod). + +.br +pigs {command}+ + +.br +echo "{command}+" >/dev/pigpio + +.br +pigs will show the result of the command on screen. + +.br +The results of /dev/pigpio commands need to be read from /dev/pigout, +e.g. cat /dev/pigout (try cat /dev/pigout& so that all subsequent +results are shown on screen). + +.br +In both cases if an error was detected a message will have been written +to /dev/pigerr (try cat /dev/pigerr&). This is likely to be more +informative than the message returned by pigs or the error code +returned by the pipe interface. + +.br +Several commands may be entered on a line. If present PROC and PARSE must +be the last command on a line. + +.br +E.g. + +.br + +.EX +pigs w 22 1 mils 1000 w 22 0 +.br + +.EE + +.br +is equivalent to + +.br + +.EX +pigs w 22 1 +.br +pigs mils 1000 +.br +pigs w 22 0 +.br + +.EE + +.br +and + +.br + +.EX +echo "m 4 w w 4 0 mils 250 m 4 r r 4" >/dev/pigpio +.br + +.EE + +.br +is equivalent to + +.br + +.EX +echo "m 4 w" >/dev/pigpio +.br +echo "w 4 0" >/dev/pigpio +.br +echo "mils 250" >/dev/pigpio +.br +echo "m 4 r" >/dev/pigpio +.br +echo "r 4" >/dev/pigpio +.br + +.EE + +.br +.SS Notes +.br +The examples from now on will show the pigs interface but the same +commands will also work on the pipe interface. + +.br +pigs does not show the status of successful commands unless the +command itself returns data. The status (0) will be returned to +pigs but will be discarded. + +.br +The status/data of each command sent to the pipe interface should +be read from /dev/pigout. + +.br +When a command takes a number as a parameter it may be entered as hex +(precede by 0x), octal (precede by 0), or decimal. + +.br +E.g. 23 is 23 decimal, 0x100 is 256 decimal, 070 is 56 decimal. + +.br + +.SH COMMANDS + +.br + +.IP "\fBBC1 bits\fP - Clear specified GPIO in bank 1" +.IP "" 4 +This command clears (sets low) the GPIO specified by \fBbits\fP in bank 1. +Bank 1 consists of GPIO 0-31. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs bc1 0x400010 # clear GPIO 4 (1<<4) and 22 (1<<22) +.br + +.br +$ pigs bc1 32 # clear GPIO 5 (1<<5) +.br +-42 +.br +ERROR: no permission to update one or more GPIO +.br + +.EE + +.br + +.IP "\fBBC2 bits\fP - Clear specified GPIO in bank 2" +.IP "" 4 +This command clears (sets low) the GPIO specified by \fBbits\fP in bank 2. +Bank 2 consists of GPIO 32-53. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs bc2 0x8000 # clear GPIO 47 (activity LED on A+/B+/Pi2/Pi3) +.br + +.br +$ pigs bc2 1 # clear GPIO 32 (first in bank 2) +.br +-42 +.br +ERROR: no permission to update one or more GPIO +.br + +.EE + +.br + +.IP "\fBBI2CC sda\fP - Close bit bang I2C" +.IP "" 4 +This command signals that bit banging I2C on \fBsda\fP (and \fBscl\fP) is no +longer required. + +.br + +\fBExample\fP +.br + +.EX +$ pigs bi2cc 5 +.br + +.EE + +.br + +.IP "\fBBI2CO sda scl b\fP - Open bit bang I2C" +.IP "" 4 +This command signals that GPIO \fBsda\fP and \fBscl\fP are to be used +for bit banging I2C at \fBb\fP baud. + +.br +Bit banging I2C allows for certain operations which are not possible +with the standard I2C driver. + +.br +o baud rates as low as 50 +.br +o repeated starts +.br +o clock stretching +.br +o I2C on any pair of spare GPIO + +.br +The baud rate may be between 50 and 500000 bits per second. + +.br +The GPIO used for SDA and SCL must have pull-ups to 3V3 connected. As +a guide the hardware pull-ups on pins 3 and 5 are 1k8 in value. + +.br + +.IP "\fBBI2CZ sda bvs\fP - I2C bit bang multiple transactions" +.IP "" 4 +This function executes a sequence of bit banged I2C operations. The +operations to be performed are specified by the contents of \fBbvs\fP +which contains the concatenated command codes and associated data. + +.br +The following command codes are supported: + +.br + +.EX +Name Cmd & Data Meaning +End 0 No more commands +Escape 1 Next P is two bytes +Start 2 Start condition +Stop 3 Stop condition +Address 4 P Set I2C address to P +Flags 5 lsb msb Set I2C flags to lsb + (msb << 8) +Read 6 P Read P bytes of data +Write 7 P ... Write P bytes of data + +.EE + +.br +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +.br +The address and flags default to 0. The address and flags maintain +their previous value until updated. + +.br +No flags are currently defined. + +.br + +\fBExample\fP +.br + +.EX +Set address 0x53 +.br +start, write 0x32, (re)start, read 6 bytes, stop +.br +Set address 0x1E +.br +start, write 0x03, (re)start, read 6 bytes, stop +.br +Set address 0x68 +.br +start, write 0x1B, (re)start, read 8 bytes, stop +.br +End +.br + +.br +0x04 0x53 +.br +0x02 0x07 0x01 0x32 0x02 0x06 0x06 0x03 +.br + +.br +0x04 0x1E +.br +0x02 0x07 0x01 0x03 0x02 0x06 0x06 0x03 +.br + +.br +0x04 0x68 +.br +0x02 0x07 0x01 0x1B 0x02 0x06 0x08 0x03 +.br + +.br +0x00 +.br + +.EE + +.br + +.IP "\fBBR1 \fP - Read bank 1 GPIO" +.IP "" 4 +This command read GPIO 0-31 (bank 1) and returns the levels as a +32-bit hexadecimal value. + +.br + +\fBExample\fP +.br + +.EX +$ pigs br1 +.br +1001C1CF +.br + +.EE + +.br + +.IP "\fBBR2 \fP - Read bank 2 GPIO" +.IP "" 4 +This command read GPIO 32-53 (bank 2) and returns the levels as a +32-bit hexadecimal value. + +.br + +\fBExample\fP +.br + +.EX +$ pigs br2 +.br +003F0000 +.br + +.EE + +.br + +.IP "\fBBS1 bits\fP - Set specified GPIO in bank 1" +.IP "" 4 +This command sets (sets high) the GPIO specified by \fBbits\fP in bank 1. +Bank 1 consists of GPIO 0-31. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs bs1 16 # set GPIO 4 (1<<4) +.br + +.br +$ pigs bs1 1 # set GPIO 1 (1<<0) +.br +-42 +.br +ERROR: no permission to update one or more GPIO +.br + +.EE + +.br + +.IP "\fBBS2 bits\fP - Set specified GPIO in bank 2" +.IP "" 4 +This command sets (sets high) the GPIO specified by \fBbits\fP in bank 2. +Bank 2 consists of GPIO 32-53. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs bs2 0x40 # set GPIO 38 (enable high current mode A+/B+/Pi2/Pi3) +.br + +.br +$ pigs bs2 1 # set GPIO 32 (first in bank 2) +.br +-42 +.br +ERROR: no permission to update one or more GPIO +.br + +.EE + +.br + +.IP "\fBBSPIC cs\fP - Close bit bang SPI" +.IP "" 4 + +.br +This function stops bit banging SPI on a set of GPIO +opened with \fBBSPIO\fP. + +.br +The set of GPIO is specifed by \fBcs\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs bspic 10 +.br + +.br +$ pigs bspic 10 +.br +-142 +.br +ERROR: no bit bang SPI in progress on GPIO +.br + +.EE + +.br + +.IP "\fBBSPIO cs miso mosi sclk b spf\fP - Open bit bang SPI" +.IP "" 4 + +.br +This command starts bit banging SPI on a group of GPIO with slave +select \fBcs\fP, MISO \fBmiso\fP, MOSI \fBmosi\fP, and clock \fBsclk\fP. + +.br +Data will be transferred at baud \fBb\fP bits per second (which may +be set in the range 50-250000). + +.br +The flags \fBspf\fP may be used to modify the default behaviour of +mode 0, active low chip select. + +.br +The flags consists of the least significant 22 bits. + +.br + +.EX +21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 +.br + 0 0 0 0 0 0 R T 0 0 0 0 0 0 0 0 0 0 0 p m m +.br + +.EE + +.br +mm defines the SPI mode. + +.br + +.EX +Mode POL PHA +.br + 0 0 0 +.br + 1 0 1 +.br + 2 1 0 +.br + 3 1 1 +.br + +.EE + +.br +p is 0 if CS is active low (default) and 1 for active high. + +.br +T is 1 if the least significant bit is transmitted on MOSI first, the +default (0) shifts the most significant bit out first. + +.br +R is 1 if the least significant bit is received on MISO first, the +default (0) receives the most significant bit first. + +.br +The other bits in flags should be set to zero. + +.br +Upon success 0 is returned. On error a negative status code +will be returned. + +.br +If more than one device is connected to the SPI bus (defined by +SCLK, MOSI, and MISO) each must have its own CS. + +.br + +\fBExample\fP +.br + +.EX +$ pigs bspio 9 11 12 13 50000 0 +.br + +.br +$ pigs bspio 10 11 12 13 50000 0 +.br + +.br +$ pigs bspio 29 19 20 21 50000 0 # GPIO 29 not avaialble on this Pi +.br +-41 +.br +ERROR: no permission to update GPIO +.br + +.EE + +.br + +.IP "\fBBSPIX cs bvs\fP - SPI bit bang transfer" +.IP "" 4 + +.br +This command writes bytes \fBbvs\fP to the bit bang SPI device +associated with slave select \fBcs\fP. It returns the same +number of bytes read from the device. + +.br +Upon success the count of returned bytes followed by the bytes themselves +is returned. On error a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs bspio 5 13 19 12 10000 0 # MCP4251 DAC +.br +$ pigs bspio 6 13 19 12 20000 3 # MCP3008 ADC +.br + +.br +$ pigs bspix 5 0 16 # set DAC to 16 +.br +2 255 255 +.br + +.br +$ pigs bspix 5 12 0 # read back DAC +.br +2 254 16 +.br + +.br +$ pigs bspix 6 1 128 0 # read ADC input 0 +.br +3 0 3 184 # 952 +.br + +.br +$ pigs bspix 5 0 240 # set DAC to 240 +.br +2 255 255 +.br + +.br +$ pigs bspix 5 12 0 # read back DAC +.br +2 254 240 +.br + +.br +$ pigs bspix 6 1 128 0 # read ADC input 0 +.br +3 0 0 63 # 63 +.br + +.br +$ pigs bspix 5 0 128 # set DAC to 128 +.br +2 255 255 +.br + +.br +$ pigs bspix 5 12 0 # read back DAC +.br +2 254 128 +.br + +.br +$ pigs bspix 6 1 128 0 # read ADC input 0 +.br +3 0 1 255 # 511 +.br + +.br +$ pigs bspic 5 # close SPI CS 5 +.br +$ pigs bspic 6 # close SPI CS 6 +.br + +.br +$ pigs bspic 5 # try to close SPI CS 5 again +.br +-142 +.br +ERROR: no bit bang SPI in progress on GPIO +.br + +.EE + +.br + +.br + +.IP "\fBCF1 uvs\fP - Custom function 1" +.IP "" 4 + +.br +This command calls a user customised function. The meaning of +any paramaters and the returned value is defined by the +customiser. + +.br + +.IP "\fBCF2 uvs\fP - Custom function 2" +.IP "" 4 + +.br +This command calls a user customised function. The meaning of +any paramaters and the returned value is defined by the +customiser. + +.br + +.IP "\fBCGI \fP - Configuration get internals" +.IP "" 4 +This command returns the value of the internal library +configuration settings. + +.br + +.IP "\fBCSI v\fP - Configuration set internals" +.IP "" 4 +This command sets the value of the internal library +configuration settings to \fBv\fP. + +.br + +.IP "\fBFC h\fP - Close file handle" +.IP "" 4 +This command closes a file handle \fBh\fP previously opened with \fBFO\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs fc 0 # First close okay. +.br + +.br +$ pigs fc 0 # Second fails. +.br +-25 +.br +ERROR: unknown handle +.br + +.EE + +.br + +.IP "\fBFG u stdy\fP - Set a glitch filter on a GPIO" +.IP "" 4 + +.br +Level changes on the GPIO \fBu\fP are not reported unless the level +has been stable for at least \fBstdy\fP microseconds. The +level is then reported. Level changes of less than \fBstdy\fP +microseconds are ignored. + +.br +Note, each (stable) edge will be timestamped \fBstdy\fP microseconds +after it was first detected. + +.br + +\fBExample\fP +.br + +.EX +$ pigs fg 4 250 +.br + +.br +$ pigs fg 4 1000000 +.br +-125 +.br +ERROR: bad filter parameter +.br + +.EE + +.br + +.IP "\fBFL pat num\fP - List files which match pattern" +.IP "" 4 +This command returns a list of the files matching \fBpat\fP. Up +to \fBnum\fP bytes may be returned. + +.br +Upon success the count of returned bytes followed by the matching +files is returned. On error a negative status code will be returned. + +.br +A newline (0x0a) character separates each file name. + +.br +Only files which have a matching entry in /opt/pigpio/access may +be listed. + +.br +Suppose /opt/pigpio/access contains + +.br +/sys/bus/w1/devices/28*/w1_slave r + +.br + +\fBExample\fP +.br + +.EX +$ pigs -a fl "/sys/bus/w1/devices/28*/w1_slave" 5000 +.br +90 /sys/bus/w1/devices/28-000005d34cd2/w1_slave +.br +/sys/bus/w1/devices/28-001414abbeff/w1_slave +.br + +.br +$ pigs -a fl "/sys/bus/*" 5000 +.br +ERROR: no permission to access file +.br +-137 +.br + +.EE + +.br + +.IP "\fBFN u stdy actv\fP - Set a noise filter on a GPIO" +.IP "" 4 + +.br +Level changes on the GPIO \fBu\fP are ignored until a level which has +been stable for \fBstdy\fP microseconds is detected. Level +changes on the GPIO are then reported for \fBactv\fP microseconds +after which the process repeats. + +.br +Note, level changes before and after the active period may +be reported. Your software must be designed to cope with +such reports. + +.br + +\fBExample\fP +.br + +.EX +$ pigs fn 7 250 1000 +.br + +.br +$ pigs fn 7 2500000 1000 +.br +-125 +.br +ERROR: bad filter parameter +.br + +.EE + +.br + +.IP "\fBFO file mode\fP - Open a file in mode" +.IP "" 4 +This function returns a handle to a file \fBfile\fP opened +in a specified mode \fBmode\fP. + +.br +Upon success a handle (>=0) is returned. On error a negative status code +will be returned. + +.br +File + +.br +A file may only be opened if permission is granted by an entry in +/opt/pigpio/access. This is intended to allow remote access to files +in a more or less controlled manner. + +.br +Each entry in /opt/pigpio/access takes the form of a file path +which may contain wildcards followed by a single letter permission. +The permission may be R for read, W for write, U for read/write, +and N for no access. + +.br +Where more than one entry matches a file the most specific rule +applies. If no entry matches a file then access is denied. + +.br +Suppose /opt/pigpio/access contains the following entries + +.br + +.EX +/home/* n +.br +/home/pi/shared/dir_1/* w +.br +/home/pi/shared/dir_2/* r +.br +/home/pi/shared/dir_3/* u +.br +/home/pi/shared/dir_1/file.txt n +.br + +.EE + +.br +Files may be written in directory dir_1 with the exception +of file.txt. + +.br +Files may be read in directory dir_2. + +.br +Files may be read and written in directory dir_3. + +.br +If a directory allows read, write, or read/write access then files may +be created in that directory. + +.br +In an attempt to prevent risky permissions the following paths are +ignored in /opt/pigpio/access. + +.br + +.EX +a path containing .. +.br +a path containing only wildcards (*?) +.br +a path containing less than two non-wildcard parts +.br + +.EE + +.br +Mode + +.br +The mode may have the following values. + +.br + +.EX + Value Meaning +READ 1 open file for reading +WRITE 2 open file for writing +RW 3 open file for reading and writing + +.EE + +.br +The following values may be or'd into the mode. + +.br + +.EX + Value Meaning +APPEND 4 All writes append data to the end of the file +CREATE 8 The file is created if it doesn't exist +TRUNC 16 The file is truncated + +.EE + +.br +Newly created files are owned by root with permissions owner read and write. + +.br + +\fBExample\fP +.br + +.EX +$ ls /ram/*.c +.br +/ram/command.c /ram/pigpiod.c /ram/pigs.c +.br +/ram/x_pigpiod_if.c /ram/pig2vcd.c /ram/pigpiod_if2.c +.br +/ram/x_pigpio.c /ram/x_repeat.c /ram/pigpio.c +.br +/ram/pigpiod_if.c /ram/x_pigpiod_if2.c +.br + +.br +# assumes /opt/pigpio/access contains the following line +.br +# /ram/*.c r +.br + +.br +$ pigs fo /ram/pigpio.c 1 +.br +0 +.br + +.br +$ pigs fo /ram/new.c 1 +.br +-128 +.br +ERROR: file open failed +.br + +.br +$ pigs fo /ram/new.c 9 +.br +1 +.br + +.br +$ ls /ram/*.c -l +.br +-rw-r--r-- 1 joan joan 42923 Jul 10 11:22 /ram/command.c +.br +-rw------- 1 root root 0 Jul 10 16:54 /ram/new.c +.br +-rw-r--r-- 1 joan joan 2971 Jul 10 11:22 /ram/pig2vcd.c +.br +-rw------- 1 joan joan 296235 Jul 10 11:22 /ram/pigpio.c +.br +-rw-r--r-- 1 joan joan 9266 Jul 10 11:22 /ram/pigpiod.c +.br +-rw-r--r-- 1 joan joan 37331 Jul 10 11:22 /ram/pigpiod_if2.c +.br +-rw-r--r-- 1 joan joan 33088 Jul 10 11:22 /ram/pigpiod_if.c +.br +-rw-r--r-- 1 joan joan 7990 Jul 10 11:22 /ram/pigs.c +.br +-rw-r--r-- 1 joan joan 19970 Jul 10 11:22 /ram/x_pigpio.c +.br +-rw-r--r-- 1 joan joan 20804 Jul 10 11:22 /ram/x_pigpiod_if2.c +.br +-rw-r--r-- 1 joan joan 19844 Jul 10 11:22 /ram/x_pigpiod_if.c +.br +-rw-r--r-- 1 joan joan 19907 Jul 10 11:22 /ram/x_repeat.c +.br + +.EE + +.br + +.IP "\fBFR h num\fP - Read bytes from file handle" +.IP "" 4 +This command returns up to \fBnum\fP bytes of data read from the +file associated with handle \fBh\fP. + +.br +Upon success the count of returned bytes followed by the bytes themselves +is returned. On error a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs fr 0 10 +.br +5 48 49 128 144 255 +.br + +.br +$ pigs fr 0 10 +.br +0 +.br + +.EE + +.br + +.IP "\fBFS h num from\fP - Seek to file handle position" +.IP "" 4 +This command seeks to a position within the file associated +with handle \fBh\fP. + +.br +The number of bytes to move is \fBnum\fP. Positive offsets +move forward, negative offsets backwards. The move start +position is determined by \fBfrom\fP as follows. + +.br + +.EX + From +0 start +1 current position +2 end + +.EE + +.br +Upon success the new byte position within the file (>=0) is +returned. On error a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs fs 0 200 0 # Seek to start of file plus 200 +.br +200 +.br + +.br +$ pigs fs 0 0 1 # Return current position +.br +200 +.br + +.br +$ pigs fs 0 0 2 # Seek to end of file, return size +.br +296235 +.br + +.EE + +.br + +.IP "\fBFW h bvs\fP - Write bytes to file handle" +.IP "" 4 +This command writes bytes \fBbvs\fP to the file +associated with handle \fBh\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs fw 0 23 45 67 89 +.br + +.EE + +.br + +.IP "\fBGDC u\fP - Get GPIO PWM dutycycle" +.IP "" 4 + +.br +This command returns the PWM dutycycle in use on GPIO \fBu\fP. + +.br +Upon success the dutycycle is returned. On error a negative +status code will be returned. + +.br +For normal PWM the dutycycle will be out of the defined range +for the GPIO (see \fBPRG\fP). + +.br +If a hardware clock is active on the GPIO the reported +dutycycle will be 500000 (500k) out of 1000000 (1M). + +.br +If hardware PWM is active on the GPIO the reported dutycycle +will be out of a 1000000 (1M). + +.br + +\fBExample\fP +.br + +.EX +$ pigs p 4 129 +.br +$ pigs gdc 4 +.br +129 +.br + +.br +pigs gdc 5 +.br +-92 +.br +ERROR: GPIO is not in use for PWM +.br + +.EE + +.br + +.IP "\fBGPW u\fP - Get GPIO servo pulsewidth" +.IP "" 4 + +.br +This command returns the servo pulsewidth in use on GPIO \fBu\fP. + +.br +Upon success the servo pulsewidth is returned. On error a negative +status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs s 4 1235 +.br +$ pigs gpw 4 +.br +1235 +.br + +.br +$ pigs gpw 9 +.br +-93 +.br +ERROR: GPIO is not in use for servo pulses +.br + +.EE + +.br + +.IP "\fBH/HELP \fP - Display command help" +.IP "" 4 +This command displays a brief list of the commands and their parameters. + +.br + +\fBExample\fP +.br + +.EX +$ pigs h +.br + +.br +$ pigs help +.br + +.EE + +.br + +.IP "\fBHC g cf\fP - Set hardware clock frequency" +.IP "" 4 +This command sets the hardware clock associated with GPIO \fBg\fP to +frequency \fBcf\fP. Frequencies above 30MHz are unlikely to work. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs hc 4 5000 # start a 5 KHz clock on GPIO 4 (clock 0) +.br + +.br +$ pigs hc 5 5000000 # start a 5 MHz clcok on GPIO 5 (clock 1) +.br +-99 +.br +ERROR: need password to use hardware clock 1 +.br + +.EE + +.br +The same clock is available on multiple GPIO. The latest +frequency setting will be used by all GPIO which share a clock. + +.br +The GPIO must be one of the following. + +.br + +.EX +4 clock 0 All models +5 clock 1 All models but A and B (reserved for system use) +6 clock 2 All models but A and B +20 clock 0 All models but A and B +21 clock 1 All models but A and B (Rev. 2) (reserved for system use) + +.EE + +.br + +.EX +32 clock 0 Compute module only +34 clock 0 Compute module only +42 clock 1 Compute module only (reserved for system use) +43 clock 2 Compute module only +44 clock 1 Compute module only (reserved for system use) + +.EE + +.br +Access to clock 1 is protected by a password as its use will +likely crash the Pi. The password is given by or'ing 0x5A000000 +with the GPIO number. + +.br + +.IP "\fBHP g pf pdc\fP - Set hardware PWM frequency and dutycycle" +.IP "" 4 +This command sets the hardware PWM associated with GPIO \fBg\fP to +frequency \fBpf\fP with dutycycle \fBpdc\fP. Frequencies above 30MHz +are unlikely to work. + +.br +NOTE: Any waveform started by \fBWVTX\fP, \fBWVTXR\fP, or \fBWVCHA\fP +will be cancelled. + +.br +This function is only valid if the pigpio main clock is PCM. The +main clock defaults to PCM but may be overridden when the pigpio +daemon is started (option -t). + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +.EX +$ pigs hp 18 100 800000 # 80% dutycycle +.br + +.br +$ pigs hp 19 100 200000 # 20% dutycycle +.br + +.br +$ pigs hp 19 125000001 100000 +.br +-96 +.br +ERROR: hardware PWM frequency not 1-125M +.br + +.EE + +.br +The same PWM channel is available on multiple GPIO. The latest +frequency and dutycycle setting will be used by all GPIO which +share a PWM channel. + +.br +The GPIO must be one of the following. + +.br + +.EX +12 PWM channel 0 All models but A and B +13 PWM channel 1 All models but A and B +18 PWM channel 0 All models +19 PWM channel 1 All models but A and B + +.EE + +.br + +.EX +40 PWM channel 0 Compute module only +41 PWM channel 1 Compute module only +45 PWM channel 1 Compute module only +52 PWM channel 0 Compute module only +53 PWM channel 1 Compute module only + +.EE + +.br +The actual number of steps beween off and fully on is the +integral part of 250 million divided by \fBpf\fP. + +.br +The actual frequency set is 250 million / steps. + +.br +There will only be a million steps for a \fBpf\fP of 250. +Lower frequencies will have more steps and higher +frequencies will have fewer steps. \fBpdc\fP is +automatically scaled to take this into account. + +.br + +.IP "\fBHWVER \fP - Get hardware version" +.IP "" 4 +This command returns the hardware revision of the Pi. + +.br +The hardware revision is found in the last 4 characters on the revision +line of /proc/cpuinfo. + +.br +If the hardware revision can not be found or is not a valid hexadecimal +number the command returns 0. + +.br +The revision number can be used to determine the assignment of GPIO +to pins (see \fBg\fP). + +.br +There are currently three types of board. + +.br +Type 1 boards have hardware revision numbers of 2 and 3. + +.br +Type 2 boards have hardware revision numbers of 4, 5, 6, and 15. + +.br +Type 3 boards have hardware revision numbers of 16 or greater. + +.br +for "Revision : 0002" the command returns 2. + +.br +for "Revision : 000f" the command returns 15. + +.br +for "Revision : 000g" the command returns 0. + +.br + +\fBExample\fP +.br + +.EX +$ pigs hwver # On a B+ +.br +16 +.br + +.EE + +.br + +.IP "\fBI2CC h\fP - Close I2C handle" +.IP "" 4 +This command closes an I2C handle \fBh\fP previously opened with \fBI2CO\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2cc 0 # First close okay. +.br + +.br +$ pigs i2cc 0 # Second fails. +.br +-25 +.br +ERROR: unknown handle +.br + +.EE + +.br + +.IP "\fBI2CO ib id if\fP - Open I2C bus and device with flags" +.IP "" 4 +This command returns a handle to access device \fBid\fP on I2C bus \fBib\fP. +The device is opened with flags \fBif\fP. + +.br +Physically buses 0 and 1 are available on the Pi. Higher +numbered buses will be available if a kernel supported bus +multiplexor is being used. + +.br +No flags are currently defined. The parameter \fBif\fP should be 0. + +.br +Upon success the next free handle (>=0) is returned. On error a +negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2co 1 0x70 0 # Bus 1, device 0x70, flags 0. +.br +0 +.br + +.br +$ pigs i2co 1 0x53 0 # Bus 1, device 0x53, flags 0. +.br +1 +.br + +.EE + +.br + +.IP "\fBI2CPC h r wv\fP - smb Process Call: exchange register with word" +.IP "" 4 +This command writes \fBwv\fP to register \fBr\fP of the I2C device +associated with handle \fBh\fP and returns a 16-bit word read from the +device. + +.br +Upon success a value between 0 and 65535 will be returned. On error +a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2cpc 0 37 43210 +.br +39933 +.br + +.br +$ pigs i2cpc 0 256 43210 +.br +ERROR: bad i2c/spi/ser parameter +.br +-81 +.br + +.EE + +.br + +.IP "\fBI2CPK h r bvs\fP - smb Block Process Call: exchange data bytes with register" +.IP "" 4 + +.br +This command writes the data bytes \fBbvs\fP to register \fBr\fP of the I2C device +associated with handle \fBh\fP and returns a device specific number of bytes. + +.br +Upon success the count of returned bytes followed by the bytes themselves +is returned. On error a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2cpk 0 0 0x11 0x12 +.br +6 0 0 0 0 0 0 +.br + +.EE + +.br + +.IP "\fBI2CRB h r\fP - smb Read Byte Data: read byte from register" +.IP "" 4 + +.br +This command returns a single byte read from register \fBr\fP of the I2C device +associated with handle \fBh\fP. + +.br +Upon success a value between 0 and 255 will be returned. On error +a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2crb 0 0 +.br +6 +.br + +.EE + +.br + +.IP "\fBI2CRD h num\fP - i2c Read bytes" +.IP "" 4 + +.br +This command returns \fBnum\fP bytes read from the I2C device associated with +handle \fBh\fP. + +.br +Upon success the count of returned bytes followed by the bytes themselves +is returned. On error a negative status code will be returned. + +.br +This command operates on the raw I2C device. The maximum value of the +parameter \fBnum\fP is dependent on the I2C drivers and the device +itself. pigs imposes a limit of about 8000 bytes. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2crd 0 16 +.br +16 6 24 0 0 0 0 0 0 0 0 0 0 0 0 32 78 +.br + +.EE + +.br + +.IP "\fBI2CRI h r num\fP - smb Read I2C Block Data: read bytes from register" +.IP "" 4 + +.br +This command returns \fBnum\fP bytes from register \fBr\fP of the I2C device +associated with handle \fBh\fP. + +.br +Upon success the count of returned bytes followed by the bytes themselves +is returned. On error a negative status code will be returned. + +.br +The parameter \fBnum\fP may be 1-32. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2cri 0 0 16 +.br +16 237 155 155 155 155 155 155 155 155 155 155 155 155 155 155 155 +.br + +.EE + +.br + +.IP "\fBI2CRK h r\fP - smb Read Block Data: read data from register" +.IP "" 4 + +.br +This command returns between 1 and 32 bytes read from register \fBr\fP of +the I2C device associated with handle \fBh\fP. + +.br +Upon success the count of returned bytes followed by the bytes themselves +is returned. On error a negative status code will be returned. + +.br +The number of bytes of returned data is specific to the device and +register. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2crk 0 0 +.br +6 0 0 0 0 0 0 +.br + +.br +$ pigs i2crk 0 1 +.br +24 0 0 0 0 0 0 0 0 0 0 0 0 120 222 105 215 128 87 195 217 0 0 0 0 +.br + +.EE + +.br + +.IP "\fBI2CRS h\fP - smb Read Byte: read byte" +.IP "" 4 + +.br +This command returns a single byte read from the I2C device +associated with handle \fBh\fP. + +.br +Upon success a value between 0 and 255 will be returned. On error +a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2crs 0 +.br +0 +.br + +.EE + +.br + +.IP "\fBI2CRW h r\fP - smb Read Word Data: read word from register" +.IP "" 4 + +.br +This command returns a single 16 bit word read from register \fBr\fP of +the I2C device associated with handle \fBh\fP. + +.br +Upon success a value between 0 and 65535 will be returned. On error +a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2crw 0 0 +.br +6150 +.br + +.EE + +.br + +.IP "\fBI2CWB h r bv\fP - smb Write Byte Data: write byte to register" +.IP "" 4 + +.br +This command writes a single byte \fBbv\fP to register \fBr\fP of the +I2C device associated with handle \fBh\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2cwb 0 10 0x54 +.br + +.EE + +.br + +.IP "\fBI2CWD h bvs\fP - i2c Write data" +.IP "" 4 + +.br +This command writes a block of bytes \fBbvs\fP to the I2C device +associated with handle \fBh\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +The number of bytes which may be written in one transaction is +dependent on the I2C drivers and the device itself. pigs imposes +a limit of about 500 bytes. + +.br +This command operates on the raw I2C device. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2cwd 0 0x01 0x02 0x03 0x04 +.br + +.EE + +.br + +.IP "\fBI2CWI h r bvs\fP - smb Write I2C Block Data" +.IP "" 4 + +.br +This command writes between 1 and 32 bytes \fBbvs\fP to register \fBr\fP of +the I2C device associated with handle \fBh\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2cwi 0 4 0x01 0x04 0xc0 +.br + +.EE + +.br + +.IP "\fBI2CWK h r bvs\fP - smb Write Block Data: write data to register" +.IP "" 4 + +.br +This command writes between 1 and 32 bytes \fBbvs\fP to register \fBr\fP of +the I2C device associated with handle \fBh\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +pigs i2cwk 0 4 0x01 0x04 0xc0 +.br + +.EE + +.br + +.IP "\fBI2CWQ h bit\fP - smb Write Quick: write bit" +.IP "" 4 + +.br +This command writes a single \fBbit\fP to the I2C device associated +with handle \fBh\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2cwq 0 1 +.br + +.EE + +.br + +.IP "\fBI2CWS h bv\fP - smb Write Byte: write byte" +.IP "" 4 + +.br +This command writes a single byte \fBbv\fP to the I2C device associated +with handle \fBh\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2cws 0 0x12 +.br + +.br +$ pigs i2cws 0 0xff +.br +-82 +.br +ERROR: I2C write failed +.br + +.EE + +.br + +.IP "\fBI2CWW h r wv\fP - smb Write Word Data: write word to register" +.IP "" 4 + +.br +This command writes a single 16 bit word \fBwv\fP to register \fBr\fP of +the I2C device associated with handle \fBh\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs i2cww 0 0 0xffff +.br + +.EE + +.br + +.IP "\fBI2CZ h bvs\fP - Performs multiple I2C transactions" +.IP "" 4 +This command executes a sequence of I2C operations. The +operations to be performed are specified by the contents of \fBbvs\fP +which contains the concatenated command codes and associated data. + +.br +The following command codes are supported: + +.br + +.EX +Name Cmd & Data Meaning +End 0 No more commands +Escape 1 Next P is two bytes +On 2 Switch combined flag on +Off 3 Switch combined flag off +Address 4 P Set I2C address to P +Flags 5 lsb msb Set I2C flags to lsb + (msb << 8) +Read 6 P Read P bytes of data +Write 7 P ... Write P bytes of data + +.EE + +.br +The address, read, and write commands take a parameter P. +Normally P is one byte (0-255). If the command is preceded by +the Escape command then P is two bytes (0-65535, least significant +byte first). + +.br +The address defaults to that associated with the handle \fBh\fP. +The flags default to 0. The address and flags maintain their +previous value until updated. + +.br + +\fBExample\fP +.br + +.EX +Set address 0x53, write 0x32, read 6 bytes +.br +Set address 0x1E, write 0x03, read 6 bytes +.br +Set address 0x68, write 0x1B, read 8 bytes +.br +End +.br + +.br +0x04 0x53 0x07 0x01 0x32 0x06 0x06 +.br +0x04 0x1E 0x07 0x01 0x03 0x06 0x06 +.br +0x04 0x68 0x07 0x01 0x1B 0x06 0x08 +.br +0x00 +.br + +.EE + +.br + +.br + +.IP "\fBM/MODES g m\fP - Set GPIO mode" +.IP "" 4 + +.br +This command sets GPIO \fBg\fP to mode \fBm\fP, typically input (read) +or output (write). + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +Each GPIO can be configured to be in one of 8 different modes. The modes +are named Input, Output, ALT0, ALT1, ALT2, ALT3, ALT4, and ALT5. + +.br +To set the mode use the code for the mode. + +.br + +.EX +Mode Input Output ALT0 ALT1 ALT2 ALT3 ALT4 ALT5 +Code R W 0 1 2 3 4 5 + +.EE + +.br + +\fBExample\fP +.br + +.EX +$ pigs m 4 r # Input (read) +.br +$ pigs m 4 w # Output (write) +.br +$ pigs m 4 0 # ALT 0 +.br +$ pigs m 4 5 # ALT 5 +.br + +.EE + +.br + +.IP "\fBMG/MODEG g\fP - Get GPIO mode" +.IP "" 4 + +.br +This command returns the current mode of GPIO \fBg\fP. + +.br +Upon success the value of the GPIO mode is returned. +On error a negative status code will be returned. + +.br + +.EX +Value 0 1 2 3 4 5 6 7 +Mode Input Output ALT5 ALT4 ALT0 ALT1 ALT2 ALT3 + +.EE + +.br + +\fBExample\fP +.br + +.EX +$ pigs mg 4 +.br +1 +.br + +.EE + +.br + +.IP "\fBMICS v\fP - Microseconds delay" +.IP "" 4 +This command delays execution for \fBv\fP microseconds. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +The main use of this command is expected to be within \fBScripts\fP. + +.br + +\fBExample\fP +.br + +.EX +$ pigs mics 20 # Delay 20 microseconds. +.br +$ pigs mics 1000000 # Delay 1 second. +.br + +.br +$ pigs mics 2000000 +.br +-64 +.br +ERROR: bad MICS delay (too large) +.br + +.EE + +.br + +.IP "\fBMILS v\fP - Milliseconds delay" +.IP "" 4 + +.br +This command delays execution for \fBv\fP milliseconds. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs mils 2000 # Delay 2 seconds. +.br + +.br +$ pigs mils 61000 +.br +-65 +.br +ERROR: bad MILS delay (too large) +.br + +.EE + +.br + +.IP "\fBNB h bits\fP - Start notification" +.IP "" 4 + +.br +This command starts notifications on handle \fBh\fP returned by +a prior call to \fBNO\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +The notification gets state changes for each GPIO specified by \fBbits\fP. + +.br + +\fBExample\fP +.br + +.EX +$ pigs nb 0 -1 # Shorthand for GPIO 0-31. +.br +$ pigs nb 0 0xf0 # Get notifications for GPIO 4-7. +.br + +.br +$ pigs nb 1 0xf +.br +-25 +.br +ERROR: unknown handle +.br + +.EE + +.br + +.IP "\fBNC h\fP - Close notification" +.IP "" 4 + +.br +This command stops notifications on handle \fBh\fP returned by +a prior call to \fBNO\fP and releases the handle for reuse. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs nc 0 # First call succeeds. +.br + +.br +$ pigs nc 1 # Second call fails. +.br +-25 +.br +ERROR: unknown handle +.br + +.EE + +.br + +.IP "\fBNO \fP - Request a notification" +.IP "" 4 + +.br +This command requests a free notification handle. + +.br +A notification is a method for being notified of GPIO state changes via a pipe. + +.br +Upon success the command returns a handle greater than or equal to zero. +On error a negative status code will be returned. + +.br +Notifications for handle x will be available at the pipe named /dev/pigpiox +(where x is the handle number). + +.br +E.g. if the command returns 15 then the notifications must be read +from /dev/pigpio15. + +.br + +\fBExample\fP +.br + +.EX +$ pigs no +.br +0 +.br + +.EE + +.br + +.IP "\fBNP h\fP - Pause notification" +.IP "" 4 + +.br +This command pauses notifications on handle \fBh\fP returned by +a prior call to \fBNO\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +Notifications for the handle are suspended until a new \fBNB\fP command +is given for the handle. + +.br + +\fBExample\fP +.br + +.EX +$ pigs np 0 +.br + +.EE + +.br + +.IP "\fBP/PWM u v\fP - Set GPIO PWM value" +.IP "" 4 + +.br +This command starts PWM on GPIO \fBu\fP with dutycycle \fBv\fP. The dutycycle +varies from 0 (off) to range (fully on). The range defaults to 255. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +This and the servo functionality use the DMA and PWM or PCM peripherals +to control and schedule the pulsewidths and dutycycles. + +.br +The \fBPRS\fP command may be used to change the default range of 255. + +.br + +\fBExample\fP +.br + +.EX +$ pigs p 4 64 # Start PWM on GPIO 4 with 25% dutycycle +.br +$ pigs p 4 128 # 50% +.br +$ pigs p 4 192 # 75% +.br +$ pigs p 4 255 # 100% +.br + +.EE + +.br + +.IP "\fBPADG pad\fP - Get pad drive strength" +.IP "" 4 + +.br +This command gets the \fBpad\fP drive strength \fBpadma\fP in mA. + +.br +Returns the pad drive strength if OK. On error a negative status code +will be returned. + +.br + +.EX +Pad GPIO +0 0-27 +1 28-45 +2 46-53 + +.EE + +.br + +\fBExample\fP +.br + +.EX +$ pigs padg 0 +.br +8 +.br +$ pigs pads 0 16 +.br +$ pigs padg 0 +.br +16 +.br +pigs padg 3 +.br +-126 +.br +ERROR: bad pad number +.br + +.EE + +.br + +.IP "\fBPADS pad padma\fP - Set pad drive strength" +.IP "" 4 + +.br +This command sets the \fBpad\fP drive strength \fBpadma\fP in mA. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +.EX +Pad GPIO +0 0-27 +1 28-45 +2 46-53 + +.EE + +.br + +\fBExample\fP +.br + +.EX +$ pigs pads 0 16 +.br +$ pigs padg 0 +.br +16 +.br +$ pigs pads 0 17 +.br +-127 +.br +ERROR: bad pad drive strength +.br + +.EE + +.br + +.IP "\fBPARSE t\fP - Validate script" +.IP "" 4 + +.br +Validates the text \fBt\fP of a script without storing the script. + +.br +Upon success nothing is returned. On error a list of detected +script errors will be given. + +.br +See \fBScripts\fP. + +.br +This command may be used to find script syntax faults. + +.br + +\fBExample\fP +.br + +.EX +$ pigs parse tag 100 w 22 1 mils 200 w 22 0 mils 800 jmp 100 +.br + +.br +$ pigs parse tag 0 w 22 1 mills 50 w 22 0 dcr p10 jp 99 +.br +Unknown command: mills +.br +Unknown command: 50 +.br +Bad parameter to dcr +.br +Can't resolve tag 99 +.br + +.EE + +.br + +.IP "\fBPFG u\fP - Get GPIO PWM frequency" +.IP "" 4 + +.br +This command returns the PWM frequency in Hz used for GPIO \fBu\fP. + +.br +Upon success the PWM frequency is returned. On error a negative +status code will be returned. + +.br +For normal PWM the frequency will be that defined for the GPIO +by \fBPFS\fP. + +.br +If a hardware clock is active on the GPIO the reported frequency +will be that set by \fBHC\fP. + +.br +If hardware PWM is active on the GPIO the reported frequency +will be that set by \fBHP\fP. + +.br + +\fBExample\fP +.br + +.EX +$ pigs pfg 4 +.br +800 +.br + +.br +$ pigs pfg 34 +.br +ERROR: GPIO not 0-31 +.br +-2 +.br + +.EE + +.br + +.IP "\fBPFS u v\fP - Set GPIO PWM frequency" +.IP "" 4 +This command sets the PWM frequency \fBv\fP to be used for GPIO \fBu\fP. + +.br +The numerically closest frequency to \fBv\fP will be selected. + +.br +Upon success the new frequency is returned. On error a negative status code +will be returned. + +.br +If PWM is currently active on the GPIO it will be +switched off and then back on at the new frequency. + +.br +Each GPIO can be independently set to one of 18 different PWM +frequencies. + +.br +The selectable frequencies depend upon the sample rate which +may be 1, 2, 4, 5, 8, or 10 microseconds (default 5). The +sample rate is set when the pigpio daemon is started. + +.br +The frequencies for each sample rate are: + +.br + +.EX + Hertz +.br + +.br + 1: 40000 20000 10000 8000 5000 4000 2500 2000 1600 +.br + 1250 1000 800 500 400 250 200 100 50 +.br + +.br + 2: 20000 10000 5000 4000 2500 2000 1250 1000 800 +.br + 625 500 400 250 200 125 100 50 25 +.br + +.br + 4: 10000 5000 2500 2000 1250 1000 625 500 400 +.br + 313 250 200 125 100 63 50 25 13 +.br +sample +.br + rate +.br + (us) 5: 8000 4000 2000 1600 1000 800 500 400 320 +.br + 250 200 160 100 80 50 40 20 10 +.br + +.br + 8: 5000 2500 1250 1000 625 500 313 250 200 +.br + 156 125 100 63 50 31 25 13 6 +.br + +.br + 10: 4000 2000 1000 800 500 400 250 200 160 +.br + 125 100 80 50 40 25 20 10 5 +.br + +.EE + +.br + +\fBExample\fP +.br + +.EX +pigs pfs 4 0 # 0 selects the lowest frequency. +.br +10 +.br + +.br +$ pigs pfs 4 1000 # Set 1000Hz PWM. +.br +1000 +.br + +.br +$ pigs pfs 4 100000 # Very big number selects the highest frequency. +.br +8000 +.br + +.EE + +.br + +.IP "\fBPIGPV \fP - Get pigpio library version" +.IP "" 4 + +.br +This command returns the pigpio library version. + +.br + +\fBExample\fP +.br + +.EX +$ pigs pigpv +.br +17 +.br + +.EE + +.br + +.IP "\fBPRG u\fP - Get GPIO PWM range" +.IP "" 4 + +.br +This command returns the dutycycle range for GPIO \fBu\fP. + +.br +Upon success the range is returned. On error a negative status code +will be returned. + +.br +If a hardware clock or hardware PWM is active on the GPIO the reported +range will be 1000000 (1M). + +.br + +\fBExample\fP +.br + +.EX +$ pigs prg 4 +.br +255 +.br + +.EE + +.br + +.IP "\fBPROC t\fP - Store script" +.IP "" 4 + +.br +This command stores a script \fBt\fP for later execution. + +.br +If the script is valid a script id (>=0) is returned which is passed +to the other script commands. On error a negative status code +will be returned. + +.br +See \fBScripts\fP. + +.br + +\fBExample\fP +.br + +.EX +$ pigs proc tag 123 w 4 0 mils 200 w 4 1 mils 300 dcr p0 jp 123 +.br +0 +.br + +.br +$ pigs proc tag 123 w 4 0 mils 5 w 4 1 mils 5 jmp 12 +.br +ERROR: script has unresolved tag +.br +-63 +.br + +.EE + +.br + +.IP "\fBPROCD sid\fP - Delete script" +.IP "" 4 + +.br +This command deletes script \fBsid\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +See \fBScripts\fP. + +.br + +\fBExample\fP +.br + +.EX +$ pigs procd 1 +.br + +.br +$ pigs procd 1 +.br +ERROR: unknown script id +.br +-48 +.br + +.EE + +.br + +.IP "\fBPROCP sid\fP - Get script status and parameters" +.IP "" 4 + +.br +This command returns the status of script \fBsid\fP as well as the +current value of its 10 parameters. + +.br +Upon success the script status and parameters are returned. +On error a negative status code will be returned. + +.br +The script status may be one of + +.br + +.EX +0 being initialised +1 halted +2 running +3 waiting +4 failed + +.EE + +.br +See \fBScripts\fP. + +.br + +\fBExample\fP +.br + +.EX +$ pigs procp 0 +.br +1 0 0 0 0 0 0 0 0 0 0 +.br + +.EE + +.br + +.IP "\fBPROCR sid pars\fP - Run script" +.IP "" 4 + +.br +This command runs stored script \fBsid\fP passing it up to 10 optional +parameters. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +See \fBScripts\fP. + +.br + +\fBExample\fP +.br + +.EX +$ pigs proc tag 123 w 4 0 mils 200 w 4 1 mils 300 dcr p0 jp 123 +.br +0 +.br + +.br +$ pigs procr 0 50 # Run script 0 with parameter 0 of 50. +.br + +.br +$ pigs procp 0 +.br +2 44 0 0 0 0 0 0 0 0 0 +.br +$ pigs procp 0 +.br +2 37 0 0 0 0 0 0 0 0 0 +.br +$ pigs procp 0 +.br +2 10 0 0 0 0 0 0 0 0 0 +.br +$ pigs procp 0 +.br +2 5 0 0 0 0 0 0 0 0 0 +.br +$ pigs procp 0 +.br +2 2 0 0 0 0 0 0 0 0 0 +.br +$ pigs procp 0 +.br +1 -1 0 0 0 0 0 0 0 0 0 +.br + +.EE + +.br + +.IP "\fBPROCS sid\fP - Stop script" +.IP "" 4 + +.br +This command stops a running script \fBsid\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +See \fBScripts\fP. + +.br + +\fBExample\fP +.br + +.EX +$ pigs procs 0 +.br + +.br +$ pigs procs 1 +.br +-48 +.br +ERROR: unknown script id +.br + +.EE + +.br + +.IP "\fBPRRG u\fP - Get GPIO PWM real range" +.IP "" 4 + +.br +This command returns the real underlying range used by GPIO \fBu\fP. + +.br +If a hardware clock is active on the GPIO the reported +real range will be 1000000 (1M). + +.br +If hardware PWM is active on the GPIO the reported real range +will be approximately 250M divided by the set PWM frequency. + +.br +On error a negative status code will be returned. + +.br +See \fBPRS\fP. + +.br + +\fBExample\fP +.br + +.EX +$ pigs prrg 17 +.br +250 +.br + +.br +$ pigs pfs 17 0 +.br +10 +.br +$ pigs prrg 17 +.br +20000 +.br + +.br +$ pigs pfs 17 100000 +.br +8000 +.br +$ pigs prrg 17 +.br +25 +.br + +.EE + +.br + +.IP "\fBPRS u v\fP - Set GPIO PWM range" +.IP "" 4 + +.br +This command sets the dutycycle range \fBv\fP to be used for GPIO \fBu\fP. +Subsequent uses of command \fBP/PWM\fP will use a dutycycle between 0 (off) +and \fBv\fP (fully on). + +.br +Upon success the real underlying range used by the GPIO is returned. +On error a negative status code will be returned. + +.br +If PWM is currently active on the GPIO its dutycycle will be scaled to +reflect the new range. + +.br +The real range, the number of steps between fully off and fully on +for each frequency, is given in the following table. + +.br + +.EX + #1 #2 #3 #4 #5 #6 #7 #8 #9 + 25 50 100 125 200 250 400 500 625 + +#10 #11 #12 #13 #14 #15 #16 #17 #18 +800 1000 1250 2000 2500 4000 5000 10000 20000 + +.EE + +.br +The real value set by \fBPRS\fP is (dutycycle * real range) / range. + +.br +See \fBPRRG\fP + +.br + +\fBExample\fP +.br + +.EX +$ pigs prs 18 1000 +.br +250 +.br + +.EE + +.br + +.IP "\fBPUD g p\fP - Set GPIO pull up/down" +.IP "" 4 + +.br +This command sets the internal pull/up down for GPIO \fBg\fP to mode \fBp\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +The mode may be pull-down (D), pull-up (U), or off (O). + +.br + +\fBExample\fP +.br + +.EX +$ pigs pud 4 d # Set pull-down on GPIO 4. +.br +$ pigs pud 4 u # Set pull-up on GPIO 4. +.br +$ pigs pud 4 o # No pull-up/down on GPIO 4. +.br + +.EE + +.br + +.IP "\fBR/READ g\fP - Read GPIO level" +.IP "" 4 + +.br +This reads the current level of GPIO \fBg\fP. + +.br +Upon success the current level is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs r 17 # Get level of GPIO 17. +.br +0 +.br + +.br +$ pigs r 4 # Get level of GPIO 4. +.br +1 +.br + +.EE + +.br + +.IP "\fBS/SERVO u v\fP - Set GPIO servo pulsewidth" +.IP "" 4 + +.br +This command starts servo pulses of \fBv\fP microseconds on GPIO \fBu\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +The servo pulsewidth may be 0 (off), 500 (most anti-clockwise) +to 2500 (most clockwise). + +.br +The range supported by servos varies and should probably be determined +by experiment. Generally values between 1000-2000 should be safe. +A value of 1500 should always be safe and represents +the mid-point of rotation. + +.br +You can DAMAGE a servo if you command it to move beyond its limits. + +.br + +\fBExample\fP +.br + +.EX +$ pigs SERVO 17 1500 +.br + +.EE + +.br +This example causes an on pulse of 1500 microseconds duration to be +transmitted on GPIO 17 at a rate of 50 times per second. + +.br +This will command a servo connected to GPIO 17 to rotate to its mid-point. + +.br + +\fBExample\fP +.br + +.EX +pigs s 17 0 # Switch servo pulses off. +.br + +.EE + +.br + +.IP "\fBSERC h\fP - Close serial handle" +.IP "" 4 + +.br +This command closes a serial handle \fBh\fP previously opened with \fBSERO\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs serc 0 # First close okay. +.br + +.br +$ pigs serc 0 # Second close gives error. +.br +-25 +.br +ERROR: unknown handle +.br + +.EE + +.br + +.IP "\fBSERDA h\fP - Check for serial data ready to read" +.IP "" 4 + +.br +This command returns the number of bytes of data available +to be read from the serial device associated with handle \fBh\fP. + +.br +Upon success the count of bytes available to be read is +returned (which may be 0). On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs serda 0 +.br +0 +.br + +.EE + +.br + +.IP "\fBSERO dev b sef\fP - Open serial device dev at baud b with flags" +.IP "" 4 + +.br +This command opens the serial \fBdev\fP at \fBb\fP bits per second. + +.br +No flags are currently defined. \fBsef\fP should be set to zero. + +.br +Upon success a handle (>=0) is returned. On error a negative status code +will be returned. + +.br +The device name must start with /dev/tty or /dev/serial. + +.br + +.br +The baud rate must be one of 50, 75, 110, 134, 150, +200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200, +38400, 57600, 115200, or 230400. + +.br + +\fBExample\fP +.br + +.EX +$ pigs sero /dev/ttyAMA0 9600 0 +.br +0 +.br + +.br +$ pigs sero /dev/tty1 38400 0 +.br +1 +.br + +.EE + +.br + +.IP "\fBSERR h num\fP - Read bytes from serial handle" +.IP "" 4 + +.br +This command returns up to \fBnum\fP bytes of data read from the +serial device associated with handle \fBh\fP. + +.br +Upon success the count of returned bytes followed by the bytes themselves +is returned. On error a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs serr 0 10 +.br +5 48 49 128 144 255 +.br + +.br +$ pigs serr 0 10 +.br +0 +.br + +.EE + +.br + +.IP "\fBSERRB \fP - Read byte from serial handle" +.IP "" 4 + +.br +This command returns a byte of data read from the serial +device associated with handle \fBh\fP. + +.br +Upon success a number between 0 and 255 is returned. +On error a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs serrb 0 +.br +23 +.br +$ pigs serrb 0 +.br +45 +.br + +.EE + +.br + +.IP "\fBSERW h bvs\fP - Write bytes to serial handle" +.IP "" 4 + +.br +This command writes bytes \fBbvs\fP to the serial device +associated with handle \fBh\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs serw 0 23 45 67 89 +.br + +.EE + +.br + +.IP "\fBSERWB h bv\fP - Write byte to serial handle" +.IP "" 4 + +.br +This command writes a single byte \fBbv\fP to the serial device +associated with handle \fBh\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs serwb 0 23 +.br +$ pigs serwb 0 0xf0 +.br + +.EE + +.br + +.IP "\fBSHELL name str\fP - Execute a shell command" +.IP "" 4 + +.br +This command uses the system call to execute a shell script \fBname\fP +with the given string \fBstr\fP as its parameter. + +.br +The exit status of the system call is returned if OK, otherwise +PI_BAD_SHELL_STATUS. + +.br +\fBname\fP must exist in /opt/pigpio/cgi and must be executable. + +.br +The returned exit status is normally 256 times that set +by the shell script exit function. If the script can't +be found 32512 will be returned. + +.br +The following table gives some example returned statuses. + +.br + +.EX +Script exit status Returned system call status +1 256 +5 1280 +10 2560 +200 51200 +script not found 32512 + +.EE + +.br + +\fBExample\fP +.br + +.EX +# pass two parameters, hello and world +.br +$ pigs shell scr1 hello world +.br +256 +.br + +.br +# pass three parameters, hello, string with spaces, and world +.br +$ pigs shell scr1 "hello 'string with spaces' world" +.br +256 +.br + +.br +# pass one parameter, hello string with spaces world +.br +$ pigs shell scr1 "\"hello string with spaces world\"" +.br +256 +.br + +.br +# non-existent script +.br +$ pigs shell scr78 par1 +.br +32512 +.br + +.EE + +.br + +.IP "\fBSLR u num\fP - Read bit bang serial data from GPIO" +.IP "" 4 + +.br +This command returns up to \fBnum\fP bytes of bit bang serial data +read from GPIO \fBu\fP. + +.br +Upon success the count of returned bytes followed by the bytes themselves +is returned. On error a negative status code will be returned. + +.br +The GPIO \fBu\fP should have been initialised with the \fBSLRO\fP command. + +.br +The bytes returned for each character depend upon the number of +data bits \fBdb\fP specified in the \fBSLRO\fP command. + +.br +For \fBdb\fP 1-8 there will be one byte per character. +.br +For \fBdb\fP 9-16 there will be two bytes per character. +.br +For \fBdb\fP 17-32 there will be four bytes per character. + +.br + +\fBExample\fP +.br + +.EX +$ pigs slr 15 20 +.br +6 1 0 23 45 89 0 +.br + +.EE + +.br + +.IP "\fBSLRC u\fP - Close GPIO for bit bang serial data" +.IP "" 4 + +.br +This command closes GPIO \fBu\fP for reading bit bang serial data. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs slrc 23 +.br + +.br +$ pigs slrc 23 +.br +-38 +.br +ERROR: no serial read in progress on GPIO +.br + +.EE + +.br + +.IP "\fBSLRI u v\fP - Sets bit bang serial data logic levels" +.IP "" 4 + +.br +This command sets the logic level for reading bit bang serial data +on GPIO \fBu\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +The invert parameter \fBv\fP is 1 for inverted signal, 0 for normal. + +.br + +\fBExample\fP +.br + +.EX +$ pigs slri 17 1 # invert logic on GPIO 17 +.br + +.br +$ pigs slri 23 0 # use normal logic on GPIO 23 +.br + +.EE + +.br + +.IP "\fBSLRO u b db\fP - Open GPIO for bit bang serial data" +.IP "" 4 + +.br +This command opens GPIO \fBu\fP for reading bit bang serial data +at \fBb\fP baud and \fBdb\fP data bits. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +The baud rate may be between 50 and 250000 bits per second. + +.br +The received data is held in a cyclic buffer. + +.br +It is the user's responsibility to read the data (with \fBSLR\fP) +in a timely fashion. + +.br + +\fBExample\fP +.br + +.EX +$ pigs slro 23 19200 8 +.br + +.br +$ pigs slro 23 19200 8 +.br +-50 +.br +ERROR: GPIO already in use +.br + +.EE + +.br + +.IP "\fBSPIC h\fP - SPI close handle" +.IP "" 4 + +.br +This command closes the SPI handle \fBh\fP returned by a prior +call to \fBSPIO\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs spic 1 +.br + +.br +$ pigs spic 1 +.br +-25 +.br +ERROR: unknown handle +.br + +.EE + +.br + +.IP "\fBSPIO c b spf\fP - SPI open channel at baud b with flags" +.IP "" 4 + +.br +This command returns a handle to a SPI device on channel \fBc\fP. + +.br +Data will be transferred at \fBb\fP bits per second. The flags \fBspf\fP +may be used to modify the default behaviour of 4-wire operation, +mode 0, active low chip select. + +.br +Speeds between 32kbps and 125Mbps are allowed. Speeds above 30Mbps +are unlikely to work. + +.br +An auxiliary SPI device is available on all models but the +A and B and may be selected by setting the A bit in the +flags. The auxiliary device has 3 chip selects and a +selectable word size in bits. + +.br +The flags consists of the least significant 22 bits. + +.br + +.EX +21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 +.br + b b b b b b R T n n n n W A u2 u1 u0 p2 p1 p0 m m +.br + +.EE + +.br +mm defines the SPI mode. + +.br +Warning: modes 1 and 3 do not appear to work on the auxiliary device. + +.br + +.EX +Mode POL PHA +.br + 0 0 0 +.br + 1 0 1 +.br + 2 1 0 +.br + 3 1 1 +.br + +.EE + +.br +px is 0 if CEx is active low (default) and 1 for active high. + +.br +ux is 0 if the CEx GPIO is reserved for SPI (default) and 1 otherwise. + +.br +A is 0 for the standard SPI device, 1 for the auxiliary SPI. + +.br +W is 0 if the device is not 3-wire, 1 if the device is 3-wire. Standard +SPI device only. + +.br +nnnn defines the number of bytes (0-15) to write before switching +the MOSI line to MISO to read data. This field is ignored +if W is not set. Standard SPI device only. + +.br +T is 1 if the least significant bit is transmitted on MOSI first, the +default (0) shifts the most significant bit out first. Auxiliary SPI +device only. + +.br +R is 1 if the least significant bit is received on MISO first, the +default (0) receives the most significant bit first. Auxiliary SPI +device only. + +.br +bbbbbb defines the word size in bits (0-32). The default (0) +sets 8 bits per word. Auxiliary SPI device only. + +.br +The \fBSPIR\fP, \fBSPIW\fP, and \fBSPIX\fP commands transfer data +packed into 1, 2, or 4 bytes according to the word size in bits. + +.br +For bits 1-8 there will be one byte per character. +.br +For bits 9-16 there will be two bytes per character. +.br +For bits 17-32 there will be four bytes per character. + +.br +E.g. 32 12-bit words will be transferred in 64 bytes. + +.br +The other bits in flags should be set to zero. + +.br +Upon success a handle (>=0) is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs spio 0 100000 3 # Open channel 0 at 100kbps in mode 3. +.br +0 +.br + +.br +$ pigs spio 0 32000 256 # Open channel 0 of auxiliary spi at 32kbps. +.br +1 +.br + +.EE + +.br + +.IP "\fBSPIR h num\fP - SPI read bytes from handle" +.IP "" 4 + +.br +This command returns \fBnum\fP bytes read from the SPI device +associated with handle \fBh\fP. + +.br +Upon success the count of returned bytes followed by the bytes themselves +is returned. On error a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs spir 0 10 # Read 10 bytes from the SPI device. +.br +10 0 0 0 0 0 0 0 0 0 0 +.br + +.EE + +.br + +.IP "\fBSPIW h bvs\fP - SPI write bytes to handle" +.IP "" 4 + +.br +This command writes bytes \fBbvs\fP to the SPI device +associated with handle \fBh\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs spiw 0 0x22 0x33 0xcc 0xff +.br + +.EE + +.br + +.IP "\fBSPIX h bvs\fP - SPI transfer bytes to handle" +.IP "" 4 + +.br +This command writes bytes \fBbvs\fP to the SPI device +associated with handle \fBh\fP. It returns the same +number of bytes read from the device. + +.br +Upon success the count of returned bytes followed by the bytes themselves +is returned. On error a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs spix 0 0x22 0x33 0xcc 0xff +.br +4 0 0 0 0 +.br + +.EE + +.br + +.IP "\fBT/TICK \fP - Get current tick" +.IP "" 4 + +.br +This command returns the current system tick. + +.br +Tick is the number of microseconds since system boot. + +.br +As tick is an unsigned 32 bit quantity it wraps around after 2^32 microseconds, +which is approximately 1 hour 12 minutes. + +.br + +\fBExample\fP +.br + +.EX +$ pigs t mils 1000 t +.br +3691823946 +.br +3692833987 +.br + +.EE + +.br + +.IP "\fBTRIG u pl L\fP - Send a trigger pulse" +.IP "" 4 + +.br +This command sends a trigger pulse of \fBpl\fP microseconds at level \fBL\fP +to GPIO \fBu\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +The GPIO is set to not level at the end of the pulse. + +.br + +\fBExample\fP +.br + +.EX +$ pigs trig 4 10 1 +.br + +.br +$ pigs trig 4 51 1 +.br +-46 +.br +ERROR: trigger pulse > 50 microseconds +.br + +.EE + +.br + +.IP "\fBW/WRITE g L\fP - Write GPIO level" +.IP "" 4 + +.br +This command sets GPIO \fBg\fP to level \fBL\fP. The level may be 0 +(low, off, clear) or 1 (high, on, set). + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs w 23 0 +.br +$ pigs w 23 1 +.br + +.br +$ pigs w 23 2 +.br +-5 +.br +ERROR: level not 0-1 +.br + +.EE + +.br + +.IP "\fBWDOG u v\fP - Set GPIO watchdog" +.IP "" 4 + +.br +This command sets a watchdog of \fBv\fP milliseconds on GPIO \fBu\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br +The watchdog is nominally in milliseconds. + +.br +One watchdog may be registered per GPIO. + +.br +The watchdog may be cancelled by setting timeout to 0. + +.br +If no level change has been detected for the GPIO for timeout milliseconds:- + +.br +any notification for the GPIO has a report written to the fifo with +the flags set to indicate a watchdog timeout. + +.br + +\fBExample\fP +.br + +.EX +$ pigs wdog 23 90000 +.br +-15 +.br +ERROR: timeout not 0-60000 +.br + +.br +$ pigs wdog 23 9000 +.br + +.EE + +.br +This example causes a report to be written to any notification pipes +listening on GPIO 23 whenever GPIO 23 changes state or approximately +every 9000 ms. + +.br + +.IP "\fBWVAG trips\fP - Add generic pulses to waveform" +.IP "" 4 + +.br +This command adds 1 one or more triplets \fBtrips\fP of GPIO on, GPIO off, +delay to the existing waveform (if any). + +.br +Upon success the total number of pulses in the waveform so far is +returned. On error a negative status code will be returned. + +.br +The triplets will be added at the start of the existing waveform. If +they are to start offset from the start then the first triplet should +consist solely of a delay i.e. 0 0 offset. + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvag 0x10 0x80 1000 0x80 0x10 9000 +.br +2 +.br + +.br +$ pigs wvag 0 0 10000 0x10 0x80 1000 0x80 0x10 9000 +.br +4 +.br + +.EE + +.br + +.IP "\fBWVAS u b db sb o bvs\fP - Add serial data to waveform" +.IP "" 4 + +.br +This command adds a waveform representing serial data \fBbvs\fP to +GPIO \fBu\fP at \fBb\fP baud to the existing waveform (if any). +The serial data starts \fBo\fP microseconds from the start of the +waveform. + +.br +Upon success the total number of pulses in the waveform so far is +returned. On error a negative status code will be returned. + +.br +The serial data is formatted as one start bit, \fBdb\fP data bits, and +\fBsb\fP/2 stop bits. + +.br +The baud rate may be between 50 and 1000000 bits per second. + +.br +It is legal to add serial data streams with different baud rates to +the same waveform. + +.br +The bytes required for each character depend upon \fBdb\fP. + +.br +For \fBdb\fP 1-8 there will be one byte per character. +.br +For \fBdb\fP 9-16 there will be two bytes per character. +.br +For \fBdb\fP 17-32 there will be four bytes per character. + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvas 4 9600 8 2 0 0x30 0x31 0x32 0x33 +.br +23 +.br + +.br +$ pigs wvas 7 38400 8 2 0 0x41 0x42 +.br +35 +.br + +.EE + +.br + +.IP "\fBWVTAT \fP - Returns the current transmitting waveform" +.IP "" 4 + +.br +This command returns the id of the waveform currently +being transmitted. + +.br +Returns the waveform id or one of the following special +values: + +.br +9998 - transmitted wave not found +.br +9999 - no wave being transmitted + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvtat +.br +9999 +.br + +.EE + +.br + +.IP "\fBWVBSY \fP - Check if waveform is being transmitted" +.IP "" 4 + +.br +This command checks to see if a waveform is currently being transmitted. + +.br +Returns 1 if a waveform is currently being transmitted, otherwise 0. + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvbsy +.br +0 +.br + +.EE + +.br + +.IP "\fBWVCHA bvs\fP - Transmits a chain of waveforms" +.IP "" 4 + +.br +This command transmits a chain of waveforms. + +.br +NOTE: Any hardware PWM started by \fBHP\fP will +be cancelled. + +.br +The waves to be transmitted are specified by the contents of +\fBbvs\fP which contains an ordered list of wave_ids and optional +command codes and related data. + +.br +Upon success 0 is returned. On error a negative status code +will be returned. + +.br +Each wave is transmitted in the order specified. A wave may +occur multiple times per chain. + +.br +A blocks of waves may be transmitted multiple times by using +the loop commands. The block is bracketed by loop start and +end commands. Loops may be nested. + +.br +Delays between waves may be added with the delay command. + +.br +The following command codes are supported: + +.br + +.EX +Name Cmd & Data Meaning +Loop Start 255 0 Identify start of a wave block +Loop Repeat 255 1 x y loop x + y*256 times +Delay 255 2 x y delay x + y*256 microseconds +Loop Forever 255 3 loop forever + +.EE + +.br +If present Loop Forever must be the last entry in the chain. + +.br +The code is currently dimensioned to support a chain with roughly +600 entries and 20 loop counters. + +.br + +\fBExample\fP +.br + +.EX +#!/bin/bash +.br + +.br +GPIO=4 +.br +WAVES=5 +.br + +.br +pigs m $GPIO w +.br + +.br +for ((i=0; i<$WAVES; i++)) +.br +do +.br + pigs wvag $((1<=0) is returned. On error a negative status +code will be returned. + +.br +The data provided by the \fBWVAG\fP and \fBWVAS\fP commands is +consumed by this command. + +.br +As many waveforms may be created as there is space available. +The wave id is passed to \fBWVTX\fP or \fBWVTXR\fP to specify the +waveform to transmit. + +.br +Normal usage would be + +.br +Step 1. \fBWVCLR\fP to clear all waveforms and added data. + +.br +Step 2. \fBWVAG\fP/\fBWVAS\fP calls to supply the waveform data. + +.br +Step 3. \fBWVCRE\fP to create the waveform and get a unique id. + +.br +Repeat steps 2 and 3 as needed. + +.br +Step 4. \fBWVTX\fP or \fBWVTXR\fP with the id of the waveform to transmit. + +.br +A waveform comprises of one or more pulses. + +.br +A pulse specifies + +.br +1) the GPIO to be switched on at the start of the pulse. +.br +2) the GPIO to be switched off at the start of the pulse. +.br +3) the delay in microseconds before the next pulse. + +.br +Any or all the fields can be zero. It doesn't make any sense to +set all the fields to zero (the pulse will be ignored). + +.br +When a waveform is started each pulse is executed in order with +the specified delay between the pulse and the next. + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvas 4 9600 0 23 45 67 89 90 +.br +37 +.br +$ pigs wvcre +.br +0 +.br + +.br +$ pigs wvcre +.br +-69 +.br +ERROR: attempt to create an empty waveform +.br + +.EE + +.br + +.IP "\fBWVDEL wid\fP - Delete selected waveform" +.IP "" 4 + +.br +This command deletes the waveform with id \fBwid\fP. + +.br +Upon success nothing is returned. On error a negative status code +will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvdel 0 +.br + +.br +$ pigs wvdel 0 +.br +-66 +.br +ERROR: non existent wave id +.br + +.EE + +.br + +.IP "\fBWVHLT \fP - Stop waveform" +.IP "" 4 + +.br +This command aborts the transmission of the current waveform. + +.br +Nothing is returned. + +.br +This command is intended to stop a waveform started in the repeat mode. + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvhlt +.br + +.EE + +.br + +.IP "\fBWVNEW \fP - Initialise a new waveform" +.IP "" 4 + +.br +This clears any existing waveform data ready for the creation of a new +waveform. + +.br +Nothing is returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvnew +.br + +.EE + +.br + +.IP "\fBWVSC ws\fP - Get waveform DMA CB stats" +.IP "" 4 + +.br +The statistic requested by \fBws\fP is returned. + +.br +\fBws\fP identifies the subcommand as follows. + +.br +0 Get Cbs +.br +1 Get High Cbs +.br +2 Get Max Cbs + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvas 4 9600 0 23 45 67 89 90 +.br +37 +.br + +.br +$ pigs wvsc 0 +.br +74 +.br +$ pigs wvsc 1 +.br +74 +.br +$ pigs wvsc 2 +.br +25016 +.br + +.EE + +.br + +.IP "\fBWVSM ws\fP - Get waveform time stats" +.IP "" 4 + +.br +The statistic requested by \fBws\fP is returned. + +.br +\fBws\fP identifies the subcommand as follows. + +.br +0 Get Micros +.br +1 Get High Micros +.br +2 Get Max Micros + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvsm 0 +.br +5314 +.br +$ pigs wvsm 1 +.br +5314 +.br +$ pigs wvsm 2 +.br +1800000000 +.br + +.EE + +.br + +.IP "\fBWVSP ws\fP - Get waveform pulse stats" +.IP "" 4 + +.br +The statistic requested by \fBws\fP is returned. + +.br +\fBws\fP identifies the subcommand as follows. + +.br +0 Get Pulses +.br +1 Get High Pulses +.br +2 Get Max Pulses + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvsp 0 +.br +37 +.br +$ pigs wvsp 1 +.br +37 +.br +$ pigs wvsp 2 +.br +12000 +.br + +.EE + +.br + +.IP "\fBWVTX wid\fP - Transmits waveform once" +.IP "" 4 + +.br +This command transmits the waveform with id \fBwid\fP once. + +.br +NOTE: Any hardware PWM started by \fBHP\fP will be cancelled. + +.br +Upon success the number of DMA control blocks in the waveform is returned. +On error a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvtx 1 +.br +75 +.br + +.br +$ pigs wvtx 2 +.br +-66 +.br +ERROR: non existent wave id +.br + +.EE + +.br + +.IP "\fBWVTXM wid wmde\fP - Transmits waveform using mode" +.IP "" 4 + +.br +This command transmits the waveform with id \fBwid\fP using mode \fBwmde\fP. + +.br +The mode may be send once (0), send repeatedly (1), send once but +first sync with previous wave (2), or send repeatedly but first +sync with previous wave (3). + +.br +WARNING: bad things may happen if you delete the previous +waveform before it has been synced to the new waveform. + +.br +NOTE: Any hardware PWM started by \fBHP\fP will be cancelled. + +.br +Upon success the number of DMA control blocks in the waveform is returned. +On error a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvtxm 1 3 +.br +75 +.br + +.br +$ pigs wvtxm 2 0 +.br +-66 +.br +ERROR: non existent wave id +.br + +.EE + +.br + +.IP "\fBWVTXR wid\fP - Transmits waveform repeatedly" +.IP "" 4 + +.br +This command transmits the waveform with id \fBwid\fP repeatedly. + +.br +NOTE: Any hardware PWM started by \fBHP\fP will be cancelled. + +.br +Upon success the number of DMA control blocks in the waveform is returned. +On error a negative status code will be returned. + +.br + +\fBExample\fP +.br + +.EX +$ pigs wvtxr 1 +.br +75 +.br + +.br +$ pigs wvtxr 2 +.br +-66 +.br +ERROR: non existent wave id +.br + +.EE + +.br + +.SH PARAMETERS + +.br + +.IP "\fBactv\fP - 0-1000000" 0 + +.br +The number of microseconds level changes are reported for once +a noise filter has been triggered (by \fBstdy\fP microseconds of +a stable level). + +.br + +.IP "\fBb\fP - baud" 0 +The command expects the baud rate in bits per second for +the transmission of serial data (I2C/SPI/serial link, waves). + +.br + +.IP "\fBbit\fP - bit value (0-1)" 0 +The command expects 0 or 1. + +.br + +.IP "\fBbits\fP - a bit mask" 0 +A mask is used to select one or more GPIO. A GPIO is selected +if bit (1<=0)" 0 +The command expects a handle. + +.br +A handle is a number referencing an object opened by one of \fBFO\fP, +\fBI2CO\fP, \fBNO\fP, \fBSERO\fP, \fBSPIO\fP. + +.br + +.IP "\fBib\fP - I2C bus (>=0)" 0 +The command expects an I2C bus number. + +.br + +.IP "\fBid\fP - I2C device (0-0x7F)" 0 +The command expects the address of an I2C device. + +.br + +.IP "\fBif\fP - I2C flags (0)" 0 +The command expects an I2C flags value. No flags are currently defined. + +.br + +.IP "\fBL\fP - level (0-1)" 0 +The command expects a GPIO level. + +.br + +.IP "\fBm\fP - mode (RW540123)" 0 +The command expects a mode character. + +.br +Each GPIO can be configured to be in one of 8 different modes. The modes +are named Input, Output, ALT0, ALT1, ALT2, ALT3, ALT4, and ALT5. + +.br +To set the mode use the code for the mode. + +.br +The value is returned by the mode get command. + +.br + +.EX +Mode Input Output ALT0 ALT1 ALT2 ALT3 ALT4 ALT5 +Code R W 0 1 2 3 4 5 +Value 0 1 4 5 6 7 3 2 + +.EE + +.br + +.IP "\fBmiso\fP - GPIO (0-31)" 0 +The GPIO used for the MISO signal when bit banging SPI. + +.br + +.IP "\fBmode\fP - file open mode" 0 +One of the following values. + +.br + +.EX + Value Meaning +READ 1 open file for reading +WRITE 2 open file for writing +RW 3 open file for reading and writing + +.EE + +.br +The following values can be or'd into the mode. + +.br + +.EX + Value Meaning +APPEND 4 All writes append data to the end of the file +CREATE 8 The file is created if it doesn't exist +TRUNC 16 The file is truncated + +.EE + +.br + +.IP "\fBmosi\fP - GPIO (0-31)" 0 +The GPIO used for the MOSI signal when bit banging SPI. + +.br + +.IP "\fBname\fP - the name of a script" 0 +Only alphanumeric characters, '-' and '_' are allowed in the name. + +.br + +.IP "\fBnum\fP - maximum number of bytes to return (1-)" 0 +The command expects the maximum number of bytes to return. + +.br +For the I2C and SPI commands the requested number of bytes will always +be returned. + +.br +For the serial and file commands the smaller of the number of +bytes available to be read (which may be zero) and \fBnum\fP bytes +will be returned. + +.br + +.IP "\fBo\fP - offset (>=0)" 0 +Serial data is stored offset microseconds from the start of the waveform. + +.br + +.IP "\fBp\fP - PUD (ODU)" 0 +The command expects a PUD character. + +.br +Each GPIO can be configured to use or not use an internal pull up or +pull down resistor. This is useful to provide a default state for inputs. + +.br +A pull up will default the input to 1 (high). + +.br +A pull down will default the input to 0 (low). + +.br +To set the pull up down state use the command character for the state. + +.br + +.EX +Pull Up Down Off Pull Down Pull Up +Command Character O D U + +.EE + +.br +There is no mechanism to read the pull up down state. + +.br + +.IP "\fBpad\fP - 0-2" 0 +A set of GPIO which share common drivers. + +.br + +.EX +Pad GPIO +0 0-27 +1 28-45 +2 46-53 + +.EE + +.br + +.IP "\fBpadma\fP - 1-16" 0 +The mA which may be drawn from each GPIO whilst still guaranteeing the +high and low levels. + +.br + +.IP "\fBpars\fP - script parameters" 0 +The command expects 0 to 10 numbers as parameters to be passed to the script. + +.br + +.IP "\fBpat\fP - a file name pattern" 0 +A file path which may contain wildcards. To be accessible the path +must match an entry in /opt/pigpio/access. + +.br + +.IP "\fBpdc\fP - hardware PWM dutycycle (0-1000000)" 0 +The command expects a dutycycle. + +.br + +.IP "\fBpf\fP - hardware PWM frequency (1-125M)" 0 +The command expects a frequency. + +.br + +.IP "\fBpl\fP - pulse length (1-100)" 0 +The command expects a pulse length in microseconds. + +.br + +.IP "\fBr\fP - register (0-255)" 0 +The command expects an I2C register number. + +.br + +.IP "\fBsb\fP - serial stop (half) bits (2-8)" 0 +The command expects the number of stop (half) bits per serial character. + +.br + +.IP "\fBscl\fP - user GPIO (0-31)" 0 +The command expects the number of the GPIO to be used for SCL +when bit banging I2C. + +.br + +.IP "\fBsclk\fP - user GPIO (0-31)" 0 +The GPIO used for the SCLK signal when bit banging SPI. + +.br + +.IP "\fBsda\fP - user GPIO (0-31)" 0 +The command expects the number of the GPIO to be used for SDA +when bit banging I2C. + +.br + +.IP "\fBsef\fP - serial flags (32 bits)" 0 +The command expects a flag value. No serial flags are currently defined. + +.br + +.IP "\fBsid\fP - script id (>= 0)" 0 +The command expects a script id as returned by a call to \fBPROC\fP. + +.br + +.IP "\fBspf\fP - SPI flags (32 bits)" 0 +See \fBSPIO\fP and \fBBSPIO\fP. + +.br + +.IP "\fBstdy\fP - 0-300000" 0 + +.br +The number of microseconds level changes must be stable for +before reporting the level changed (\fBFG\fP) or triggering +the active part of a noise filter (\fBFN\fP). + +.br + +.IP "\fBstr\fP - a string" 0 +The command expects a string. + +.br + +.IP "\fBt\fP - a string" 0 +The command expects a string. + +.br + +.IP "\fBtrips\fP - triplets" 0 +The command expects 1 or more triplets of GPIO on, GPIO off, delay. + +.br +E.g. 0x400000 0 100000 0 0x400000 900000 defines two pulses as follows + +.br + +.EX + GPIO on GPIO off delay +0x400000 (GPIO 22) 0 (None) 100000 (1/10th s) + 0 (None) 0x400000 (GPIO 22) 900000 (9/10th s) + +.EE + +.br + +.IP "\fBu\fP - user GPIO (0-31)" 0 +The command expects the number of a user GPIO. + +.br +A number of commands are restricted to GPIO in bank 1, +in particular the PWM commands, the servo command, +the watchdog command, and the notification command. + +.br +It is your responsibility to ensure that the PWM and servo commands +are only used on safe GPIO. + +.br +See \fBg\fP + +.br + +.IP "\fBuvs\fP - values" 0 +The command expects an arbitrary number of >=0 values (possibly none). +Any after the first two must be <= 255. + +.br + +.IP "\fBv\fP - value" 0 +The command expects a number. + +.br + +.IP "\fBwid\fP - wave id (>=0)" 0 +The command expects a wave id. + +.br +When a waveform is created it is given an id (0, 1, 2, ...). + +.br + +.IP "\fBwmde\fP - mode (0-3)" 0 +The command expects a wave transmission mode. + +.br +0 = send once +.br +1 = send repeatedly +.br +2 = send once but first sync with previous wave +.br +3 = send repeatedly but first sync with previous wave +.br + +.br + +.IP "\fBws\fP - wave stats sucommand (0-2)" 0 +The command expects a subcommand. + +.br +0 = current value. +.br +1 = highest value so far. +.br +2 = maximum possible value. + +.br + +.IP "\fBwv\fP - word value (0-65535)" 0 +The command expects a word value. + +.br + +.SH SCRIPTS + +.br +Scripts are programs to be stored and executed by the pigpio daemon. +They are intended to mitigate any performance problems associated with +the pigpio daemon server/client model. + +.br +.SS Example +.br +A trivial example might be useful. Suppose you want to toggle a GPIO +on and off as fast as possible. + +.br +From the command line you could write + +.br + +.EX +for ((i=0; i<1000;i++)); do pigs w 22 1 w 22 0; done +.br + +.EE + +.br +Timing that you will see it takes about 14 seconds, or roughly +70 toggles per second. + +.br +Using the pigpio Python module you could use code such as + +.br + +.EX +#!/usr/bin/env python +.br + +.br +import time +.br + +.br +import pigpio +.br + +.br +PIN=4 +.br + +.br +TOGGLE=10000 +.br + +.br +pi = pigpio.pi() # Connect to local Pi. +.br + +.br +s = time.time() +.br + +.br +for i in range(TOGGLE): +.br + pi.write(PIN, 1) +.br + pi.write(PIN, 0) +.br + +.br +e = time.time() +.br + +.br +print("pigpio did {} toggles per second".format(int(TOGGLE/(e-s)))) +.br + +.br +pi.stop() +.br + +.EE + +.br +Timing that shows a speed improvement to roughly 800 toggles per second. + +.br +Now let's use a script. + +.br + +.EX +pigs proc tag 999 w 22 1 w 22 0 dcr p0 jp 999 +.br + +.EE + +.br +Ignore the details for now. + +.br +Let's time the script running. + +.br +Again, ignore the details for now. + +.br + +.EX +time (pigs procr 0 10000000; while a=$(pigs procp 0); [[ ${a::1} -eq 2 ]];\ +.br + do sleep 0.2; done) +.br + +.EE + +.br +The script takes roughly 12 seconds to complete, or 800,000 toggles per second. + +.br +That is the advantage of a stored script. + +.br +Some details. + +.br + +.EX +pigs proc tag 999 w 22 1 w 22 0 dcr p0 jp 999 +.br + +.EE + +.br +proc introduces a script. Everything after proc is part of the script. +.br +tag 999 names the current position in the script. +.br +w 22 1 writes 1 to GPIO 22. +.br +w 22 0 writes 0 to GPIO 22. +.br +dcr p0 decrements parameter 0. +.br +jp 999 jumps to tag 999 if the result is positive. + +.br + +.EX +time (pigs procr 0 10000000; while a=$(pigs procp 0); [[ ${a::1} -eq 2 ]];\ +.br + do sleep 0.2; done) +.br + +.EE + +.br +pigs procr 0 10000000 starts script 0 with parameter 0 of 10 million. + +.br +The rest is bash apart from + +.br +pigs procp 0 asks for the status and parameters of script 0. +The status will be 2 while the script is running and 1 when it is complete. + +.br +.SS Virtual machine +.br +A script runs within a virtual machine with + +.br +a 32 bit accumulator A. +.br +a flags register F. +.br +a program counter PC. + +.br +Each script has + +.br +10 parameters named 0 through 9. +.br +150 variables named 0 through 149. +.br +50 labels which are named by any unique number. + +.br +.SS Commands +.br +All the normal pigs commands may be used within a script. However +commands which return more than an integer will be of little use. + +.br +The following commands are only legal within a script. + +.br + +.EX +Command Description Definition +ADD x Add x to accumulator A+=x; F=A +AND x And x with accumulator A&=x; F=A +CALL L Call subroutine at tag L push(PC+1); PC=L +CMP x Compare x with accumulator F=A-x +DCR y Decrement register --*y; F=*y +DCRA Decrement accumulator --A; F=A +DIV x Divide x into accumulator A/=x; F=A +HALT Halt Halt +INR y Increment register ++*y; F=*y +INRA Increment accumulator ++A; F=A +JM L Jump if minus to tag L if (F<0) PC=L +JMP L Jump to tag L PC=L +JNZ L Jump if non-zero to tag L if (F) PC=L +JP L Jump if positive to tag L if (F>=0) PC=L +JZ L Jump if zero to tag L if (!F) PC=L +LD y x Load register with x *y=x +LDA x Load accumulator with x A=x +MLT x Multiply x with accumulator A*=x; F=A +MOD x Modulus x with accumulator A%=x; F=A +OR x Or x with accumulator A|=x; F=A +POP y Pop register y=pop() +POPA Pop accumulator A=pop() +PUSH y Push register push(y) +PUSHA Push accumulator push(A) +RET Return from subroutine PC=pop() +RL y x Rotate left register x bits *y<<=x; F=*y +RLA x Rotate left accumulator x bits A<<=x; F=A +RR y x Rotate right register x bits *y>>=x; F=*y +RRA x Rotate right accumulator x bits A>>=x; F=A +STA y Store accumulator in register y=A +SUB x Subtract x from accumulator A-=x; F=A +SYS str Run external script (/opt/pigpio/cgi/str) system(str); F=A +TAG L Label the current script position N/A +WAIT x Wait for a GPIO in x to change state A=wait(x); F=A +X y1 y2 Exchange contents of registers y1 and y2 t=*y1;*y1=*y2;*y2=t +XA y Exchange contents of accumulator and register t=A;A=*y;*y=t +XOR x Xor x with accumulator A^=x; F=A + +.EE + +.br +x may be a constant, a parameter (p0-p9), or a variable (v0-v149). + +.br +y may be a parameter (p0-p9), or a variable (v0-v149). If p or v isn't +specified y is assumed to be a variable. + +.br +The WAIT command parameter is a bit-mask with 1 set for GPIO of interest. + +.br +The SYS script receives two unsigned parameters: the accumulator A and +the current GPIO levels. + +.br + +.SH SEE ALSO + +pigpiod(1), pig2vcd(1), pigpio(3), pigpiod_if(3), pigpiod_if2(3) +.SH AUTHOR + +joan@abyz.co.uk diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigs.c b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigs.c new file mode 100644 index 0000000..3395f2f --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/pigs.c @@ -0,0 +1,343 @@ +/* +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 +*/ + +/* +This version is for pigpio version 56+ +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pigpio.h" +#include "command.h" + +/* +This program provides a socket interface to some of +the commands available from pigpio. +*/ + +char command_buf[CMD_MAX_EXTENSION]; +char response_buf[CMD_MAX_EXTENSION]; + +int printFlags = 0; + +#define SOCKET_OPEN_FAILED -1 + +#define PRINT_HEX 1 +#define PRINT_ASCII 2 + +void fatal(char *fmt, ...) +{ + char buf[128]; + va_list ap; + + va_start(ap, fmt); + vsnprintf(buf, sizeof(buf), fmt, ap); + va_end(ap); + + fprintf(stderr, "%s\n", buf); + + fflush(stderr); +} + +static int initOpts(int argc, char *argv[]) +{ + int opt, args; + + args = 1; + + while ((opt = getopt(argc, argv, "ax")) != -1) + { + switch (opt) + { + case 'a': + printFlags |= PRINT_ASCII; + args++; + break; + + case 'x': + printFlags |= PRINT_HEX; + args++; + break; + } + } + return args; +} + +static int openSocket(void) +{ + int sock, err; + struct addrinfo hints, *res, *rp; + const char *addrStr, *portStr; + + portStr = getenv(PI_ENVPORT); + + if (!portStr) portStr = PI_DEFAULT_SOCKET_PORT_STR; + + addrStr = getenv(PI_ENVADDR); + + if (!addrStr) addrStr = PI_DEFAULT_SOCKET_ADDR_STR; + + memset (&hints, 0, sizeof (hints)); + + hints.ai_family = PF_UNSPEC; + hints.ai_socktype = SOCK_STREAM; + hints.ai_flags |= AI_CANONNAME; + + err = getaddrinfo(addrStr, portStr, &hints, &res); + + if (err) return SOCKET_OPEN_FAILED; + + for (rp=res; rp!=NULL; rp=rp->ai_next) + { + sock = socket(rp->ai_family, rp->ai_socktype, rp->ai_protocol); + + if (sock == -1) continue; + + if (connect(sock, rp->ai_addr, rp->ai_addrlen) != -1) break; + } + + freeaddrinfo(res); + + if (rp == NULL) return SOCKET_OPEN_FAILED; + + return sock; +} + +void print_result(int sock, int rv, cmdCmd_t cmd) +{ + int i, r, ch; + uint32_t *p; + + r = cmd.res; + + switch (rv) + { + case 0: + case 1: + if (r < 0) + { + printf("%d\n", r); + fatal("ERROR: %s", cmdErrStr(r)); + } + break; + + case 2: + printf("%d\n", r); + if (r < 0) fatal("ERROR: %s", cmdErrStr(r)); + break; + + case 3: + printf("%08X\n", cmd.res); + break; + + case 4: + printf("%u\n", cmd.res); + break; + + case 5: + printf("%s", cmdUsage); + break; + + case 6: /* + BI2CZ CF2 FL FR I2CPK I2CRD I2CRI I2CRK I2CZ + SERR SLR SPIX SPIR + */ + printf("%d", r); + if (r < 0) fatal("ERROR: %s", cmdErrStr(r)); + if (r > 0) + { + if (printFlags == PRINT_ASCII) printf(" "); + + for (i=0; i 0) + { + recv(sock, response_buf, res, MSG_WAITALL); + response_buf[res] = 0; + } + break; + } +} + +int main(int argc , char *argv[]) +{ + int sock, command; + int args, idx, i, pp, l, len; + cmdCmd_t cmd; + uint32_t p[CMD_P_ARR]; + cmdCtlParse_t ctl; + cmdScript_t s; + char v[CMD_MAX_EXTENSION]; + + sock = openSocket(); + + args = initOpts(argc, argv); + + command_buf[0] = 0; + l = 0; + pp = 0; + + for (i=args; i= 0) && (ctl.eaten < len)) + { + if ((idx=cmdParse(command_buf, p, CMD_MAX_EXTENSION, v, &ctl)) >= 0) + { + command = p[0]; + + if (command < PI_CMD_SCRIPT) + { + if (command == PI_CMD_HELP) + { + printf("%s", cmdUsage); + } + else if (command == PI_CMD_PARSE) + { + cmdParseScript(v, &s, 1); + if (s.par) free (s.par); + } + else + { + cmd.cmd = command; + cmd.p1 = p[1]; + cmd.p2 = p[2]; + cmd.p3 = p[3]; + + if (sock != SOCKET_OPEN_FAILED) + { + if (send(sock, &cmd, sizeof(cmdCmd_t), 0) == + sizeof(cmdCmd_t)) + { + if (p[3]) send(sock, v, p[3], 0); /* send extensions */ + + if (recv(sock, &cmd, sizeof(cmdCmd_t), MSG_WAITALL) == + sizeof(cmdCmd_t)) + { + get_extensions(sock, command, cmd.res); + + print_result(sock, cmdInfo[idx].rv, cmd); + } + else fatal("socket receive failed"); + } + else fatal("socket send failed"); + } + else fatal("socket connect failed"); + } + } + else fatal("%s only allowed within a script", cmdInfo[idx].name); + } + else + { + if (idx == CMD_UNKNOWN_CMD) + fatal("%s? unknown command, pigs h for help", cmdStr()); + else + fatal("%s: bad parameter, pigs h for help", cmdStr()); + } + } + + if (sock >= 0) close(sock); + + return 0; +} + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/setup.py b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/setup.py new file mode 100644 index 0000000..d4a80f5 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/setup.py @@ -0,0 +1,17 @@ +#!/usr/bin/env python + +from distutils.core import setup + +setup(name='pigpio', + version='1.33', + author='joan', + author_email='joan@abyz.co.uk', + maintainer='joan', + maintainer_email='joan@abyz.co.uk', + url='http://abyz.co.uk/rpi/pigpio/python.html/', + description='Raspberry gpio module', + long_description='Raspberry Python module to access the pigpio daemon', + download_url='http://abyz.co.uk/rpi/pigpio/pigpio.zip', + license='unlicense.org', + py_modules=['pigpio'] + ) diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/x_pigpio.c b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/x_pigpio.c new file mode 100644 index 0000000..5431301 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/x_pigpio.c @@ -0,0 +1,906 @@ +/* +gcc -Wall -pthread -o x_pigpio x_pigpio.c -lpigpio +sudo ./x_pigpio + +*** WARNING ************************************************ +* * +* All the tests make extensive use of gpio 25 (pin 22). * +* Ensure that either nothing or just a LED is connected to * +* gpio 25 before running any of the tests. * +* * +* Some tests are statistical in nature and so may on * +* occasion fail. Repeated failures on the same test or * +* many failures in a group of tests indicate a problem. * +************************************************************ +*/ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pigpio.h" + +#define USERDATA 18249013 + +#define GPIO 25 + +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("\nTesting pigpio C I/F\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; + +void t2cb(int gpio, int level, uint32_t tick) +{ + t2_count++; +} + +void t2() +{ + int dc, 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"); + + t2_count=0; + + gpioSetAlertFunc(GPIO, t2cb); + + gpioPWM(GPIO, 0); + dc = gpioGetPWMdutycycle(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"); + + gpioPWM(GPIO, 128); + dc = gpioGetPWMdutycycle(GPIO); + CHECK(2, 4, dc, 128, 0, "get PWM dutycycle"); + + oc = t2_count; + time_sleep(2); + f = t2_count - oc; + CHECK(2, 5, f, 40, 5, "set PWM dutycycle, callback"); + + gpioSetPWMfrequency(GPIO, 100); + f = gpioGetPWMfrequency(GPIO); + CHECK(2, 6, f, 100, 0, "set/get PWM frequency"); + + oc = t2_count; + time_sleep(2); + f = t2_count - oc; + CHECK(2, 7, f, 400, 1, "callback"); + + gpioSetPWMfrequency(GPIO, 1000); + f = gpioGetPWMfrequency(GPIO); + CHECK(2, 8, f, 1000, 0, "set/get PWM frequency"); + + oc = t2_count; + time_sleep(2); + f = t2_count - oc; + CHECK(2, 9, f, 4000, 1, "callback"); + + r = gpioGetPWMrange(GPIO); + CHECK(2, 10, r, 255, 0, "get PWM range"); + + rr = gpioGetPWMrealRange(GPIO); + CHECK(2, 11, rr, 200, 0, "get PWM real range"); + + gpioSetPWMrange(GPIO, 2000); + r = gpioGetPWMrange(GPIO); + CHECK(2, 12, r, 2000, 0, "set/get PWM range"); + + rr = gpioGetPWMrealRange(GPIO); + CHECK(2, 13, rr, 200, 0, "get PWM real range"); + + gpioPWM(GPIO, 0); +} + +int t3_val; +int t3_reset; +int t3_count; +uint32_t t3_tick; +float t3_on; +float t3_off; + +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, v; + + int pw[3]={500, 1500, 2500}; + int dc[4]={20, 40, 60, 80}; + + printf("PWM/Servo pulse accuracy tests.\n"); + + t3_val = USERDATA; + t3_reset=1; + t3_count=0; + t3_tick=0; + t3_on=0.0; + t3_off=0.0; + + gpioSetAlertFuncEx(GPIO, t3cbf, &t3_val); /* test extended alert */ + + for (t=0; t<3; t++) + { + gpioServo(GPIO, pw[t]); + v = gpioGetServoPulsewidth(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, (1E3*(on+off))/on, 2E7/pw[t], 1, + "set servo pulsewidth"); + } + + gpioServo(GPIO, 0); + gpioSetPWMfrequency(GPIO, 1000); + f = gpioGetPWMfrequency(GPIO); + CHECK(3, 7, f, 1000, 0, "set/get PWM frequency"); + + rr = gpioSetPWMrange(GPIO, 100); + CHECK(3, 8, rr, 200, 0, "set PWM range"); + + for (t=0; t<4; t++) + { + gpioPWM(GPIO, dc[t]); + v = gpioGetPWMdutycycle(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, (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< 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, 6158148, 0, "wave get micros"); + + c = gpioWaveGetHighMicros(); + CHECK(5, 14, c, 6158148, 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(); + if (e < 6963) CHECK(5, 19, c, 6810, 0, "wave get cbs"); + else CHECK(5, 19, c, 7115, 0, "wave get cbs"); + + c = gpioWaveGetHighCbs(); + if (e < 6963) CHECK(5, 20, c, 6810, 0, "wave get high cbs"); + else CHECK(5, 20, c, 7115, 0, "wave get high cbs"); + + c = gpioWaveGetMaxCbs(); + CHECK(5, 21, c, 25016, 0, "wave get max cbs"); +} + +int t6_count; +int t6_on; +uint32_t t6_on_tick; + +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; + + t6_count=0; + t6_on=0; + t6_on_tick=0; + + gpioSetAlertFunc(GPIO, t6cbf); + + for (t=0; t<5; t++) + { + time_sleep(0.1); + p = 10 + (t*10); + tp += p; + gpioTrigger(GPIO, p, 1); + } + + time_sleep(0.2); + + CHECK(6, 1, t6_count, 5, 0, "gpio trigger count"); + + CHECK(6, 2, t6_on, tp, 25, "gpio trigger pulse length"); +} + +int t7_count; + +void t7cbf(int gpio, int level, uint32_t tick) +{ + if (level == PI_TIMEOUT) t7_count++; +} + +void t7() +{ + int c, oc; + + printf("Watchdog tests.\n"); + + t7_count=0; + + /* type of edge shouldn't matter for watchdogs */ + gpioSetAlertFunc(GPIO, t7cbf); + + gpioSetWatchdog(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"); + + 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; + + printf("Bank read/write tests.\n"); + + gpioWrite(GPIO, 0); + v = gpioRead_Bits_0_31() & (1<= 0) text[b] = 0; + CHECK(10, 7, strcmp(TEXT, text), 0, 0, "serial read"); + + b = serReadByte(h); + CHECK(10, 8, b, 0xAA, 0, "serial read byte"); + + b = serReadByte(h); + CHECK(10, 9, b, 0x55, 0, "serial read byte"); + + b = serReadByte(h); + CHECK(10, 10, b, 0x00, 0, "serial read byte"); + + b = serReadByte(h); + CHECK(10, 11, b, 0xFF, 0, "serial read byte"); + + b = serDataAvailable(h); + CHECK(10, 12, b, 0, 0, "serial data availabe"); + + e = serClose(h); + CHECK(10, 13, e, 0, 0, "serial close"); +} + +void tb() +{ + int h, e, b, len; + char *exp; + char buf[128]; + + printf("SMBus / I2C tests."); + + /* this test requires an ADXL345 on I2C bus 1 addr 0x53 */ + + h = i2cOpen(1, 0x53, 0); + CHECK(11, 1, h, 0, 0, "i2cOpen"); + + e = i2cWriteDevice(h, "\x00", 1); /* move to known register */ + CHECK(11, 2, e, 0, 0, "i2cWriteDevice"); + + b = i2cReadDevice(h, buf, 1); + CHECK(11, 3, b, 1, 0, "i2cReadDevice"); + CHECK(11, 4, buf[0], 0xE5, 0, "i2cReadDevice"); + + b = i2cReadByte(h); + CHECK(11, 5, b, 0xE5, 0, "i2cReadByte"); + + b = i2cReadByteData(h, 0); + CHECK(11, 6, b, 0xE5, 0, "i2cReadByteData"); + + b = i2cReadByteData(h, 48); + CHECK(11, 7, b, 2, 0, "i2cReadByteData"); + + exp = "\x1D[aBcDeFgHjKM]"; + len = strlen(exp); + + e = i2cWriteDevice(h, exp, len); + CHECK(11, 8, e, 0, 0, "i2cWriteDevice"); + + e = i2cWriteDevice(h, "\x1D", 1); + b = i2cReadDevice(h, buf, len-1); + CHECK(11, 9, b, len-1, 0, "i2cReadDevice"); + CHECK(11, 10, strncmp(buf, exp+1, len-1), 0, 0, "i2cReadDevice"); + + if (strncmp(buf, exp+1, len-1)) + printf("got [%.*s] expected [%.*s]\n", len-1, buf, len-1, exp+1); + + e = i2cWriteByteData(h, 0x1d, 0xAA); + CHECK(11, 11, e, 0, 0, "i2cWriteByteData"); + + b = i2cReadByteData(h, 0x1d); + CHECK(11, 12, b, 0xAA, 0, "i2cReadByteData"); + + e = i2cWriteByteData(h, 0x1d, 0x55); + CHECK(11, 13, e, 0, 0, "i2cWriteByteData"); + + b = i2cReadByteData(h, 0x1d); + CHECK(11, 14, b, 0x55, 0, "i2cReadByteData"); + + exp = "[1234567890#]"; + len = strlen(exp); + + e = i2cWriteBlockData(h, 0x1C, exp, len); + CHECK(11, 15, e, 0, 0, "i2c writeBlockData"); + + e = i2cWriteDevice(h, "\x1D", 1); + b = i2cReadDevice(h, buf, len); + CHECK(11, 16, b, len, 0, "i2cReadDevice"); + CHECK(11, 17, strncmp(buf, exp, len), 0, 0, "i2cReadDevice"); + + if (strncmp(buf, exp, len)) + printf("got [%.*s] expected [%.*s]\n", len, buf, len, exp); + + b = i2cReadI2CBlockData(h, 0x1D, buf, len); + CHECK(11, 18, b, len, 0, "i2cReadI2CBlockData"); + CHECK(11, 19, strncmp(buf, exp, len), 0, 0, "i2cReadI2CBlockData"); + + if (strncmp(buf, exp, len)) + printf("got [%.*s] expected [%.*s]\n", len, buf, len, exp); + + exp = "(-+=;:,<>!%)"; + len = strlen(exp); + + e = i2cWriteI2CBlockData(h, 0x1D, exp, len); + CHECK(11, 20, e, 0, 0, "i2cWriteI2CBlockData"); + + b = i2cReadI2CBlockData(h, 0x1D, buf, len); + CHECK(11, 21, b, len, 0, "i2cReadI2CBlockData"); + CHECK(11, 22, strncmp(buf, exp, len), 0, 0, "i2cReadI2CBlockData"); + + if (strncmp(buf, exp, len)) + printf("got [%.*s] expected [%.*s]\n", len, buf, len, exp); + + e = i2cClose(h); + CHECK(11, 23, e, 0, 0, "i2cClose"); +} + +void tc() +{ + int h, x, b, e; + char txBuf[8], rxBuf[8]; + + printf("SPI tests."); + + /* this test requires a MCP3202 on SPI channel 1 */ + + h = spiOpen(1, 50000, 0); + CHECK(12, 1, h, 0, 0, "spiOpen"); + + sprintf(txBuf, "\x01\x80"); + + for (x=0; x<5; x++) + { + b = spiXfer(h, txBuf, rxBuf, 3); + CHECK(12, 2, b, 3, 0, "spiXfer"); + if (b == 3) + { + time_sleep(1.0); + printf("%d ", ((rxBuf[1]&0x0F)*256)|rxBuf[2]); + } + } + + e = spiClose(h); + CHECK(12, 99, e, 0, 0, "spiClose"); +} + +int main(int argc, char *argv[]) +{ + int i, t, c, status; + + char test[64]; + + if (argc > 1) + { + t = 0; + + for (i=0; i 0x03000000: + + if type(r) == type(""): + r = bytearray(r, 'latin-1') + + if type(s) == type(""): + s = bytearray(s, 'latin-1') + + if r != s: + print(r, s) + return 0 + + else: + return 1 + +def CHECK(t, st, got, expect, pc, desc): + if got >= (((1E2-pc)*expect)/1E2) and got <= (((1E2+pc)*expect)/1E2): + print("TEST {:2d}.{:<2d} PASS ({}: {:d})".format(t, st, desc, expect)) + else: + print("TEST {:2d}.{:<2d} FAILED got {:d} ({}: {:d})". + format(t, st, got, desc, expect)) + +def t0(): + + print("\nTesting pigpio Python module {}".format(pigpio.VERSION)) + + print("Python {}".format(sys.version.replace("\n", " "))) + + print("pigpio version {}.".format(pi.get_pigpio_version())) + + print("Hardware revision {}.".format(pi.get_hardware_revision())) + +def t1(): + + print("Mode/PUD/read/write tests.") + + pi.set_mode(GPIO, pigpio.INPUT) + v = pi.get_mode(GPIO) + CHECK(1, 1, v, 0, 0, "set mode, get mode") + + pi.set_pull_up_down(GPIO, pigpio.PUD_UP) + v = pi.read(GPIO) + CHECK(1, 2, v, 1, 0, "set pull up down, read") + + pi.set_pull_up_down(GPIO, pigpio.PUD_DOWN) + v = pi.read(GPIO) + CHECK(1, 3, v, 0, 0, "set pull up down, read") + + pi.write(GPIO, pigpio.LOW) + v = pi.get_mode(GPIO) + CHECK(1, 4, v, 1, 0, "write, get mode") + + v = pi.read(GPIO) + CHECK(1, 5, v, 0, 0, "read") + + pi.write(GPIO, pigpio.HIGH) + v = pi.read(GPIO) + CHECK(1, 6, v, 1, 0, "write, read") + +t2_count=0 + +def t2cbf(gpio, level, tick): + global t2_count + t2_count += 1 + +def t2(): + + global t2_count + + print("PWM dutycycle/range/frequency tests.") + + pi.set_PWM_range(GPIO, 255) + pi.set_PWM_frequency(GPIO,0) + f = pi.get_PWM_frequency(GPIO) + CHECK(2, 1, f, 10, 0, "set PWM range, set/get PWM frequency") + + t2cb = pi.callback(GPIO, pigpio.EITHER_EDGE, t2cbf) + + pi.set_PWM_dutycycle(GPIO, 0) + dc = pi.get_PWM_dutycycle(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") + + pi.set_PWM_dutycycle(GPIO, 128) + dc = pi.get_PWM_dutycycle(GPIO) + CHECK(2, 4, dc, 128, 0, "get PWM dutycycle") + + time.sleep(1) + oc = t2_count + time.sleep(2) + f = t2_count - oc + CHECK(2, 5, f, 40, 10, "set PWM dutycycle, callback") + + pi.set_PWM_frequency(GPIO,100) + f = pi.get_PWM_frequency(GPIO) + CHECK(2, 6, f, 100, 0, "set/get PWM frequency") + + time.sleep(1) + oc = t2_count + time.sleep(2) + f = t2_count - oc + CHECK(2, 7, f, 400, 5, "callback") + + pi.set_PWM_frequency(GPIO,1000) + f = pi.get_PWM_frequency(GPIO) + CHECK(2, 8, f, 1000, 0, "set/get PWM frequency") + + time.sleep(1) + oc = t2_count + time.sleep(2) + f = t2_count - oc + CHECK(2, 9, f, 4000, 5, "callback") + + r = pi.get_PWM_range(GPIO) + CHECK(2, 10, r, 255, 0, "get PWM range") + + rr = pi.get_PWM_real_range(GPIO) + CHECK(2, 11, rr, 200, 0, "get PWM real range") + + pi.set_PWM_range(GPIO, 2000) + r = pi.get_PWM_range(GPIO) + CHECK(2, 12, r, 2000, 0, "set/get PWM range") + + rr = pi.get_PWM_real_range(GPIO) + CHECK(2, 13, rr, 200, 0, "get PWM real range") + + pi.set_PWM_dutycycle(GPIO, 0) + + t2cb.cancel() + +t3_reset=True +t3_count=0 +t3_tick=0 +t3_on=0.0 +t3_off=0.0 + +def t3cbf(gpio, level, tick): + global t3_reset, t3_count, t3_tick, t3_on, t3_off + + if t3_reset: + t3_count = 0 + t3_on = 0.0 + t3_off = 0.0 + t3_reset = False + else: + td = pigpio.tickDiff(t3_tick, tick) + + if level == 0: + t3_on += td + else: + t3_off += td + + t3_count += 1 + t3_tick = tick + +def t3(): + + global t3_reset, t3_count, t3_on, t3_off + + pw=[500.0, 1500.0, 2500.0] + dc=[0.2, 0.4, 0.6, 0.8] + + print("PWM/Servo pulse accuracy tests.") + + t3cb = pi.callback(GPIO, pigpio.EITHER_EDGE, t3cbf) + + t = 0 + for x in pw: + t += 1 + pi.set_servo_pulsewidth(GPIO, x) + v = pi.get_servo_pulsewidth(GPIO) + CHECK(3, t, v, int(x), 0, "get servo pulsewidth") + + t += 1 + time.sleep(1) + t3_reset = True + time.sleep(4) + c = t3_count + on = t3_on + off = t3_off + CHECK(3, t, int((1E3*(on+off))/on), int(2E7/x), 1, "set servo pulsewidth") + + + pi.set_servo_pulsewidth(GPIO, 0) + pi.set_PWM_frequency(GPIO, 1000) + f = pi.get_PWM_frequency(GPIO) + CHECK(3, 7, f, 1000, 0, "set/get PWM frequency") + + rr = pi.set_PWM_range(GPIO, 100) + CHECK(3, 8, rr, 200, 0, "set PWM range") + + t = 8 + for x in dc: + t += 1 + pi.set_PWM_dutycycle(GPIO, x*100) + v = pi.get_PWM_dutycycle(GPIO) + CHECK(3, t, v, int(x*100), 0, "get PWM dutycycle") + + t += 1 + time.sleep(1) + t3_reset = True + time.sleep(2) + c = t3_count + on = t3_on + off = t3_off + CHECK(3, t, int((1E3*on)/(on+off)), int(1E3*x), 1, "set PWM dutycycle") + + pi.set_PWM_dutycycle(GPIO, 0) + + t3cb.cancel() + +def t4(): + + print("Pipe notification tests.") + + pi.set_PWM_frequency(GPIO, 0) + pi.set_PWM_dutycycle(GPIO, 0) + pi.set_PWM_range(GPIO, 100) + + h = pi.notify_open() + e = pi.notify_begin(h, (1<=0, 1, 0, "serial open") + + (b, s) = pi.serial_read(h, 1000) # flush buffer + + b = pi.serial_data_available(h) + CHECK(10, 2, b, 0, 0, "serial data available") + + 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, +""" + e = pi.serial_write(h, TEXT) + CHECK(10, 3, e, 0, 0, "serial write") + + e = pi.serial_write_byte(h, 0xAA) + e = pi.serial_write_byte(h, 0x55) + e = pi.serial_write_byte(h, 0x00) + e = pi.serial_write_byte(h, 0xFF) + + CHECK(10, 4, e, 0, 0, "serial write byte") + + time.sleep(0.1) # allow time for transmission + + b = pi.serial_data_available(h) + CHECK(10, 5, b, len(TEXT)+4, 0, "serial data available") + + (b, text) = pi.serial_read(h, len(TEXT)) + CHECK(10, 6, b, len(TEXT), 0, "serial read") + CHECK(10, 7, STRCMP(text, TEXT), True, 0, "serial read") + + b = pi.serial_read_byte(h) + CHECK(10, 8, b, 0xAA, 0, "serial read byte") + + b = pi.serial_read_byte(h) + CHECK(10, 9, b, 0x55, 0, "serial read byte") + + b = pi.serial_read_byte(h) + CHECK(10, 10, b, 0x00, 0, "serial read byte") + + b = pi.serial_read_byte(h) + CHECK(10, 11, b, 0xFF, 0, "serial read byte") + + b = pi.serial_data_available(h) + CHECK(10, 12, b, 0, 0, "serial data available") + + e = pi.serial_close(h) + CHECK(10, 13, e, 0, 0, "serial close") + +def tb(): + print("SMBus / I2C tests.") + + # this test requires an ADXL345 on I2C bus 1 addr 0x53 + + h = pi.i2c_open(1, 0x53) + CHECK(11, 1, h>=0, 1, 0, "i2c open") + + e = pi.i2c_write_device(h, "\x00") # move to known register + CHECK(11, 2, e, 0, 0, "i2c write device") + + (b, d) = pi.i2c_read_device(h, 1) + CHECK(11, 3, b, 1, 0, "i2c read device") + CHECK(11, 4, ord(d), 0xE5, 0, "i2c read device") + + b = pi.i2c_read_byte(h) + CHECK(11, 5, b, 0xE5, 0, "i2c read byte") + + b = pi.i2c_read_byte_data(h, 0) + CHECK(11, 6, b, 0xE5, 0, "i2c read byte data") + + b = pi.i2c_read_byte_data(h, 48) + CHECK(11, 7, b, 2, 0, "i2c read byte data") + + exp = b"[aB\x08cD\xAAgHj\xFD]" + + e = pi.i2c_write_device(h, b'\x1D'+ exp) + CHECK(11, 8, e, 0, 0, "i2c write device") + + e = pi.i2c_write_device(h, '\x1D') + (b, d) = pi.i2c_read_device(h, 12) + CHECK(11, 9, b, 12, 0, "i2c read device") + CHECK(11, 10, STRCMP(d, exp), True, 0, "i2c read device") + + e = pi.i2c_write_byte_data(h, 0x1d, 0xAA) + CHECK(11, 11, e, 0, 0, "i2c write byte data") + + b = pi.i2c_read_byte_data(h, 0x1d) + CHECK(11, 12, b, 0xAA, 0, "i2c read byte data") + + e = pi.i2c_write_byte_data(h, 0x1d, 0x55) + CHECK(11, 13, e, 0, 0, "i2c write byte data") + + b = pi.i2c_read_byte_data(h, 0x1d) + CHECK(11, 14, b, 0x55, 0, "i2c read byte data") + + exp = "[1234567890#]" + + e = pi.i2c_write_block_data(h, 0x1C, exp) + CHECK(11, 15, e, 0, 0, "i2c write block data") + + e = pi.i2c_write_device(h, '\x1D') + (b, d) = pi.i2c_read_device(h, 13) + CHECK(11, 16, b, 13, 0, "i2c read device") + CHECK(11, 17, STRCMP(d, exp), True, 0, "i2c read device") + + (b, d) = pi.i2c_read_i2c_block_data(h, 0x1D, 13) + CHECK(11, 18, b, 13, 0, "i2c read i2c block data") + CHECK(11, 19, STRCMP(d, exp), True, 0, "i2c read i2c block data") + + expl = [0x01, 0x05, 0x06, 0x07, 0x09, 0x1B, 0x99, 0xAA, 0xBB, 0xCC] + exp = "\x01\x05\x06\x07\x09\x1B\x99\xAA\xBB\xCC" + + e = pi.i2c_write_i2c_block_data(h, 0x1D, expl) + CHECK(11, 20, e, 0, 0, "i2c write i2c block data") + + (b, d) = pi.i2c_read_i2c_block_data(h, 0x1D, 10) + CHECK(11, 21, b, 10, 0, "i2c read i2c block data") + CHECK(11, 22, STRCMP(d, exp), True, 0, "i2c read i2c block data") + + e = pi.i2c_close(h) + CHECK(11, 23, e, 0, 0, "i2c close") + +def tca(b, d): + if b == 3: + c1 = d[1] & 0x0F + c2 = d[2] + time.sleep(1.0) + print((c1*256)+c2) + +def tc(): + print("SPI tests.") + + # this test requires a MCP3202 on SPI channel 1 + + h = pi.spi_open(1, 50000) + CHECK(12, 1, h>=0, 1, 0, "spi open") + + (b, d) = pi.spi_xfer(h, [1,128,0]) + CHECK(12, 2, b, 3, 0, "spi xfer") + tca(b, d) + + (b, d) = pi.spi_xfer(h, "\x01\x80\x00") + CHECK(12, 2, b, 3, 0, "spi xfer") + tca(b, d) + + (b, d) = pi.spi_xfer(h, b"\x01\x80\x00") + CHECK(12, 2, b, 3, 0, "spi xfer") + tca(b, d) + + (b, d) = pi.spi_xfer(h, '\x01\x80\x00') + CHECK(12, 2, b, 3, 0, "spi xfer") + tca(b, d) + + (b, d) = pi.spi_xfer(h, b'\x01\x80\x00') + CHECK(12, 2, b, 3, 0, "spi xfer") + tca(b, d) + + e = pi.spi_close(h) + CHECK(12, 99, e, 0, 0, "spi close") + +def td(): + + print("Wavechains & filter tests.") + + tdcb = pi.callback(GPIO) + + pi.set_mode(GPIO, pigpio.OUTPUT) + + pi.write(GPIO, pigpio.LOW) + + e = pi.wave_clear() + CHECK(13, 1, e, 0, 0, "callback, set mode, wave clear") + + wf = [] + + wf.append(pigpio.pulse(1< 1: + tests = "" + for C in sys.argv[1]: + c = C.lower() + if c not in tests: + tests += c + +else: + tests = "0123456789d" + +pi = pigpio.pi() + +if pi.connected: + print("Connected to pigpio daemon.") + + if '0' in tests: t0() + if '1' in tests: t1() + if '2' in tests: t2() + if '3' in tests: t3() + if '4' in tests: t4() + if '5' in tests: t5() + if '6' in tests: t6() + if '7' in tests: t7() + if '8' in tests: t8() + if '9' in tests: t9() + if 'a' in tests: ta() + if 'b' in tests: tb() + if 'c' in tests: tc() + if 'd' in tests: td() + +pi.stop() + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/x_pigpiod_if.c b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/x_pigpiod_if.c new file mode 100644 index 0000000..cc58d2f --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Raspberry/PIGPIO/x_pigpiod_if.c @@ -0,0 +1,877 @@ +/* +gcc -Wall -pthread -o x_pigpiod_if x_pigpiod_if.c -lpigpiod_if +./x_pigpiod_if + +*** WARNING ************************************************ +* * +* All the tests make extensive use of gpio 25 (pin 22). * +* Ensure that either nothing or just a LED is connected to * +* gpio 25 before running any of the tests. * +* * +* Some tests are statistical in nature and so may on * +* occasion fail. Repeated failures on the same test or * +* many failures in a group of tests indicate a problem. * +************************************************************ +*/ + +#include +#include +#include +#include +#include +#include +#include + +#include "pigpiod_if.h" + +#define GPIO 25 + +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("\nTesting pigpiod C I/F 1\n"); + + printf("pigpio version %d.\n", get_pigpio_version()); + + printf("Hardware revision %d.\n", get_hardware_revision()); +} + +void t1() +{ + int v; + + printf("Mode/PUD/read/write tests.\n"); + + set_mode(GPIO, PI_INPUT); + v = get_mode(GPIO); + CHECK(1, 1, v, 0, 0, "set mode, get mode"); + + set_pull_up_down(GPIO, PI_PUD_UP); + v = gpio_read(GPIO); + CHECK(1, 2, v, 1, 0, "set pull up down, read"); + + set_pull_up_down(GPIO, PI_PUD_DOWN); + v = gpio_read(GPIO); + CHECK(1, 3, v, 0, 0, "set pull up down, read"); + + gpio_write(GPIO, PI_LOW); + v = get_mode(GPIO); + CHECK(1, 4, v, 1, 0, "write, get mode"); + + v = gpio_read(GPIO); + CHECK(1, 5, v, 0, 0, "read"); + + gpio_write(GPIO, PI_HIGH); + v = gpio_read(GPIO); + CHECK(1, 6, v, 1, 0, "write, read"); +} + +int t2_count=0; + +void t2cb(unsigned gpio, unsigned level, uint32_t tick) +{ + t2_count++; +} + +void t2() +{ + int dc, f, r, rr, oc; + + printf("PWM dutycycle/range/frequency tests.\n"); + + set_PWM_range(GPIO, 255); + set_PWM_frequency(GPIO, 0); + f = get_PWM_frequency(GPIO); + CHECK(2, 1, f, 10, 0, "set PWM range, set/get PWM frequency"); + + callback(GPIO, EITHER_EDGE, t2cb); + + set_PWM_dutycycle(GPIO, 0); + dc = get_PWM_dutycycle(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(GPIO, 128); + dc = get_PWM_dutycycle(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(GPIO, 100); + f = get_PWM_frequency(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(GPIO, 1000); + f = get_PWM_frequency(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(GPIO); + CHECK(2, 10, r, 255, 0, "get PWM range"); + + rr = get_PWM_real_range(GPIO); + CHECK(2, 11, rr, 200, 0, "get PWM real range"); + + set_PWM_range(GPIO, 2000); + r = get_PWM_range(GPIO); + CHECK(2, 12, r, 2000, 0, "set/get PWM range"); + + rr = get_PWM_real_range(GPIO); + CHECK(2, 13, rr, 200, 0, "get PWM real range"); + + set_PWM_dutycycle(GPIO, 0); +} + +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(unsigned gpio, unsigned level, uint32_t tick) +{ + uint32_t td; + + 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 pw[3]={500, 1500, 2500}; + int dc[4]={20, 40, 60, 80}; + + int f, rr, v; + float on, off; + + int t; + + printf("PWM/Servo pulse accuracy tests.\n"); + + callback(GPIO, EITHER_EDGE, t3cbf); + + for (t=0; t<3; t++) + { + set_servo_pulsewidth(GPIO, pw[t]); + v = get_servo_pulsewidth(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(GPIO, 0); + set_PWM_frequency(GPIO, 1000); + f = get_PWM_frequency(GPIO); + CHECK(3, 7, f, 1000, 0, "set/get PWM frequency"); + + rr = set_PWM_range(GPIO, 100); + CHECK(3, 8, rr, 200, 0, "set PWM range"); + + for (t=0; t<4; t++) + { + set_PWM_dutycycle(GPIO, dc[t]); + v = get_PWM_dutycycle(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(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"); + + set_PWM_frequency(GPIO, 0); + set_PWM_dutycycle(GPIO, 0); + set_PWM_range(GPIO, 100); + + h = notify_open(); + e = notify_begin(h, (1< 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(GPIO); + CHECK(5, 12, e, 0, 0, "serial read close"); + + c = wave_get_micros(); + CHECK(5, 13, c, 6158148, 0, "wave get micros"); + + c = wave_get_high_micros(); + if (c > 6158148) c = 6158148; + CHECK(5, 14, c, 6158148, 0, "wave get high micros"); + + c = wave_get_max_micros(); + CHECK(5, 15, c, 1800000000, 0, "wave get max micros"); + + c = wave_get_pulses(); + CHECK(5, 16, c, 3405, 0, "wave get pulses"); + + c = wave_get_high_pulses(); + CHECK(5, 17, c, 3405, 0, "wave get high pulses"); + + c = wave_get_max_pulses(); + CHECK(5, 18, c, 12000, 0, "wave get max pulses"); + + c = wave_get_cbs(); + if (c < 6963) CHECK(5, 19, c, 6810, 0, "wave get cbs"); + else CHECK(5, 19, c, 7115, 0, "wave get cbs"); + + c = wave_get_high_cbs(); + if (c < 6963) CHECK(5, 20, c, 6810, 0, "wave get high cbs"); + else CHECK(5, 20, c, 7115, 0, "wave get high cbs"); + + c = wave_get_max_cbs(); + 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(unsigned gpio, unsigned 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"); + + gpio_write(GPIO, PI_LOW); + + tp = 0; + + callback(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(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"); +} + +int t7_count=0; + +void t7cbf(unsigned gpio, unsigned 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 */ + callback(GPIO, FALLING_EDGE, t7cbf); + + set_watchdog(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(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; + + printf("Bank read/write tests.\n"); + + gpio_write(GPIO, 0); + v = read_bank_1() & (1<= 0) text[b] = 0; + CHECK(10, 7, strcmp(TEXT, text), 0, 0, "serial read"); + + b = serial_read_byte(h); + CHECK(10, 8, b, 0xAA, 0, "serial read byte"); + + b = serial_read_byte(h); + CHECK(10, 9, b, 0x55, 0, "serial read byte"); + + b = serial_read_byte(h); + CHECK(10, 10, b, 0x00, 0, "serial read byte"); + + b = serial_read_byte(h); + CHECK(10, 11, b, 0xFF, 0, "serial read byte"); + + b = serial_data_available(h); + CHECK(10, 12, b, 0, 0, "serial data availabe"); + + e = serial_close(h); + CHECK(10, 13, e, 0, 0, "serial close"); +} + +void tb() +{ + int h, e, b, len; + char *exp; + char buf[128]; + + printf("SMBus / I2C tests."); + + /* this test requires an ADXL345 on I2C bus 1 addr 0x53 */ + + h = i2c_open(1, 0x53, 0); + CHECK(11, 1, h, 0, 0, "i2c open"); + + e = i2c_write_device(h, "\x00", 1); /* move to known register */ + CHECK(11, 2, e, 0, 0, "i2c write device"); + + b = i2c_read_device(h, buf, 1); + CHECK(11, 3, b, 1, 0, "i2c read device"); + CHECK(11, 4, buf[0], 0xE5, 0, "i2c read device"); + + b = i2c_read_byte(h); + CHECK(11, 5, b, 0xE5, 0, "i2c read byte"); + + b = i2c_read_byte_data(h, 0); + CHECK(11, 6, b, 0xE5, 0, "i2c read byte data"); + + b = i2c_read_byte_data(h, 48); + CHECK(11, 7, b, 2, 0, "i2c read byte data"); + + exp = "\x1D[aBcDeFgHjKM]"; + len = strlen(exp); + + e = i2c_write_device(h, exp, len); + CHECK(11, 8, e, 0, 0, "i2c write device"); + + e = i2c_write_device(h, "\x1D", 1); + b = i2c_read_device(h, buf, len-1); + CHECK(11, 9, b, len-1, 0, "i2c read device"); + CHECK(11, 10, strncmp(buf, exp+1, len-1), 0, 0, "i2c read device"); + + if (strncmp(buf, exp+1, len-1)) + printf("got [%.*s] expected [%.*s]\n", len-1, buf, len-1, exp+1); + + e = i2c_write_byte_data(h, 0x1d, 0xAA); + CHECK(11, 11, e, 0, 0, "i2c write byte data"); + + b = i2c_read_byte_data(h, 0x1d); + CHECK(11, 12, b, 0xAA, 0, "i2c read byte data"); + + e = i2c_write_byte_data(h, 0x1d, 0x55); + CHECK(11, 13, e, 0, 0, "i2c write byte data"); + + b = i2c_read_byte_data(h, 0x1d); + CHECK(11, 14, b, 0x55, 0, "i2c read byte data"); + + exp = "[1234567890#]"; + len = strlen(exp); + + e = i2c_write_block_data(h, 0x1C, exp, len); + CHECK(11, 15, e, 0, 0, "i2c write block data"); + + e = i2c_write_device(h, "\x1D", 1); + b = i2c_read_device(h, buf, len); + CHECK(11, 16, b, len, 0, "i2c read device"); + CHECK(11, 17, strncmp(buf, exp, len), 0, 0, "i2c read device"); + + if (strncmp(buf, exp, len)) + printf("got [%.*s] expected [%.*s]\n", len, buf, len, exp); + + b = i2c_read_i2c_block_data(h, 0x1D, buf, len); + CHECK(11, 18, b, len, 0, "i2c read i2c block data"); + CHECK(11, 19, strncmp(buf, exp, len), 0, 0, "i2c read i2c block data"); + + if (strncmp(buf, exp, len)) + printf("got [%.*s] expected [%.*s]\n", len, buf, len, exp); + + exp = "(-+=;:,<>!%)"; + len = strlen(exp); + + e = i2c_write_i2c_block_data(h, 0x1D, exp, len); + CHECK(11, 20, e, 0, 0, "i2c write i2c block data"); + + b = i2c_read_i2c_block_data(h, 0x1D, buf, len); + CHECK(11, 21, b, len, 0, "i2c read i2c block data"); + CHECK(11, 22, strncmp(buf, exp, len), 0, 0, "i2c read i2c block data"); + + if (strncmp(buf, exp, len)) + printf("got [%.*s] expected [%.*s]\n", len, buf, len, exp); + + e = i2c_close(h); + CHECK(11, 23, e, 0, 0, "i2c close"); +} + +void tc() +{ + int h, x, b, e; + char buf[128]; + + printf("SPI tests."); + + /* this test requires a MCP3202 on SPI channel 1 */ + + h = spi_open(1, 50000, 0); + CHECK(12, 1, h, 0, 0, "spi open"); + + + for (x=0; x<5; x++) + { + sprintf(buf, "\x01\x80"); + b = spi_xfer(h, buf, buf, 3); + CHECK(12, 2, b, 3, 0, "spi xfer"); + if (b == 3) + { + time_sleep(1.0); + printf("%d ", ((buf[1]&0x0F)*256)|buf[2]); + } + } + + e = spi_close(h); + CHECK(12, 99, e, 0, 0, "spi close"); +} + + +int main(int argc, char *argv[]) +{ + int i, t, c, status; + + char test[64]; + + if (argc > 1) + { + t = 0; + + for (i=0; i +#include +#include +#include +#include +#include +#include + +#include "pigpiod_if2.h" + +#define GPIO 25 + +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(int pi) +{ + printf("\nTesting pigpiod C I/F 2\n"); + + printf("pigpio version %d.\n", get_pigpio_version(pi)); + + printf("Hardware revision %d.\n", get_hardware_revision(pi)); +} + +void t1(int pi) +{ + int v; + + printf("Mode/PUD/read/write tests.\n"); + + set_mode(pi, GPIO, PI_INPUT); + v = get_mode(pi, GPIO); + CHECK(1, 1, v, 0, 0, "set mode, get mode"); + + set_pull_up_down(pi, GPIO, PI_PUD_UP); + v = gpio_read(pi, GPIO); + CHECK(1, 2, v, 1, 0, "set pull up down, read"); + + set_pull_up_down(pi, GPIO, PI_PUD_DOWN); + v = gpio_read(pi, GPIO); + CHECK(1, 3, v, 0, 0, "set pull up down, read"); + + gpio_write(pi, GPIO, PI_LOW); + v = get_mode(pi, GPIO); + CHECK(1, 4, v, 1, 0, "write, get mode"); + + v = gpio_read(pi, GPIO); + CHECK(1, 5, v, 0, 0, "read"); + + gpio_write(pi, GPIO, PI_HIGH); + v = gpio_read(pi, GPIO); + CHECK(1, 6, v, 1, 0, "write, read"); +} + +int t2_count=0; + +void t2cb(int pi, unsigned gpio, unsigned level, uint32_t tick) +{ + t2_count++; +} + +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); +} + +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 pi, unsigned gpio, unsigned level, uint32_t tick) +{ + uint32_t td; + +// printf("pi=%d g=%d l=%d t=%u\n", pi, gpio, level, tick); + 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 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); +} + +void t4(int pi) +{ + int h, e, f, n, s, b, l, seq_ok, toggle_ok; + gpioReport_t r; + char p[32]; + + printf("Pipe notification tests.\n"); + + set_PWM_frequency(pi, GPIO, 0); + set_PWM_dutycycle(pi, GPIO, 0); + set_PWM_range(pi, GPIO, 100); + + h = notify_open(pi); + e = notify_begin(pi, h, (1< 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); + if (c < 6963) CHECK(5, 19, c, 6810, 0, "wave get cbs"); + else CHECK(5, 19, c, 7115, 0, "wave get cbs"); + + c = wave_get_high_cbs(pi); + if (c < 6963) CHECK(5, 20, c, 6810, 0, "wave get high cbs"); + else CHECK(5, 20, c, 7115, 0, "wave get high cbs"); + + c = wave_get_max_cbs(pi); + CHECK(5, 21, c, 25016, 0, "wave get max cbs"); + + callback_cancel(id); +} + +int t6_count=0; +int t6_on=0; +uint32_t t6_on_tick=0; + +void t6cbf(int pi, unsigned gpio, unsigned 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 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); +} + +int t7_count=0; + +void t7cbf(int pi, unsigned gpio, unsigned level, uint32_t tick) +{ + if (level == PI_TIMEOUT) t7_count++; +} + +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 t8(int pi) +{ + int v; + + printf("Bank read/write tests.\n"); + + gpio_write(pi, GPIO, 0); + v = read_bank_1(pi) & (1<= 0) text[b] = 0; + CHECK(10, 7, strcmp(TEXT, text), 0, 0, "serial read"); + + b = serial_read_byte(pi, h); + CHECK(10, 8, b, 0xAA, 0, "serial read byte"); + + b = serial_read_byte(pi, h); + CHECK(10, 9, b, 0x55, 0, "serial read byte"); + + b = serial_read_byte(pi, h); + CHECK(10, 10, b, 0x00, 0, "serial read byte"); + + b = serial_read_byte(pi, h); + CHECK(10, 11, b, 0xFF, 0, "serial read byte"); + + b = serial_data_available(pi, h); + CHECK(10, 12, b, 0, 0, "serial data availabe"); + + e = serial_close(pi, h); + CHECK(10, 13, e, 0, 0, "serial close"); +} + +void tb(int pi) +{ + int h, e, b, len; + char *exp; + char buf[128]; + + printf("SMBus / I2C tests."); + + /* this test requires an ADXL345 on I2C bus 1 addr 0x53 */ + + h = i2c_open(pi, 1, 0x53, 0); + CHECK(11, 1, h, 0, 0, "i2c open"); + + e = i2c_write_device(pi, h, "\x00", 1); /* move to known register */ + CHECK(11, 2, e, 0, 0, "i2c write device"); + + b = i2c_read_device(pi, h, buf, 1); + CHECK(11, 3, b, 1, 0, "i2c read device"); + CHECK(11, 4, buf[0], 0xE5, 0, "i2c read device"); + + b = i2c_read_byte(pi, h); + CHECK(11, 5, b, 0xE5, 0, "i2c read byte"); + + b = i2c_read_byte_data(pi, h, 0); + CHECK(11, 6, b, 0xE5, 0, "i2c read byte data"); + + b = i2c_read_byte_data(pi, h, 48); + CHECK(11, 7, b, 2, 0, "i2c read byte data"); + + exp = "\x1D[aBcDeFgHjKM]"; + len = strlen(exp); + + e = i2c_write_device(pi, h, exp, len); + CHECK(11, 8, e, 0, 0, "i2c write device"); + + e = i2c_write_device(pi, h, "\x1D", 1); + b = i2c_read_device(pi, h, buf, len-1); + CHECK(11, 9, b, len-1, 0, "i2c read device"); + CHECK(11, 10, strncmp(buf, exp+1, len-1), 0, 0, "i2c read device"); + + if (strncmp(buf, exp+1, len-1)) + printf("got [%.*s] expected [%.*s]\n", len-1, buf, len-1, exp+1); + + e = i2c_write_byte_data(pi, h, 0x1d, 0xAA); + CHECK(11, 11, e, 0, 0, "i2c write byte data"); + + b = i2c_read_byte_data(pi, h, 0x1d); + CHECK(11, 12, b, 0xAA, 0, "i2c read byte data"); + + e = i2c_write_byte_data(pi, h, 0x1d, 0x55); + CHECK(11, 13, e, 0, 0, "i2c write byte data"); + + b = i2c_read_byte_data(pi, h, 0x1d); + CHECK(11, 14, b, 0x55, 0, "i2c read byte data"); + + exp = "[1234567890#]"; + len = strlen(exp); + + e = i2c_write_block_data(pi, h, 0x1C, exp, len); + CHECK(11, 15, e, 0, 0, "i2c write block data"); + + e = i2c_write_device(pi, h, "\x1D", 1); + b = i2c_read_device(pi, h, buf, len); + CHECK(11, 16, b, len, 0, "i2c read device"); + CHECK(11, 17, strncmp(buf, exp, len), 0, 0, "i2c read device"); + + if (strncmp(buf, exp, len)) + printf("got [%.*s] expected [%.*s]\n", len, buf, len, exp); + + b = i2c_read_i2c_block_data(pi, h, 0x1D, buf, len); + CHECK(11, 18, b, len, 0, "i2c read i2c block data"); + CHECK(11, 19, strncmp(buf, exp, len), 0, 0, "i2c read i2c block data"); + + if (strncmp(buf, exp, len)) + printf("got [%.*s] expected [%.*s]\n", len, buf, len, exp); + + exp = "(-+=;:,<>!%)"; + len = strlen(exp); + + e = i2c_write_i2c_block_data(pi, h, 0x1D, exp, len); + CHECK(11, 20, e, 0, 0, "i2c write i2c block data"); + + b = i2c_read_i2c_block_data(pi, h, 0x1D, buf, len); + CHECK(11, 21, b, len, 0, "i2c read i2c block data"); + CHECK(11, 22, strncmp(buf, exp, len), 0, 0, "i2c read i2c block data"); + + if (strncmp(buf, exp, len)) + printf("got [%.*s] expected [%.*s]\n", len, buf, len, exp); + + e = i2c_close(pi, h); + CHECK(11, 23, e, 0, 0, "i2c close"); +} + +void tc(int pi) +{ + int h, x, b, e; + char buf[128]; + + printf("SPI tests."); + + /* this test requires a MCP3202 on SPI channel 1 */ + + h = spi_open(pi, 1, 50000, 0); + CHECK(12, 1, h, 0, 0, "spi open"); + + + for (x=0; x<5; x++) + { + sprintf(buf, "\x01\x80"); + b = spi_xfer(pi, h, buf, buf, 3); + CHECK(12, 2, b, 3, 0, "spi xfer"); + if (b == 3) + { + time_sleep(1.0); + printf("%d ", ((buf[1]&0x0F)*256)|buf[2]); + } + } + + e = spi_close(pi, h); + CHECK(12, 99, e, 0, 0, "spi close"); +} + + +int main(int argc, char *argv[]) +{ + int i, t, c, pi; + + char test[64]; + + if (argc > 1) + { + t = 0; + + for (i=0; i/dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 h /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 p /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 -a v /dev/pigpio +read -t 1 s /dev/pigpio +sleep 0.1 +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 w /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +echo "tick" >/dev/pigpio +read -t 1 t1 /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 w /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s /dev/pigpio +read -t 1 s \",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/SSH/Build-Scripts-Windows.xblox b/shredder/asterix-pp/resources/hmi/drivers/SSH/Build-Scripts-Windows.xblox new file mode 100644 index 0000000..29f2e53 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/SSH/Build-Scripts-Windows.xblox @@ -0,0 +1,142 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "id": "bdd77334-ec92-b26d-b9eb-56108e06c241", + "name": "value", + "value": "windows7_x86\\admin\r\n", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": "xcf.model.Variable", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "hasInlineEdits": true, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "Build-Server-Windows", + "group": "basic", + "id": "65009b71-cc57-c225-c21d-8bdf493932f9", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "return \"build-server.bat\"", + "interval": "0", + "waitForResponse": true, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "type": "added", + "hasInlineEdits": true + }, + { + "_containsChildrenIds": [], + "name": "Copy-Windows", + "group": "basic", + "id": "1da5ef80-f127-8aa5-f33e-9ec82cdb53c9", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "copy.bat", + "interval": "0", + "waitForResponse": true, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "type": "added", + "hasInlineEdits": true + }, + { + "_containsChildrenIds": [], + "name": "Build-Windows", + "group": "basic", + "id": "e4f70dd5-6e84-9886-4bfb-71d0dc472fd1", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "build.bat", + "interval": "0", + "waitForResponse": true, + "icon": "fa-exclamation", + "enabled": false, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "type": "added", + "hasInlineEdits": true + }, + { + "_containsChildrenIds": [], + "name": "Dir-C", + "group": "basic", + "id": "cf7d7a02-31f1-7d1f-4b0f-7cde700a02a6", + "declaredClass": "xcf.model.Command", + "startup": false, + "auto": false, + "send": "dir", + "interval": "0", + "waitForResponse": true, + "hasInlineEdits": true, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [], + "name": "whoami", + "group": "basic", + "id": "2bde94d0-dd71-357e-ad10-cb97f47eba26", + "declaredClass": "xcf.model.Command", + "startup": true, + "auto": true, + "send": "whoami", + "interval": "3000", + "waitForResponse": false, + "hasInlineEdits": true, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "type": "added", + "_loop": 742 + }, + { + "_containsChildrenIds": [], + "group": "conditionalProcess", + "id": "219c1dab-8ab9-39a7-95ec-03442877ee08", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "method": "console.error('on ssh message ' + arguments[0]);", + "args": "", + "deferred": false, + "icon": "fa-code", + "enabled": true, + "shareTitle": "", + "description": "Runs an expression.
\n\nBehaviour\n\n
\n\n    //to abort execution (child blocks), return something negative as -1 or false.\n    return false;\n\n
", + "canDelete": true, + "order": 0, + "type": "added" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/SSH/Maintenance-SSH.js b/shredder/asterix-pp/resources/hmi/drivers/SSH/Maintenance-SSH.js new file mode 100644 index 0000000..c66bf87 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/SSH/Maintenance-SSH.js @@ -0,0 +1,26 @@ +define(["module","dcl/dcl"], function(module,dcl){ + return dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + + }, + test:function(){ + + //send a message : + this.sendMessage('pwon',true);//sends message to device , respecting start & end settings . forcing now! + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/SSH/Maintenance-SSH.meta.json b/shredder/asterix-pp/resources/hmi/drivers/SSH/Maintenance-SSH.meta.json new file mode 100644 index 0000000..a148af0 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/SSH/Maintenance-SSH.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "Maintenance-SSH", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "b08405ac-a878-351f-7bab-f4174de7e669", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": ".\/project1\/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": ".\/SSH\/Maintenance-SSH.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/SSH/Maintenance-SSH.xblox b/shredder/asterix-pp/resources/hmi/drivers/SSH/Maintenance-SSH.xblox new file mode 100644 index 0000000..6ded01f --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/SSH/Maintenance-SSH.xblox @@ -0,0 +1,586 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "id": "f1972cc1-4365-9fb6-76be-2594be431d20", + "name": "value", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": "xcf.model.Variable", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "isVariable": true, + "outlet": 0, + "flags": 4096, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "Project-Directory", + "group": "basicVariables", + "id": "9ae6b31f-9bef-8bf9-65e4-467ac0747d3b", + "value": "/PMaster/projects/x4mm", + "type": "added", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "isVariable": true, + "outlet": 0, + "flags": 4096, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "basic", + "id": "b879ee08-981b-e4f6-3a0a-fed819bdd698", + "items": [ + "c781b7ae-2715-9b4b-b2c3-224253325259", + "480242d3-0dee-b2de-9f1b-9eb97a7f8348", + "3e72b28f-199a-ae26-1a3b-a36ddfb4c140" + ], + "startup": true, + "send": "var string = \"\";\n\n//string +=\"whoamix \\n\";\nstring +=\"pwd\";\nreturn string;\n", + "name": "test2", + "interval": "0", + "flags": 34816, + "type": "added", + "_lastResult": "/home/mc007\n", + "declaredClass": "xcf.model.Command", + "icon": "fa-exclamation", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0 + }, + { + "_containsChildrenIds": [], + "name": "Build-Server", + "group": "basic", + "id": "873486db-f94c-0bc1-1784-35f4ed50e737", + "send": "return 'cd ' + this.getVariable('Project-Directory') + '/server/nodejs/; grunt platform';", + "interval": "0", + "icon": "fa-flag", + "type": "added", + "waitForResponse": true, + "declaredClass": "xcf.model.Command", + "startup": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "Build-XCF-Client", + "group": "basic", + "id": "68d13da3-2ae0-bd35-d691-0c5b6c22c602", + "send": "return 'cd ' + this.getVariable('Project-Directory') +'/Code/client/src/; sh buildxcf.sh ';", + "interval": "0", + "waitForResponse": true, + "icon": "fa-flag", + "description": "Builds the release version of the xcf client library", + "type": "added", + "declaredClass": "xcf.model.Command", + "startup": false, + "enabled": true, + "shareTitle": "", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [ + "items" + ], + "name": "Dist-Prepare", + "group": "basic", + "id": "aeabd4d8-b4dd-5f84-547a-c2b3b2276c52", + "send": "'cd ' + this.getVariable('Project-Directory') + '; grunt dist-prepare';", + "interval": "0", + "description": "Copies all from dist/all to all platforms", + "type": "added", + "waitForResponse": true, + "flags": 34816, + "items": [ + "04701e49-880a-1c9e-b659-f4b5e38cd7f8" + ], + "declaredClass": "xcf.model.Command", + "startup": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "order": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "DIST-WINDOWS", + "group": "basicVariables", + "id": "70678396-ad60-e373-5d1c-e89b6e37a5a0", + "value": "[Project-Directory]/dist/windows", + "type": "added", + "icon": "fa-adn", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "isVariable": true, + "outlet": 0, + "flags": 4096 + }, + { + "_containsChildrenIds": [], + "name": "Commit-Windows", + "group": "basic", + "id": "796fc6ab-40e2-e3c4-8811-5bf73391e79b", + "send": "'cd ' + this.getVariable('Project-Directory') + ';grunt shell:commit-windows;cd dist/windows;gitc';", + "interval": "0", + "icon": "fa-check", + "description": "This will commit the build to xcf-dist-windows", + "type": "added", + "waitForResponse": true, + "declaredClass": "xcf.model.Command", + "startup": false, + "enabled": true, + "shareTitle": "", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "Update-Windows", + "group": "basic", + "id": "0110043c-3a13-2754-ee12-428d68158955", + "send": "'cd ' + this.getVariable('Project-Directory') + '; grunt update-windows';", + "interval": "0", + "icon": "fa-check", + "description": "Will connect to Windows-Build host and runs build.bat

Should be followed by \"Commit-Windows\" but take care the build actually did work!



", + "type": "added", + "waitForResponse": true, + "declaredClass": "xcf.model.Command", + "startup": false, + "enabled": true, + "shareTitle": "", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "Commit Subs", + "group": "basic", + "id": "b032921e-2d5d-1429-ec19-4e49da5250c5", + "send": "return 'cd ' + this.getVariable('Project-Directory') +'; gitcs';", + "interval": "0", + "waitForResponse": true, + "icon": "fa-check", + "description": "cd ROOT && gitcs;", + "type": "added", + "declaredClass": "xcf.model.Command", + "startup": false, + "enabled": true, + "shareTitle": "", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "Commit Client", + "group": "basic", + "id": "8da66e01-b166-3c17-4cb0-24288e492350", + "send": "return 'cd ' + this.getVariable('Project-Directory') +'/Code/client; gitcs';", + "interval": "0", + "waitForResponse": true, + "icon": "fa-check", + "description": "cd ROOT/Code/client && gitcs;", + "type": "added", + "declaredClass": "xcf.model.Command", + "startup": false, + "enabled": true, + "shareTitle": "", + "order": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "variable": "f1972cc1-4365-9fb6-76be-2594be431d20", + "variableId": "f1972cc1-4365-9fb6-76be-2594be431d20", + "value": "[value].slice(0,1);", + "id": "cfc67554-4f04-5efb-62b1-0be513c2d091", + "parentId": "bfa76960-732c-7917-74c8-e80e61577134", + "type": "added", + "declaredClass": "xblox.model.variables.VariableAssignmentBlock", + "name": "Set Variable", + "icon": "", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "flags": 4, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "whoami", + "group": "basic", + "id": "2557e688-48b5-fb32-af7c-946304d160a1", + "send": "whoami", + "interval": "1000", + "waitForResponse": false, + "type": "added", + "auto": false, + "flags": 34816, + "_lastResult": "mc007\n", + "declaredClass": "xcf.model.Command", + "startup": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "test", + "group": "basicVariables", + "id": "92a6704f-7ece-b684-c192-f272fef5ee36", + "value": "nada", + "type": "added", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "isVariable": true, + "outlet": 0, + "flags": 4096, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "conditionalProcess", + "id": "bfa76960-732c-7917-74c8-e80e61577134", + "method": "return [Left] + [Right]==1;", + "enabled": false, + "description": "Runs an expression.
\n\nBehaviour\n\n
\n\n    //to abort execution (child blocks), return something negative as -1 or false.\n    return false;\n\n
", + "type": "added", + "_lastResult": false, + "items": [ + "cfc67554-4f04-5efb-62b1-0be513c2d091" + ], + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "shareTitle": "", + "order": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "Left", + "group": "basicVariables", + "id": "95f1a733-fd80-aae2-b8d5-3da7d54aba74", + "value": "mc", + "type": "added", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "isVariable": true, + "outlet": 0, + "flags": 4096, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "Right", + "group": "basicVariables", + "id": "79b7f546-4e03-e1d4-d367-7e2d396e1649", + "value": "2", + "type": "added", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "isVariable": true, + "outlet": 0, + "flags": 4096, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "group": "conditionalProcess", + "condition": "[test].length==4", + "id": "327f9a91-ef2e-4daf-5e6b-9b2cbbedc886", + "enabled": false, + "type": "added", + "declaredClass": "xblox.model.logic.IfBlock", + "name": "if", + "icon": "", + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "init", + "id": "f2b984bf-a72b-8040-6fb7-bc25a665d93d", + "method": "console.error('started ssh - local');\n", + "type": "added", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "enabled": true, + "shareTitle": "", + "order": 0, + "description": "No Description", + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "9627cb05-2f23-8846-0721-5abcc7d3afbb", + "method": "zenity --question --text \"Are you sure you want to shutdown?\"; echo $?", + "enabled": false, + "description": "Runs an expression.
\n\nBehaviour\n\n
\n\n    //to abort execution (child blocks), return something negative as -1 or false.\n    return false;\n\n
", + "type": "added", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "shareTitle": "", + "order": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "basicVariables", + "id": "620d382f-2d28-1658-deb2-380dd2e964d7", + "type": "added", + "name": "No Title", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "isVariable": true, + "outlet": 0, + "flags": 4096, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "parentId": "1939edde-b32c-3e4b-5cf4-7bd1d9b7412f", + "id": "da7830d6-f79d-775f-5385-5155da934291", + "method": "console.error('run script');", + "type": "added", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "enabled": true, + "shareTitle": "", + "order": 0, + "description": "No Description", + "outlet": 0 + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "basic", + "id": "1939edde-b32c-3e4b-5cf4-7bd1d9b7412f", + "send": "return \"echo 'asd'\" + '> /tmp/xxxx'+ new Date().getTime();", + "name": "CreateTempFile", + "interval": "0", + "waitForResponse": false, + "type": "added", + "items": [ + "da7830d6-f79d-775f-5385-5155da934291" + ], + "declaredClass": "xcf.model.Command", + "startup": false, + "flags": 2048, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "parentId": "aeabd4d8-b4dd-5f84-547a-c2b3b2276c52", + "id": "04701e49-880a-1c9e-b659-f4b5e38cd7f8", + "method": "console.error('test');", + "type": "added", + "outlet": 8, + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "enabled": true, + "shareTitle": "", + "order": 0, + "description": "No Description" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "804976b8-e69b-2f68-64e6-3ba893d84d93", + "send": "return \"ls /\"", + "name": "ls", + "interval": "0", + "waitForResponse": true, + "type": "added", + "declaredClass": "xcf.model.Command", + "startup": false, + "flags": 2048, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "parentId": "b879ee08-981b-e4f6-3a0a-fed819bdd698", + "id": "c781b7ae-2715-9b4b-b2c3-224253325259", + "method": "console.log('finish',arguments);", + "outlet": 8, + "type": "added", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "enabled": true, + "shareTitle": "", + "order": 0, + "description": "No Description" + }, + { + "_containsChildrenIds": [], + "parentId": "b879ee08-981b-e4f6-3a0a-fed819bdd698", + "id": "480242d3-0dee-b2de-9f1b-9eb97a7f8348", + "method": "console.log('progress ', arguments);", + "outlet": 1, + "type": "added", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "enabled": true, + "shareTitle": "", + "order": 0, + "description": "No Description" + }, + { + "_containsChildrenIds": [], + "parentId": "b879ee08-981b-e4f6-3a0a-fed819bdd698", + "id": "3e72b28f-199a-ae26-1a3b-a36ddfb4c140", + "method": "console.error('error');", + "outlet": 2, + "type": "added", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "enabled": true, + "shareTitle": "", + "order": 0, + "description": "No Description" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "1e3635f8-6a81-9741-6eda-4934bc8e8dd5", + "send": "tree", + "name": "tree", + "type": "added", + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": 0, + "flags": 2048, + "icon": "fa-exclamation", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0 + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/SSH/Raspberry-PI-Build.js b/shredder/asterix-pp/resources/hmi/drivers/SSH/Raspberry-PI-Build.js new file mode 100644 index 0000000..f708046 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/SSH/Raspberry-PI-Build.js @@ -0,0 +1,28 @@ +define(["module","dcl/dcl"], function(module,dcl){ + return dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + + //let driver base do its job: + this.inherited(arguments); + }, + test:function(){ + + //send a message : + this.sendMessage('pwon',true);//sends message to device , respecting start & end settings . forcing now! + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/SSH/Raspberry-PI-Build.meta.json b/shredder/asterix-pp/resources/hmi/drivers/SSH/Raspberry-PI-Build.meta.json new file mode 100644 index 0000000..9190bcd --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/SSH/Raspberry-PI-Build.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "Raspberry-PI-Build", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "f445e66f-467c-e7df-926d-f5694302ee5b", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": ".\/project1\/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": ".\/SSH\/Raspberry-PI-Build.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"\\\\r\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/SSH/Raspberry-PI-Build.xblox b/shredder/asterix-pp/resources/hmi/drivers/SSH/Raspberry-PI-Build.xblox new file mode 100644 index 0000000..491e720 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/SSH/Raspberry-PI-Build.xblox @@ -0,0 +1,91 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "id": "85639ca9-e5b9-4833-8b18-8b644005867f", + "name": "value", + "value": " g++ '-DNODE_WANT_INTERNALS=1' '-DARCH=\"arm\"' '-DPLATFORM=\"linux\"' '-DNODE_TAG=\"\"' '-DNODE_V8_OPTIONS=\"\"' '-DHAVE_OPENSSL=1' '-D__POSIX__' '-DHTTP_PARSER_STRICT=0' '-D_LARGEFILE_SOURCE' '-D_FILE_OFFSET_BITS=64' '-D_POSIX_C_SOURCE=200112' -I../src -I../tools/msvs/genfiles -I../deps/uv/src/ares -I/install/nexeTemp_arm/nodejs/0.12.7/node-v0.12.7/out/Release/obj/gen -I../deps/debugger-agent/include -I../deps/openssl/openssl/include -I../deps/v8/include -I../deps/zlib -I../deps/http_parser -I../deps/cares/include -I../deps/uv/include -pthread -Wall -Wextra -Wno-unused-parameter -O3 -ffunction-sections -fdata-sections -fno-tree-vrp -fno-omit-frame-pointer -fno-rtti -fno-exceptions -MMD -MF /install/nexeTemp_arm/nodejs/0.12.7/node-v0.12.7/out/Release/.deps//install/nexeTemp_arm/nodejs/0.12.7/node-v0.12.7/out/Release/obj.target/node/src/node_javascript.o.d.raw -c -o /install/nexeTemp_arm/nodejs/0.12.7/node-v0.12.7/out/Release/obj.target/node/src/node_javascript.o ../src/node_javascript.cc\n", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": "xcf.model.Variable", + "hasInlineEdits": true, + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "isCommand": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "Build", + "group": "basic", + "id": "962f83fb-812b-5dfb-d8fe-8e36eee23dd2", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "return 'cd /install/xDojoWatch;grunt shell:server-nexe';", + "interval": "0", + "waitForResponse": true, + "hasInlineEdits": true, + "icon": "fa-exclamation", + "isCommand": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [], + "name": "Commit", + "group": "basic", + "id": "df023e6b-7c82-f43a-c65f-cdfe81b28d8c", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "return 'cd /install/xDojoWatch;cp serverarm.exe ./dist/arm;gitc';", + "interval": "0", + "waitForResponse": true, + "hasInlineEdits": true, + "icon": "fa-exclamation", + "isCommand": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [], + "name": "ARCH", + "group": "basicVariables", + "id": "abdd974e-8c63-6af3-443b-2262d3469589", + "declaredClass": "xcf.model.Variable", + "hasInlineEdits": true, + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": "arm", + "register": true, + "readOnly": false, + "isCommand": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "type": "added", + "icon": "fa-play" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/SSH/SSH-Pearls-Media.js b/shredder/asterix-pp/resources/hmi/drivers/SSH/SSH-Pearls-Media.js new file mode 100644 index 0000000..180f739 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/SSH/SSH-Pearls-Media.js @@ -0,0 +1,24 @@ +define(["dcl/dcl"], function(dcl){ + return dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + }, + test:function(){ + //send a message : + this.sendMessage('pwon',true);//sends message to device , respecting start & end settings . forcing now! + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/SSH/SSH-Pearls-Media.meta.json b/shredder/asterix-pp/resources/hmi/drivers/SSH/SSH-Pearls-Media.meta.json new file mode 100644 index 0000000..ef43978 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/SSH/SSH-Pearls-Media.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "SSH-Pearls-Media", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "ae5e86ab-3183-7dc9-4300-74e6cad50ac6", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": "./project1/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": "./SSH/SSH-Pearls-Media.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "[]", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"\\\\r\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/SSH/SSH-Pearls-Media.xblox b/shredder/asterix-pp/resources/hmi/drivers/SSH/SSH-Pearls-Media.xblox new file mode 100644 index 0000000..9e26dfe --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/SSH/SSH-Pearls-Media.xblox @@ -0,0 +1 @@ +{} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/SSH/TestDriver.js b/shredder/asterix-pp/resources/hmi/drivers/SSH/TestDriver.js new file mode 100644 index 0000000..f708046 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/SSH/TestDriver.js @@ -0,0 +1,28 @@ +define(["module","dcl/dcl"], function(module,dcl){ + return dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + + //let driver base do its job: + this.inherited(arguments); + }, + test:function(){ + + //send a message : + this.sendMessage('pwon',true);//sends message to device , respecting start & end settings . forcing now! + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/SSH/TestDriver.meta.json b/shredder/asterix-pp/resources/hmi/drivers/SSH/TestDriver.meta.json new file mode 100644 index 0000000..31bc4a4 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/SSH/TestDriver.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "TestDriver", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "4933236d-7562-5aad-163c-5abfe6fd73b2", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": ".\/project1\/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": ".\/SSH\/TestDriver.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"\\\\r\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/SSH/TestDriver.xblox b/shredder/asterix-pp/resources/hmi/drivers/SSH/TestDriver.xblox new file mode 100644 index 0000000..a6b710d --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/SSH/TestDriver.xblox @@ -0,0 +1,47 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "name": "xas", + "group": "basicVariables", + "id": "72c825bc-072a-91a0-74b8-7f20570e1966", + "declaredClass": "xcf.model.Variable", + "hasInlineEdits": true, + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "No Title", + "group": "basic", + "id": "203067a1-820d-af4f-6355-b98adf04ad27", + "declaredClass": "xcf.model.Command", + "startup": true, + "send": "", + "interval": "0", + "waitForResponse": false, + "hasInlineEdits": true, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "type": "added", + "auto": false + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Shredder/Asterix.js b/shredder/asterix-pp/resources/hmi/drivers/Shredder/Asterix.js new file mode 100644 index 0000000..e5951d6 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Shredder/Asterix.js @@ -0,0 +1,146 @@ +/** @module xcf/driver/DefaultDriver */ +define([ + "dcl/dcl", + 'xdojo/has', + 'xide/utils' +], function (dcl, has, utils) { + + // The returning module + var Module = null; + + ////////////////////////////////////////////////////////// + // + // Constants + // + var isServer = has('host-node'); // We are running server-side ? + var isIDE = has('xcf-ui'); // We are running client-side and in the IDE? + + /** + * Default driver template. This will used for new drivers! + * + * @class module:xcf/driver/DefaultDriver + * @extends module:xcf/driver/DriverBase + * @augments module:xide/mixins/EventedMixin + * @link http://rawgit.com/net-commander/windows-dist/master/docs/Driver/modules/module-xcf_driver_DriverBase.html + */ + Module = dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage: function (data) { + if (!data.message.length) { + return; + } + let m = data.message.trim(); + if (m.startsWith('<<') && m.endsWith('>>')) { + let payload = m.substring(2, m.length - 2); + console.log("on driver message : \n", payload); + let parts = payload.split(";"); + if (parseInt(parts[0]) === 1000) { + try { + let data = JSON.parse("[" + parts[2] + "]"); + console.dir(data); + data.forEach(element => { + // console.log("var " + element.name, element.state); + switch (element.name) { + case "VDF": { + this.setVariable("OpMode", element[0]); + break; + } + case "Power": { + this.setVariable("PrimaryPower", "" + data[0][0], true, true); + this.setVariable("SecondaryPower", "" + data[0][1], true, true); + break; + } + case "OpMode": { + this.setVariable("OpMode", element[0]); + break; + } + case "Plunger": { + this.setVariable("Plunger", element.state, true); + this.setVariable("PlungerFlags", element.flags, true); + break; + } + case "HopperLoaded": { + this.setVariable("HopperLoaded", element.state); + break; + } + } + }); + } catch (e) { + console.error("error data", e); + } + } + + } else { + console.log(m); + } + + } + }); + + + ////////////////////////////////////////////////////////// + // + // Optional: An example implementation to extend commands in the interface for additional fields + // + if (isIDE) { + /** + * + * @param command {module:xcf/model/Command} The command which for which want to populate the fields. + * @param fields {Object[]} + * @link http://rawgit.com/net-commander/windows-dist/master/docs/Driver/modules/xcf_model_Command.js.html + */ + Module.getFields = function (command, fields) { + /* + return [utils.createCI('test', 0, command.test, { + group: 'General', + title: 'test', + dst: 'test', + order: 198 + })]; + */ + return []; + }; + } + + ////////////////////////////////////////////////////////// + // + // Optional: An example implementation to modify the string sent to a advice. This makes sense if you added additional fields as shown above. + // + /** + * Callback when a command is before parsing the expression in the "send" field. + * @param command {module:xcf/model/Command} + * @param inputString {string} + * @returns {string} + */ + /* + Module.resolveBefore = function (command,inputString) { + return inputString; + }; + */ + /** + * Callback when a command was parsing the expression in the "send" field. + * @param command {module:xcf/model/Command} + * @param inputString {string} + * @returns {string} + */ + /* + Module.resolveAfter = function (command,inputString) { + return inputString; + }; + */ + + return Module; +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Shredder/Asterix.meta.json b/shredder/asterix-pp/resources/hmi/drivers/Shredder/Asterix.meta.json new file mode 100644 index 0000000..0e0521d --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Shredder/Asterix.meta.json @@ -0,0 +1,168 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "Asterix", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "5bd99163-aeac-c16e-baab-4fce4fc5803c", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": "./project1/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": "./Shredder/Asterix.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"<<\",\"end\":\">>\"},\"send\":{\"mode\":0,\"interval\":\"1800\",\"timeout\":\"500\",\"onReply\":\"<<\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"\\\\r\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Shredder/Asterix.xblox b/shredder/asterix-pp/resources/hmi/drivers/Shredder/Asterix.xblox new file mode 100644 index 0000000..53994c5 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Shredder/Asterix.xblox @@ -0,0 +1,907 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "name": "LED STATUS", + "group": "basicVariables", + "id": "569e8f22-e470-ef80-27d8-70b4b04e3485", + "type": "added", + "icon": "fa-bullseye", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "isVariable": true, + "flags": 4096, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "id": "18c655ff-f9f1-66a5-504b-89034fe3f274", + "name": "value", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": "xcf.model.Variable", + "save": false, + "target": "None", + "register": 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null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Shredder/Plunger.js b/shredder/asterix-pp/resources/hmi/drivers/Shredder/Plunger.js new file mode 100644 index 0000000..742f3fe --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Shredder/Plunger.js @@ -0,0 +1,97 @@ +/** @module xcf/driver/DefaultDriver */ +define([ + "dcl/dcl", + 'xdojo/has', + 'xide/utils' +], function (dcl, has, utils) { + + // The returning module + var Module = null; + + ////////////////////////////////////////////////////////// + // + // Constants + // + var isServer = has('host-node'); // We are running server-side ? + var isIDE = has('xcf-ui'); // We are running client-side and in the IDE? + + /** + * Default driver template. This will used for new drivers! + * + * @class module:xcf/driver/DefaultDriver + * @extends module:xcf/driver/DriverBase + * @augments module:xide/mixins/EventedMixin + * @link http://rawgit.com/net-commander/windows-dist/master/docs/Driver/modules/module-xcf_driver_DriverBase.html + */ + Module = dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + //onMessage: function (data) {} + }); + + + ////////////////////////////////////////////////////////// + // + // Optional: An example implementation to extend commands in the interface for additional fields + // + if (isIDE) { + /** + * + * @param command {module:xcf/model/Command} The command which for which want to populate the fields. + * @param fields {Object[]} + * @link http://rawgit.com/net-commander/windows-dist/master/docs/Driver/modules/xcf_model_Command.js.html + */ + Module.getFields = function (command, fields) { + /* + return [utils.createCI('test', 0, command.test, { + group: 'General', + title: 'test', + dst: 'test', + order: 198 + })]; + */ + return []; + }; + } + + ////////////////////////////////////////////////////////// + // + // Optional: An example implementation to modify the string sent to a advice. This makes sense if you added additional fields as shown above. + // + /** + * Callback when a command is before parsing the expression in the "send" field. + * @param command {module:xcf/model/Command} + * @param inputString {string} + * @returns {string} + */ + /* + Module.resolveBefore = function (command,inputString) { + return inputString; + }; + */ + /** + * Callback when a command was parsing the expression in the "send" field. + * @param command {module:xcf/model/Command} + * @param inputString {string} + * @returns {string} + */ + /* + Module.resolveAfter = function (command,inputString) { + return inputString; + }; + */ + + return Module; +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Shredder/Plunger.meta.json b/shredder/asterix-pp/resources/hmi/drivers/Shredder/Plunger.meta.json new file mode 100644 index 0000000..fae486c --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Shredder/Plunger.meta.json @@ -0,0 +1,168 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "Plunger", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "6657b4bc-c41a-144b-ef4f-f9a8045eb457", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": "./project1/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": "./Shredder/Plunger.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\\\\r\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"\\\\n\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Shredder/Plunger.xblox b/shredder/asterix-pp/resources/hmi/drivers/Shredder/Plunger.xblox new file mode 100644 index 0000000..1e6d010 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Shredder/Plunger.xblox @@ -0,0 +1,64 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "id": "004bda01-adda-8508-92b9-817bbe5cd167", + "name": "value", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": "xcf.model.Variable", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "isVariable": true, + "flags": 4096, + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "value": -1, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "1074ed70-58ad-96d6-b6c5-6b9ff7c4d122", + "type": "added", + "send": "G1 Y100 Z100 F3000", + "name": "Down", + "flags": 0, + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": 0, + "icon": "fa-exclamation", + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "" + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "ef552bbc-ca72-3c49-d144-e6ae6ba7d5c2", + "type": "added", + "send": "G1 Y-100 Z-100 F3000", + "name": "Up", + "flags": 0, + "declaredClass": "xcf.model.Command", + "startup": false, + "interval": 0, + "icon": "fa-exclamation", + "description": "No Description", + "order": 0, + "outlet": 0, + "enabled": true, + "shareTitle": "" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Test/Hercules-UDP.js b/shredder/asterix-pp/resources/hmi/drivers/Test/Hercules-UDP.js new file mode 100644 index 0000000..180f739 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Test/Hercules-UDP.js @@ -0,0 +1,24 @@ +define(["dcl/dcl"], function(dcl){ + return dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + }, + test:function(){ + //send a message : + this.sendMessage('pwon',true);//sends message to device , respecting start & end settings . forcing now! + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Test/Hercules-UDP.meta.json b/shredder/asterix-pp/resources/hmi/drivers/Test/Hercules-UDP.meta.json new file mode 100644 index 0000000..83b2d46 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Test/Hercules-UDP.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "Hercules-UDP", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "4dea9e27-1ae2-9f9b-9044-876ae5240e31", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": ".\/project1\/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": ".\/Test\/Hercules-UDP.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"0x0d\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Test/Hercules-UDP.xblox b/shredder/asterix-pp/resources/hmi/drivers/Test/Hercules-UDP.xblox new file mode 100644 index 0000000..24f28af --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Test/Hercules-UDP.xblox @@ -0,0 +1,982 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "group": "basic", + "id": "d7855dce-fde2-6489-e031-9de34e0ed9d2", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "!GETPLAYLISTNAMES", + "name": "Get Playlist", + "interval": 0, + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "66515048-310b-fe81-1e8f-774507183e05", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "!GETPLAYLISTPATHS", + "name": "Get Playlist Paths", + "interval": 0, + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "basic", + "id": "041518cf-bc92-990c-ed6d-0c5683e3a85a", + "declaredClass": "xcf.model.Command", + "startup": false, + "send": "!SHUTDOWN", + "name": "Shutdown", + "interval": 0, + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "id": "615da66e-43f5-4ac9-bd8c-5c0d30db3b68", + "name": "value", + "type": "added", + "group": "processVariables", + "gui": false, + "cmd": false, + "declaredClass": "xcf.model.Variable", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "isVariable": true, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [ + "consequent", + "items", + "elseIfBlocks" + ], + "group": "conditionalProcess", + "condition": "[value].substring(0,3)=='LTC'", + "id": "9eb5a37a-33e0-e6c7-0af3-83b28cfb2b4c", + "declaredClass": "xblox.model.logic.IfBlock", + "autoCreateElse": true, + "name": "if", + "icon": "", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "_postCreated": true, + "consequent": [ + "527b6033-9124-083b-3cc6-4474b290d7cd" + ], + "items": [ + "914a989d-c695-ce68-63ab-43b204524b3d", + "afd94988-82ad-bf1e-8784-eaf2bb32176c", + "af9e882a-006f-15a9-8256-b213938cf823" + ], + "elseIfBlocks": [ + "af9e882a-006f-15a9-8256-b213938cf823", + "914a989d-c695-ce68-63ab-43b204524b3d", + "afd94988-82ad-bf1e-8784-eaf2bb32176c" + ], + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "PlaylistNo", + "group": "basicVariables", + "id": "ef1cf2e1-667f-b2d7-46fc-1c2b52f08859", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": "EOL", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "isVariable": true, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "PlaylistName", + "group": "basicVariables", + "id": "305b1573-9816-d3ef-e4a7-c533c227371a", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "isVariable": true, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "PlaylistType", + "group": "basicVariables", + "id": "d39f1f9e-224d-1f8f-6dba-7e156ef12082", + 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"variableId": "548b3488-ca66-a649-6e05-f0cc3813884b", + "value": "[value].substring(6)", + "parentId": "9eb5a37a-33e0-e6c7-0af3-83b28cfb2b4c", + "id": "527b6033-9124-083b-3cc6-4474b290d7cd", + "declaredClass": "xblox.model.variables.VariableAssignmentBlock", + "name": "Set Variable", + "icon": "", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "flags": 4, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "name": "ShowRemaining", + "group": "basicVariables", + "id": "5bc83bcc-bf0f-6f50-e4f8-23361b8b10a9", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "isVariable": true, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "CurrentWalkIn", + "group": "basicVariables", + "id": "b4cb0166-37e3-c9d0-363e-6698b71821fa", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "isVariable": true, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "CurrentPreshow", + "group": "basicVariables", + "id": "7155cba9-1997-8079-78c3-7dd08373b946", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "isVariable": true, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "CurrentFeature", + "group": "basicVariables", + "id": "7bf08e62-1947-ad06-2097-7566b5ab9c6c", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "isVariable": true, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "CurrentWalkOut", + "group": "basicVariables", + "id": "4bf0505a-f2d1-c69f-c5bb-e377004b2bee", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "isVariable": true, + "outlet": 0, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "PreshowList", + "group": "basicVariables", + "id": "bd9d6880-6306-587f-7e37-67a5c493af0b", + 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+ "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "FeatureList", + "group": "basicVariables", + "id": "3394603a-1bd2-a8f0-7bec-0e74b65f0299", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "isVariable": true, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "__ignoreChangeMark": false, + "value": "[\n {\n \"index\": \"0\",\n \"name\": \"None\"\n }\n]", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "WalkOutList", + "group": "basicVariables", + "id": "2986e53b-6a58-9b5b-3edb-9f5d788fdbaa", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "isVariable": true, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "__ignoreChangeMark": false, + "value": "[\n {\n \"index\": \"0\",\n \"name\": \"None\"\n }\n]", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "WalkIn", + "group": "basicVariables", + "id": "1711cea6-b3b6-9027-c509-4761cc2875f8", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "isVariable": true, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "Preshow", + "group": "basicVariables", + "id": "8ed73015-acda-fee2-dece-66141c3d4b05", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "isVariable": true, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "Feature", + "group": "basicVariables", + "id": "6fec428b-e965-7f04-415c-90f2bb37ead2", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "isVariable": true, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "WalkOut", + "group": "basicVariables", + "id": "e28dddcd-c054-bc5a-fe4b-e88d67f8485e", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": -1, + "register": true, + "readOnly": false, + "isVariable": true, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [ + "consequent" + ], + "condition": "[value].substring(5,8)=='001'", + "parentId": "afd94988-82ad-bf1e-8784-eaf2bb32176c", + "id": "6a7e26b2-84d9-7950-9e3e-148ed77c5b74", + "consequent": [ + "54d517a0-6c7b-57e8-dd41-e1fcfe02ed9e" + ], + "declaredClass": "xblox.model.logic.IfBlock", + "autoCreateElse": true, + "name": "if", + "icon": "", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "_postCreated": true + }, + { + "_containsChildrenIds": [ + "consequent" + ], + "condition": "[value].substring(0,7)!='PLN_EOL'", + "parentId": "914a989d-c695-ce68-63ab-43b204524b3d", + "id": "4ae633fb-f0d4-573c-e477-e1b9c240cbe2", + "consequent": [ + "f3134f03-f32d-1fcb-b1af-eeeda086bb3c" + ], + "declaredClass": "xblox.model.logic.IfBlock", + "autoCreateElse": true, + "name": "if", + "icon": "", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "_postCreated": true + }, + { + "_containsChildrenIds": [], + "parentId": "4ae633fb-f0d4-573c-e477-e1b9c240cbe2", + "id": "f3134f03-f32d-1fcb-b1af-eeeda086bb3c", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "method": "var value = this.getVariable('value');\n\nconsole.log('value = ' + value);\nvar plNum = value.substring(5,8);\nvar plIndex = parseInt(plNum);\nvar plName = value.substring(9);\n\nconsole.log('index = '+ plIndex);\nconsole.log('name = '+ plName);\n\nfunction fromString(data){\n return JSON.parse(data);\n}\n\nvar pp = fromString(this.getVariable('PlaylistPathsArray'));\n\nvar wi = fromString(this.getVariable('WalkInList'));\nvar ps = fromString(this.getVariable('PreshowList'));\nvar fe = fromString(this.getVariable('FeatureList'));\nvar wo = fromString(this.getVariable('WalkOutList'));\n\n\nfunction toString(data){\n return JSON.stringify(data,null,2);\n}\n\nif(plIndex==1){\n wi = [{index: \"0\",name: \"None\"}]; //reinitalize array if new query\n ps = [{index: \"0\",name: \"None\"}];\n fe = [{index: \"0\",name: \"None\"}];\n wo = [{index: \"0\",name: \"None\"}];\n this.setVariable('WalkInList',toString(wi),false,false,false);\n this.setVariable('PreshowList',toString(ps),false,false,false);\n this.setVariable('FeatureList',toString(fe),false,false,false);\n this.setVariable('WalkOutList',toString(wo),false,false,false);\n}\n\nif(pp[plIndex]=='walkin'){\n wi.push({index: plNum, name: plName});\n this.setVariable('WalkInList',toString(wi),false,false,false);\n console.log('wi array = ',wi);\n}\nelse if(pp[plIndex]=='preshow'){\n ps.push({index: plNum, name: plName});\n this.setVariable('PreshowList',toString(ps),false,false,false);\n console.log('ps array = ' + ps.toString());\n}\nelse if(pp[plIndex]=='feature'){\n fe.push({index: plNum, name: plName});\n this.setVariable('FeatureList',toString(fe),false,false,false);\n}\nelse if(pp[plIndex]=='walkout'){\n wo.push({index: plNum, name: plName});\n this.setVariable('WalkOutList',toString(wo),false,false,false);\n}\n\n\n\n\n/*\nelse if(pp[index]=='preshow'){\n ps.push(index,name);\n}\nelse if(pp[index]=='feature'){\n fe.push(index,name);\n}\nelse if(pp[index]=='walkout'){\n wo.push(index,name);\n}\n\nconsole.log('wi= '+wi)\nconsole.log('ps= '+ps)\nconsole.log('fe= '+fe)\nconsole.log('wo= '+wo)*/\n\n", + "args": "", + "deferred": false, + "icon": "fa-code", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "_destroyed": true + }, + { + "_containsChildrenIds": [], + "name": "PlaylistPathsString", + "group": "basicVariables", + "id": "a58dcd4f-f44e-a5cc-94f5-2f567084e33c", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "value": "none;walkin;preshow;feature;feature;walkin;walkout;preshow", + "register": true, + "readOnly": false, + "isVariable": true, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "name": "PlaylistPathsArray", + "group": "basicVariables", + "id": "d7c5eec7-00d6-8967-f159-58b6b7f14d86", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "register": true, + "readOnly": false, + "isVariable": true, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "__ignoreChangeMark": false, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "variable": "a58dcd4f-f44e-a5cc-94f5-2f567084e33c", + "variableId": "a58dcd4f-f44e-a5cc-94f5-2f567084e33c", + "value": "'none'", + "parentId": "6a7e26b2-84d9-7950-9e3e-148ed77c5b74", + "id": "54d517a0-6c7b-57e8-dd41-e1fcfe02ed9e", + "declaredClass": "xblox.model.variables.VariableAssignmentBlock", + "name": "Set Variable", + "icon": "", + "flags": 4, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [ + "consequent", + "elseIfBlocks", + "items" + ], + "condition": "[value].substring(9).includes('Playlists\\\\Walk In')", + "parentId": "afd94988-82ad-bf1e-8784-eaf2bb32176c", + "id": "3b99f84b-558f-9ced-7492-4ae153c6d2d9", + "consequent": [ + "f4388eed-a8f4-25e6-78ce-9a6ba42c7c63" + ], + "elseIfBlocks": [ + "7cbed4c1-bad6-947e-846f-2e31f19a1f9c", + "2d0a04c8-de15-7995-781b-316def061378", + "eb3b7f8b-d7b5-8a06-00d1-ed0d0a1c141d" + ], + "declaredClass": "xblox.model.logic.IfBlock", + "autoCreateElse": true, + "name": "if", + "icon": "", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "_postCreated": true, + "_destroyed": true, + "items": [ + "7cbed4c1-bad6-947e-846f-2e31f19a1f9c", + "2d0a04c8-de15-7995-781b-316def061378", + "eb3b7f8b-d7b5-8a06-00d1-ed0d0a1c141d" + ] + }, + { + "_containsChildrenIds": [ + "consequent" + ], + "condition": "[value].substring(0,7)=='PLP_EOL'", + "parentId": "afd94988-82ad-bf1e-8784-eaf2bb32176c", + "id": "296e10da-02a5-cd28-6376-84c0245e9ce7", + "declaredClass": "xblox.model.logic.IfBlock", + "autoCreateElse": true, + "name": "if", + "icon": "", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "_postCreated": true, + "consequent": [ + "37326ed8-3899-61a1-591d-7890065e1dd6", + "3cfdb980-9184-74a7-a91d-248832fcdd04" + ] + }, + { + "_containsChildrenIds": [], + "variable": "a58dcd4f-f44e-a5cc-94f5-2f567084e33c", + "variableId": "a58dcd4f-f44e-a5cc-94f5-2f567084e33c", + "value": "[PlaylistPathsString]+';walkin'", + "parentId": "3b99f84b-558f-9ced-7492-4ae153c6d2d9", + "id": "f4388eed-a8f4-25e6-78ce-9a6ba42c7c63", + "declaredClass": "xblox.model.variables.VariableAssignmentBlock", + "name": "Set Variable", + "icon": "", + "flags": 4, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0 + }, + { + "_containsChildrenIds": [ + "items" + ], + "name": "else if", + "items": [ + "16ce5603-78d9-3b2d-5607-cfd81f21b79c" + ], + "dstField": "elseIfBlocks", + "parentId": "3b99f84b-558f-9ced-7492-4ae153c6d2d9", + "id": "7cbed4c1-bad6-947e-846f-2e31f19a1f9c", + "declaredClass": "xblox.model.logic.ElseIfBlock", + "condition": "[value].substring(9).includes('Playlists\\\\Preshow')", + "icon": "", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0 + }, + { + "_containsChildrenIds": [], + "variable": "a58dcd4f-f44e-a5cc-94f5-2f567084e33c", + "variableId": "a58dcd4f-f44e-a5cc-94f5-2f567084e33c", + "value": "[PlaylistPathsString]+';preshow'", + "parentId": "7cbed4c1-bad6-947e-846f-2e31f19a1f9c", + "id": "16ce5603-78d9-3b2d-5607-cfd81f21b79c", + "declaredClass": "xblox.model.variables.VariableAssignmentBlock", + "name": "Set Variable", + "icon": "", + "flags": 4, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [ + "items" + ], + "name": "else if", + "items": [ + "b12f020c-bc6b-4ca9-bf81-97e8ac1b29ce" + ], + "dstField": "elseIfBlocks", + "parentId": "3b99f84b-558f-9ced-7492-4ae153c6d2d9", + "id": "2d0a04c8-de15-7995-781b-316def061378", + "declaredClass": "xblox.model.logic.ElseIfBlock", + "condition": "[value].substring(9).includes('Playlists\\\\Feature')", + "icon": "", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0 + }, + { + "_containsChildrenIds": [], + "variable": "a58dcd4f-f44e-a5cc-94f5-2f567084e33c", + "variableId": "a58dcd4f-f44e-a5cc-94f5-2f567084e33c", + "value": "[PlaylistPathsString]+';feature'", + "parentId": "2d0a04c8-de15-7995-781b-316def061378", + "id": "b12f020c-bc6b-4ca9-bf81-97e8ac1b29ce", + "declaredClass": "xblox.model.variables.VariableAssignmentBlock", + "name": "Set Variable", + "icon": "", + "flags": 4, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [ + "items" + ], + "name": "else if", + "items": [ + "b9e4e0ae-1a90-9fb8-7716-b2ff69e890b2" + ], + "dstField": "elseIfBlocks", + "parentId": "3b99f84b-558f-9ced-7492-4ae153c6d2d9", + "id": "eb3b7f8b-d7b5-8a06-00d1-ed0d0a1c141d", + "declaredClass": "xblox.model.logic.ElseIfBlock", + "condition": "[value].substring(9).includes('Playlists\\\\Walk Out')", + "icon": "", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0 + }, + { + "_containsChildrenIds": [], + "variable": "a58dcd4f-f44e-a5cc-94f5-2f567084e33c", + "variableId": "a58dcd4f-f44e-a5cc-94f5-2f567084e33c", + "value": "[PlaylistPathsString]+';walkout'", + "parentId": "eb3b7f8b-d7b5-8a06-00d1-ed0d0a1c141d", + "id": "b9e4e0ae-1a90-9fb8-7716-b2ff69e890b2", + "declaredClass": "xblox.model.variables.VariableAssignmentBlock", + "name": "Set Variable", + "icon": "", + "flags": 4, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [], + "parentId": "296e10da-02a5-cd28-6376-84c0245e9ce7", + "id": "37326ed8-3899-61a1-591d-7890065e1dd6", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "method": "var ppa=this.getVariable('PlaylistPathsString').split(';');\nthis.setVariable('PlaylistPathsArray',ppa,false,false,false);", + "args": "", + "deferred": false, + "icon": "fa-code", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0 + }, + { + "_containsChildrenIds": [], + "condition": "", + "parentId": "296e10da-02a5-cd28-6376-84c0245e9ce7", + "id": "3cfdb980-9184-74a7-a91d-248832fcdd04", + "declaredClass": "xblox.model.functions.CallBlock", + "command": "d7855dce-fde2-6489-e031-9de34e0ed9d2", + "icon": "", + "_timeout": 100, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0 + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Test/UDP-Server.js b/shredder/asterix-pp/resources/hmi/drivers/Test/UDP-Server.js new file mode 100644 index 0000000..180f739 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Test/UDP-Server.js @@ -0,0 +1,24 @@ +define(["dcl/dcl"], function(dcl){ + return dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + }, + test:function(){ + //send a message : + this.sendMessage('pwon',true);//sends message to device , respecting start & end settings . forcing now! + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Test/UDP-Server.meta.json b/shredder/asterix-pp/resources/hmi/drivers/Test/UDP-Server.meta.json new file mode 100644 index 0000000..9af5a57 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Test/UDP-Server.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "UDP-Server", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "d6b192d2-e8fa-145f-300a-294179eb6207", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": "./project1/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": "./Test/UDP-Server.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "[]", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"\\\\r\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Test/UDP-Server.xblox b/shredder/asterix-pp/resources/hmi/drivers/Test/UDP-Server.xblox new file mode 100644 index 0000000..9e26dfe --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Test/UDP-Server.xblox @@ -0,0 +1 @@ +{} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback-Client.js b/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback-Client.js new file mode 100644 index 0000000..180f739 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback-Client.js @@ -0,0 +1,24 @@ +define(["dcl/dcl"], function(dcl){ + return dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + }, + test:function(){ + //send a message : + this.sendMessage('pwon',true);//sends message to device , respecting start & end settings . forcing now! + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback-Client.meta.json b/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback-Client.meta.json new file mode 100644 index 0000000..f3d1829 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback-Client.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "Loopback-Client", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "1961a5bd-29da-807c-affa-b59cba74b6cb", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": ".\/project1\/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": ".\/Tests\/Loopback-Client.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"_start_\",\"end\":\"_end_\"},\"send\":{\"mode\":1,\"interval\":\"300\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":0,\"cTypePacket\":0,\"cTypeDelimiter\":1,\"cTypeCount\":0,\"delimiter\":\"\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback-Client.xblox b/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback-Client.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback-Client.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback.js b/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback.js new file mode 100644 index 0000000..180f739 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback.js @@ -0,0 +1,24 @@ +define(["dcl/dcl"], function(dcl){ + return dcl(null, { + /*** + * Standard callback when we have a message from the device we're bound to (specified in profile). + * 1. put the message in the incoming queue, tag it as 'unread' + * 2. in case we have messages to send and we are in 'onReply' mode, trigger outgoing queue + * + * @param data {Object} : Message Struct build by the device manager + * @param data.device {Object} : Device info + * @param data.device.host {String} : The host + * @param data.device.port {String} : The host's port + * @param data.device.protocol {String} : The host's protocol + + * @param data.message {String} : RAW message, untreated + */ + onMessage:function(data){ + }, + test:function(){ + //send a message : + this.sendMessage('pwon',true);//sends message to device , respecting start & end settings . forcing now! + } + }); +}); + diff --git a/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback.meta.json b/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback.meta.json new file mode 100644 index 0000000..58ebf38 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback.meta.json @@ -0,0 +1,170 @@ +{ + "inputs": [ + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_NAME", + "name": "CF_DRIVER_NAME", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Display Name", + "type": 13, + "uid": "-1", + "value": "Loopback", + "visible": true, + "changed": true, + "_active": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_ID", + "name": "CF_DRIVER_ID", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Id", + "type": 13, + "uid": "-1", + "value": "0f4a9e08-1def-f9ba-e996-b56c86e74524", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Visual", + "id": "CF_DRIVER_ICON", + "name": "CF_DRIVER_ICON", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Icon", + "type": 18, + "uid": "-1", + "value": ".\/project1\/318i.jpg", + "visible": false + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "General", + "id": "CF_DRIVER_CLASS", + "name": "CF_DRIVER_CLASS", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Driver Class", + "type": 4, + "uid": "-1", + "value": ".\/Tests\/Loopback.js", + "visible": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Settings", + "id": "CommandSettings", + "name": "CF_DRIVER_COMMANDS", + "order": 1, + "params": "{\"constants\":{\"start\":\"\",\"end\":\"\"},\"send\":{\"mode\":false,\"interval\":\"100\",\"timeout\":\"500\",\"onReply\":\"\"}}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Commands", + "type": "CommandSettings", + "uid": "-1", + "value": "", + "visible": true, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Variables", + "id": "VariableSettings", + "name": "CF_DRIVER_VARIABLES", + "order": 1, + "params": null, + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Variables", + "type": 13, + "uid": "-1", + "value": "[]", + "visible": false, + "view": true + }, + { + "chainType": 0, + "class": "cmx.types.ConfigurableInformation", + "dataRef": "", + "dataSource": "", + "description": null, + "enabled": true, + "enumType": "-1", + "flags": -1, + "group": "Responses", + "id": "ResponseSettings", + "name": "CF_DRIVER_RESPONSES", + "order": 1, + "params": "{\"start\":false,\"startString\":\"\",\"cTypeByte\":false,\"cTypePacket\":false,\"cTypeDelimiter\":true,\"cTypeCount\":false,\"delimiter\":\"\",\"count\":\"\",\"wDelimiter\":\"\\\\r\",\"wCount\":\"\"}", + "parentId": "myeventsapp108", + "platform": null, + "storeDestination": "metaDataStore", + "title": "Responses", + "type": 13, + "uid": "-1", + "value": "", + "visible": false, + "view": true + } + ] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback.xblox b/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback.xblox new file mode 100644 index 0000000..dfa4eed --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/drivers/Tests/Loopback.xblox @@ -0,0 +1,145 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "group": "basic", + "id": "25cfc704-f958-d933-4802-124be719ab22", + "declaredClass": "xcf.model.Command", + "startup": true, + "send": "helo", + "name": "helo", + "interval": "0", + "flags": 2048, + "waitForResponse": false, + "icon": "fa-exclamation", + "enabled": false, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "conditionalProcess", + "id": 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b/shredder/asterix-pp/resources/hmi/readme.md new file mode 100644 index 0000000..90ee638 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/readme.md @@ -0,0 +1,28 @@ +# Touchscreen/remote interface for various PP machines + +## Communication + +Raspberry-PI connects via serial (USB) to Arduino, also to enable remote firmware updates. The PI or whatever connects to the Arduino will +share the device through other protocols, MQTT,... + +## Protocols + +### Serial + +Since it's serial, we receive for each command a reply matching an issue id as well a payload with the requested data or command replies. + +Response construction via delimitter : 10|x0A - line by line + +Send Data/Command Syntax : ID | VERB | LENGTH | PAYLOAD + +ID : queued/issued command id, used to confirm command on sender side. +VERB : COMMAND,STATUS,DATA +LENGTH : Length of the payloay (not really needed, yet) +PAYLOAD: Byte sequence + +Reply syntax : ID | STATUS | LENGTH | *PAYLOAD* + +ID: queued/issued command id, used to confirm command on sender side +STATUS : Error code, OK=0, SERVERITY Mask (syslog) +LENGTH : Length of the payloay (not really needed, yet) +PAYLOAD: Byte sequence diff --git a/shredder/asterix-pp/resources/hmi/resources/PlasticHub.fig b/shredder/asterix-pp/resources/hmi/resources/PlasticHub.fig new file mode 100644 index 0000000..e840c25 Binary files /dev/null and b/shredder/asterix-pp/resources/hmi/resources/PlasticHub.fig differ diff --git a/shredder/asterix-pp/resources/hmi/resources/screens.jpg b/shredder/asterix-pp/resources/hmi/resources/screens.jpg new file mode 100644 index 0000000..b24f156 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/resources/screens.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9b0a0ccdbf534ceff7fa9410b2a9d7eb013f11fdcaa015a874145592d795cf1 +size 58024 diff --git a/shredder/asterix-pp/resources/hmi/resources/states.jpg b/shredder/asterix-pp/resources/hmi/resources/states.jpg new file mode 100644 index 0000000..d8c35db --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/resources/states.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a81258d3df9e67fbc663a0628c731ecdfe0826b49d6221e3a42941e876e64a8 +size 27184 diff --git a/shredder/asterix-pp/resources/hmi/resources/subs.jpg b/shredder/asterix-pp/resources/hmi/resources/subs.jpg new file mode 100644 index 0000000..e35ccc5 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/resources/subs.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab2dc9e248fd565585da661dbafac9cf096705412bae6119c202740cc07fc7e2 +size 78678 diff --git a/shredder/asterix-pp/resources/hmi/scripts/compile.sh b/shredder/asterix-pp/resources/hmi/scripts/compile.sh new file mode 100644 index 0000000..d7de942 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/scripts/compile.sh @@ -0,0 +1,8 @@ +AVR=/home/pi/arduino-1.8.12 +AHOME=/home/pi/.arduino15 +mkdir /tmp/arduino_cache + +PROJECT=/home/pi/firmware/shredder-extrusion/firmware-next/firmware-next.ino + +$AVR/arduino-builder -compile -logger=machine -hardware $AVR/hardware -hardware $AHOME/packages -tools $AVR/tools-builder -tools $AVR/hardware/tools/avr -tools $AHOME/packages -built-in-libraries $AVR/libraries -libraries /home/pi/Arduino/libraries -fqbn=CONTROLLINO_Boards:avr:controllino_mini -vid-pid=0X2341_0X0043 -ide-version=10812 -build-path /tmp/arduino -warnings=none -build-cache /tmp/arduino_cache -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.avrdude.path=$AVR/hardware/tools/avr -prefs=runtime.tools.avrdude-6.3.0-arduino8.path=$AHOME/packages/arduino/tools/avrdude/6.3.0-arduino8 -prefs=runtime.tools.avr-gcc.path=$AVR/hardware/tools/avr -prefs=runtime.tools.avr-gcc-4.9.2-atmel3.5.3-arduino2.path=$AHOME/packages/arduino/tools/avr-gcc/4.9.2-atmel3.5.3-arduino2 -prefs=runtime.tools.arduinoOTA.path=$AVR/hardware/tools/avr -prefs=runtime.tools.arduinoOTA-1.3.0.path=$AVR/hardware/tools/avr -prefs=runtime.tools.avr-gcc-7.3.0-atmel3.6.1-arduino5.path=$AVR/hardware/tools/avr -prefs=runtime.tools.avrdude-6.3.0-arduino17.path=$AVR/hardware/tools/avr $PROJECT + diff --git a/shredder/asterix-pp/resources/hmi/scripts/compile.sh.bak b/shredder/asterix-pp/resources/hmi/scripts/compile.sh.bak new file mode 100644 index 0000000..de81803 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/scripts/compile.sh.bak @@ -0,0 +1,3 @@ +$AVR="/home/pi/arduino-1.8.12/" + +$AVR/arduino-builder -compile -logger=machine -hardware /home/pi/arduino-1.8.12/hardware -hardware /home/pi/.arduino15/packages -tools /home/pi/arduino-1.8.12/tools-builder -tools /home/pi/arduino-1.8.12/hardware/tools/avr -tools /home/pi/.arduino15/packages -built-in-libraries /home/pi/arduino-1.8.12/libraries -libraries /home/pi/Arduino/libraries -fqbn=CONTROLLINO_Boards:avr:controllino_mini -vid-pid=0X2341_0X0043 -ide-version=10812 -build-path /tmp/arduino -warnings=none -build-cache /tmp/arduino_cache_503642 -prefs=build.warn_data_percentage=75 -prefs=runtime.tools.avrdude.path=/home/pi/arduino-1.8.12/hardware/tools/avr -prefs=runtime.tools.avrdude-6.3.0-arduino8.path=/home/pi/.arduino15/packages/arduino/tools/avrdude/6.3.0-arduino8 -prefs=runtime.tools.avr-gcc.path=/home/pi/arduino-1.8.12/hardware/tools/avr -prefs=runtime.tools.avr-gcc-4.9.2-atmel3.5.3-arduino2.path=/home/pi/.arduino15/packages/arduino/tools/avr-gcc/4.9.2-atmel3.5.3-arduino2 -prefs=runtime.tools.arduinoOTA.path=/home/pi/arduino-1.8.12/hardware/tools/avr -prefs=runtime.tools.arduinoOTA-1.3.0.path=/home/pi/arduino-1.8.12/hardware/tools/avr -prefs=runtime.tools.avr-gcc-7.3.0-atmel3.6.1-arduino5.path=/home/pi/arduino-1.8.12/hardware/tools/avr -prefs=runtime.tools.avrdude-6.3.0-arduino17.path=/home/pi/arduino-1.8.12/hardware/tools/avr /home/pi/firmware/shredder-extrusion/firmware-next/firmware-next.ino diff --git a/shredder/asterix-pp/resources/hmi/scripts/init.sh b/shredder/asterix-pp/resources/hmi/scripts/init.sh new file mode 100644 index 0000000..665f556 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/scripts/init.sh @@ -0,0 +1,9 @@ +git clone https://gitlab.com/plastichub/firmware.git +git clone https://gitlab.com/plastichub/asterix-hmi .control-freak +git clone https://gitlab.com/plastichub/control-freak.git +cd control-freak +npm install --safe-perm +cd .. +cd firmware +git checkout asterix + diff --git a/shredder/asterix-pp/resources/hmi/scripts/make.sh b/shredder/asterix-pp/resources/hmi/scripts/make.sh new file mode 100644 index 0000000..349ef05 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/scripts/make.sh @@ -0,0 +1,2 @@ +sh compile.sh +sh upload.sh \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/scripts/upload.sh b/shredder/asterix-pp/resources/hmi/scripts/upload.sh new file mode 100644 index 0000000..f0a3fa7 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/scripts/upload.sh @@ -0,0 +1,6 @@ +AVR=/home/pi/arduino-1.8.12 +AHOME=/home/pi/.arduino15 + +$AVR/hardware/tools/avr/bin/avrdude -C$AVR/hardware/tools/avr/etc/avrdude.conf -q -q -patmega328p -carduino -P/dev/ttyACM0 -b115200 -D -Uflash:w:/tmp/arduino/firmware-next.ino.hex + + diff --git a/shredder/asterix-pp/resources/hmi/settings.json b/shredder/asterix-pp/resources/hmi/settings.json new file mode 100644 index 0000000..b56b3a1 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/settings.json @@ -0,0 +1,71 @@ +{ + "admin": { + "settings": [ + { + "id": "theme", + "value": "white" + }, + { + "id": "navigationView", + "value": { + "devices": true, + "drivers": false, + "files": false, + "documentation": false + } + }, + { + "id": "driverView", + "value": { + "layouts": {}, + "basic": { + "showHeader": true, + "selection": { + "selection": [ + "ef552bbc-ca72-3c49-d144-e6ae6ba7d5c2" + ] + }, + "toolbar": true, + "properties": true + }, + "conditionalProcess": { + "showHeader": false, + "selection": { + "selection": [] + }, + "toolbar": false, + "properties": true + }, + "basicVariables": { + "showHeader": false, + "selection": { + "selection": [] + }, + "toolbar": false, + "properties": true + } + } + }, + { + "id": "openFiles", + "value": { + "files": [] + } + }, + { + "id": "ve", + "value": { + "showEditors": true, + "selected": "asterix.css", + "paletteOpen": true + } + }, + { + "id": "navigation", + "value": { + "on": true + } + } + ] + } +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/styles.json b/shredder/asterix-pp/resources/hmi/styles.json new file mode 100644 index 0000000..7b784e0 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/styles.json @@ -0,0 +1,15 @@ +{ + "user": { + "styles": [ + { + "id": "white", + "value": { + "type": "xblox/StyleState", + "properties": { + "style": "background-color: white; background-image: none;" + } + } + } + ] + } +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/Accordion.css b/shredder/asterix-pp/resources/hmi/workspace/Accordion.css new file mode 100644 index 0000000..821e5a2 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Accordion.css @@ -0,0 +1,38 @@ +#myapp .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +#myapp .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +#myapp .myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/Accordion.dhtml b/shredder/asterix-pp/resources/hmi/workspace/Accordion.dhtml new file mode 100644 index 0000000..c8a5956 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Accordion.dhtml @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/shredder/asterix-pp/resources/hmi/workspace/Accordion.js b/shredder/asterix-pp/resources/hmi/workspace/Accordion.js new file mode 100644 index 0000000..392a0ec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Accordion.js @@ -0,0 +1,32 @@ +require([ + 'xapp/manager/Context', + 'require', + 'dcl/dcl', + "xide/utils", + "xide/types" +], function (Context, require, dcl, utils, types) { + + var context = null; + var deviceInstance = null; + var deviceName = "File-Server"; + + //subscribe to 'onContextReady' in order to have a valid application context object + Context.notifier.subscribe('onContextReady', function (_context) { + + //track context + context = _context; + + //Subscribe to 'DevicesConnected' in order to get a driver instance by name. + //This gets called multiple times since there multiple device/driver sources (user/system) + Context.notifier.subscribe('DevicesConnected', function (evt) { + var deviceManager = context.getDeviceManager(); + //device instance + deviceInstance = deviceManager.getInstanceByName(deviceName); + + //not yet there ? abort and wait for the next round + if(!deviceInstance){ + + } + }); + }); +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/Accordion.xblox b/shredder/asterix-pp/resources/hmi/workspace/Accordion.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Accordion.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/Bar.css b/shredder/asterix-pp/resources/hmi/workspace/Bar.css new file mode 100644 index 0000000..821e5a2 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Bar.css @@ -0,0 +1,38 @@ +#myapp .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +#myapp .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +#myapp .myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/Bar.dhtml b/shredder/asterix-pp/resources/hmi/workspace/Bar.dhtml new file mode 100644 index 0000000..7479ee3 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Bar.dhtml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + diff --git a/shredder/asterix-pp/resources/hmi/workspace/Bar.xblox b/shredder/asterix-pp/resources/hmi/workspace/Bar.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Bar.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/backgrounds/518079-background-hd.jpg b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/backgrounds/518079-background-hd.jpg new file mode 100644 index 0000000..8346c07 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/backgrounds/518079-background-hd.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac48b7a5f45a8b2aa31191ebdfaa1b4b1d2bf277738d98c16facdbaaade2c086 +size 172889 diff --git a/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/backgrounds/CC_Skin.png b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/backgrounds/CC_Skin.png new file mode 100644 index 0000000..8efd085 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/backgrounds/CC_Skin.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e70e671bc32f449fd6df0dfce96b3a2cff69fbc13b547034faa5042e79e3759 +size 375129 diff --git a/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init-1.css b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init-1.css new file mode 100644 index 0000000..d880750 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init-1.css @@ -0,0 +1,700 @@ +.metro .tile .tile-content.icon [class*="fa-"], +.metro .tile .tile-content.icon img { + color:#666; +} +.d-panel{ + background-color: transparent; + border: none; +} +/********************* Media Player **************************/ + +.repeatOn { + border-color: #936020 !important; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#eaa44d), to(#e48815)) !important; +} + +.repeatOff { +} + +.mutedOn { + border-color: #936020 !important; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#eaa44d), to(#e48815)) !important; +} + +.mutedOff { +} + +.annPlay_stopped{ + +} +.annPlay_playing{ + background-color: #b33a35; +} + +/*************************************************************************/ +.myButton, .myButton:hover, .myButton:focus{ + box-sizing: border-box; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif; + font-size: 20px; + text-transform: uppercase; + color: #ffffff !important; + outline: none; + text-align: center; + display:table-cell; + vertical-align:middle; + border: 7px solid #ffffff; + border-radius: 14px; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#cccccc), to(#999999)); + -webkit-box-shadow: 3px 8px 10px rgba(0,0,0,0.39), inset 0 4px 60px 1px rgba(255,255,255,0.43) !important; +} + +.myButton:active { + border-width: 9px; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif; + font-size: 19px; + color: #ffffff; +} + +.cssStateOff_mon,.cssStateOff_mon:hover{ + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#45c2d0), to(#00acc1)) !important; + border-color:#00838F !important; + outline:none !important; +} +.cssStateOn_mon,.cssStateOn_mon:hover{ + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#45c2d0), to(#00acc1)) !important; + border-color:#B2EBF2 !important; + color: #006470 !important; + outline:none !important; +} +.cssStateOff_lighting, .cssStateOff_lighting:hover{ + border-color: #936020 !important; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#eaa44d), to(#e48815)) !important; + outline:none !important; + +} +.cssStateOn_lighting, .cssStateOn_lighting:hover{ + border-color: #ffd49f!important; + color: #7a4a0d!important; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#eaa44d), to(#e48815)) !important; + outline:none !important; +} +.cssStateOn_ann,.cssStateOn_ann:hover{ + border-color:#DCEDC8 !important; + outline:none !important; + background: #7CB342 !important; + color: #ffffff !important; +} +.cssStateOff_ann,.cssStateOff_ann:hover{ + border-color:#558B2F !important; + background: #7CB342 !important; + color: #ffffff !important; + outline:none !important; +} +.cssStateOn_usher,.cssStateOn_usher:hover{ + border-color:#558B2F !important; + outline:none !important; + background: #FFFFFF !important; + color: #558B2F !important; +} +.cssStateOff_usher,.cssStateOff_usher:hover{ + border-color:#FFFFFF !important; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#cccccc), to(#999999)); + outline:none !important; +} + + + +.cssStateOn_pgm,.cssStateOn_pgm:hover{ + border-color:#64DD17 !important; + outline:none !important; + color: #000000 !important; + background: #FFFFFF !important; + text-align: center !important; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif !important; + font-size: 20px !important; + +} +.cssStateOff_pgm,.cssStateOff_pgm:hover{ + -webkit-border-radius: 10px; + outline: none; + color: #909090; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif !important; + font-size: 20px !important; + text-align: center !important; + border: 7px solid #909090 !important; + background: #000000; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#000000), to(#070707)); +} +.cssStateInactive_power,.cssStateInactive_power:hover{ + border-color: #909090 !important; + outline:none !important; + color: #909090 !important; + background: #000000 !important; + text-align: center !important; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif !important; + font-size: 50px !important; + +} + +.cssStateOn_power,.cssStateOn_power:hover{ + border-color: #00C853 !important; + outline:none !important; + color: #00C853 !important; + background: #000000 !important; + text-align: center !important; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif !important; + font-size: 50px !important; + +} +.cssStateOff_power,.cssStateOff_power:hover{ + -webkit-border-radius: 10px; + outline: none; + color: #D50000 !important; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif !important; + font-size: 50px !important; + text-align: center !important; + border: 7px solid #D50000 !important; + background: #FFFFFF; +} + +.cssStateWarming_power,.cssStateWarming_power:hover{ + -webkit-border-radius: 10px; + outline: none; + color: #FFD600 !important; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif !important; + font-size: 50px !important; + text-align: center !important; + border: 7px solid #FFD600 !important; + background: #000000; +} +/*Nav Buttons *********************************************************************************/ +.navBtn, .navBtn:hover { + height: 100px; + width: 140px; + font-size:50px; + color: #4a4a4a; + background-image: -webkit-gradient(linear, center top, center bottom, from(#969696), to(#848484)); + box-sizing: border-box; + outline: none; + vertical-align: middle; + border: 7px solid #4a4a4a; + border-radius: 10px; + background-image: -webkit-gradient(radial, center center, 0, center center, 60, from(#aaaaaa), to(#999999)); + -webkit-box-shadow: 3px 8px 10px rgba(0,0,0,0.39), inset 0 4px 60px 1px rgba(255,255,255,0.43) !important; +} + +.navBtnOn { + height: 100px; + width: 140px; + font-size:50px; + box-sizing: border-box; + outline: none !important; + border: 7px solid #eaeaea !important; + border-radius: 10px; + color: #eaeaea !important; + text-shadow: 0px 0px 10px #bbbb66; + background-image: -webkit-gradient(radial, center center, 0, center center, 60, from(#aaaaaa), to(#999999)); + box-shadow: 0px 0px 5px #ffffaa; +} +/*Show Sequence Button *********************************************************************/ +.showselectColor, .showselectColor:hover { + height: 72px; + outline: none !important; + border-color: #9e825a; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#e0c39a), to(#d5af78)); + color: #473a27; +} +.showselectColorOn { + border-color: #ce93bb; + color: #611549; + outline: none !important; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#e36ebd), to(#d839a5)); + box-shadow: 0px 0px 10px #ffffaa; +} +.showTextBox, .showTextBox:hover { + width: 489px; + height: 50px; + outline: none !important; + border: 1px solid #333; + border-radius: 3px; + background-image: -webkit-gradient(linear, center top, center bottom, from(#bdbdbd), to(#bdbdbd)); + -webkit-box-shadow: inset 1px 2px 5px rgba(0,0,0,0.45); + + box-sizing: border-box; + font-style: italic; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif; + font-size: 20px; + + text-transform: uppercase; + color: #473927; + padding-top: 7px; + text-align: left; + padding-left: 15px; + display:table-cell; + vertical-align:middle; +} +.showSeqBtn, .showSeqBtn:hover { + width: 140px; + height: 75px; + outline: none !important; + border: 4px solid #9C27B0; + border-radius:75px/42px; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#AB47BC), to(#BA68C8)); + -webkit-box-shadow: 3px 8px 10px rgba(0,0,0,0.39), inset 0 4px 60px 1px rgba(255,255,255,0.43) !important; + color: #FFFFFF; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif; + font-size: 20px; + text-transform: uppercase; +} + +.cssInset{ + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif; + font-size: 22px; + z-index:-1; + text-transform: uppercase; + color: #ffffff; + + text-align: center; + display:table-cell; + vertical-align:top; + padding-top: 7px; + + border: 1px solid rgba(0,0,0,0.60); + border-radius: 10px; + background-image: -webkit-gradient(linear, center top, center bottom, from(#404445), to(#404445)); + -webkit-box-shadow: inset 1px 3px 8px 2px rgba(0,0,0,0.60); +} +.d-slider{ + opacity: 0.8; + border-radius: 0px !important; +} +.d-popup { + left: 500px; + font-size: 150%; +} +.bodyPreview{ + overflow: hidden; +} +/*****/ +.fakeLabel,.fakeLabel:hover{ + border:none; + outline: none; + background:none; + background-color:transparent; + color: #1e7000; + padding:0px; + margin:0px; + font-size: 50pt; +} + +.d-slider .d-slider-bar { + border:none; + background-color: rgba(0,0,0,0.1); +} +.d-slider .d-slider-progress-bar { + border-width: 0; + background-color: #E5E5E5 !important; + +} +BODY { + overflow: visible; + margin:0px; + padding:0px; +} +HTML{ + user-zoom: 100%; + overflow:auto; +} + +.volUpButton, .volUpButton:hover, .volUpButton:focus { + height:93px; + Width:93px; + -webkit-border-radius: 10px; + outline: none; + cursor: pointer; + color: #909090; + padding-top: 0px; + font-size: 55px; + border: 7px solid #909090; + background: #000000; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#000000), to(#070707)); + + +} + +.volDownButton, .volDownButton:hover,.volDownButton:focus { + height:93px; + Width:93px; + -webkit-border-radius: 10px; + outline: none; + cursor: pointer; + color: #909090; + font-size: 55px; + padding-top: 0px; + border: 7px solid #909090; + background: #000000; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#000000), to(#070707)); + +} + + + +.volDownButton:active { + height:93px; + Width:93px; + outline: none !important; + font-size: 53px !important; + color: #64DD17; + border: 8px solid #64DD17; +} +.volUpButton:active { + height:93px; + Width:93px; + outline: none !important; + font-size: 53px !important; + color: #64DD17; + border: 8px solid #64DD17; +} +.volLabel,.volLabel:hover{ + height:35px; + width: 90px; + border: none; + text-align: center; + vertical-align: middle; + outline: none; + background: none; + background-color: transparent; + color: #909090; + font: Arial; + font-size: 20px; + +} +.volMuteButton, .volMuteButton:hover,.volMuteButton:focus { + height:93px; + Width:93px; + -webkit-border-radius: 10px; + outline: none; + cursor: pointer; + color: #909090; + font-size: 46px; + border: 7px solid #909090; + background: #000000; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#000000), to(#070707)); + +} +.volMuteButtonOn, .volMuteButtonOn:hover,.volMuteButtonOn:focus{ + height:93px; + Width:93px; + -webkit-border-radius: 10px; + outline: none; + color: #D50000; + border: 7px solid #D50000; + background: #FFFFFF; + +} +.volMuteButtonOff, .volMuteButtonOff:hover,.volMuteButtonOff:focus { + -webkit-border-radius: 10px; + outline: none; + color: #909090; + border: 7px solid #909090; + background: #000000; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#000000), to(#070707)); + +} +.volMuteButtonOff:active { + + outline: none !important; + font-size: 44px; + color: #909090; + border: 8px solid #909090; + font-size: 44px !important; +} +.volMuteButtonOn:active { + + outline: none !important; + font-size: 44px; + color: #D50000; + border: 8px solid #D50000; + font-size: 44px !important; +} +.coveLightButton, .coveLightButton:hover,.coveLightButton:focus { + height:93px; + Width:93px; + padding-top: 0px; + -webkit-border-radius: 10px; + outline: none !important; + cursor: pointer; + color: #909090 !important; + font-size: 57px; + border: 7px solid #909090 !important; + background: #000000; + +} +.coveLightRedButtonOn, .coveLightRedButtonOn:hover,.coveLightRedButtonOn:focus{ + + font-size: 57px; + padding-top: 0px; + outline: none !important; + background: #000000; + border-color: #FF0000 !important; + color: #FF0000 !important; + +} +.coveLightBlueButtonOn, .coveLightBlueButtonOn:hover,.coveLightBlueButtonOn:focus{ + + font-size: 57px; + padding-top: 0px; + outline: none; + background: #000000; + border-color: #0000FF !important; + color: #0000FF !important; + +} +.coveLightGreenButtonOn, .coveLightGreenButtonOn:hover,.coveLightGreenButtonOn:focus{ + + font-size: 57px; + padding-top: 0px; + outline: none; + background: #000000; + border-color: #00FF00 !important; + color: #00FF00 !important; + +} +.coveLightWhiteButtonOn, .coveLightWhiteButtonOn:hover,.coveLightWhiteButtonOn:focus{ + + font-size: 57px; + padding-top: 0px; + outline: none !important; + background: #000000; + border-color: #FFFFFF !important; + color: #FFFFFF !important; + +} +.coveLightButtonOff, .coveLightButtonOff:hover,.coveLightButtonOff:focus { + + font-size: 57px; + padding-top: 0px; + outline: none !important; + background: #000000; + border-color: #909090 !important; + color: #909090 !important; + +} +.coveLightButton:active { + padding-top: 1px; + outline: none !important; + font-size: 39px !important; + color: #FFFFFF !important; + border: 8px solid #FFFFFF !important; +} +.coveLightButtonOff:active { + padding-top: 1px; + outline: none !important; + font-size: 55px !important; + border: 8px solid #909090; +} +.coveLightButtonOn:active { + padding-top: 1px; + outline: none !important; + font-size: 55px !important; + border: 8px solid #D50000; +} +.sourceLabel{ + height: 38px; + width: 93px; + font: "Arial Narrow"; + font-size: 18px; + text-align: center; + padding-top: 3px; + color: #FFFFFF; + border: 3px solid #FFFFFF; + border-radius: 6px; +} + + + +@font-face { + font-family: 'LCD'; + src: url('fonts/LCDReg.eot'); + src: url('fonts/LCDReg.eot?#iefix') format('embedded-opentype'), + url('fonts/LCDReg.woff') format('woff'), + url('fonts/LCDReg.ttf') format('truetype'); + font-weight: normal; + font-style: normal; +} + +/*** + This CSS will make it fit for the meters in the background +*/ +.meterSlider.d-slider .d-slider-bar { + border: none; + border-radius: 0px; + background-color: transparent; +} +.meterSlider .d-slider-handle{ + /*width:5px !important;*/ + display: none; +} +.meterSlider.meterSlider.d-slider-v .d-slider-container { + min-height: 80px; + width: 23px; + opacity: 0.5; +} +.meterSlider.d-slider .d-slider-progress-bar { + border:none; + background-color: #E5E5E5; +} +/*** + This CSS isfor color faders +*/ +.colorSlider.d-slider .d-slider-bar { + border: none; + border-radius: 0px; + background-color: transparent; +} +.colorSlider .d-slider-handle{ + /*width:5px !important;*/ + display: none; +} +.colorSlider.meterSlider.d-slider-v .d-slider-container { + min-height: 80px; + width: 23px; + opacity: 0.5; +} +.colorSlider.d-slider .d-slider-progress-bar { + border:none; + background-color: #FFFFFF; +} +/*Music Player ********************************************************************************************/ +.musicPlayer { + position:absolute; + left:300px; + top:30px; + width: 660px; + height: 365px; + z-index:-2; + + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif; + font-size: 24px; + + text-transform: uppercase; + color: #ffffff; + text-shadow: 0px 0px 6px #ffff66; + + text-align: center; + display:table-cell; + vertical-align:bottom; + padding-top: 10px; + + border: 1px solid rgba(0,0,0,0.60); + border-radius: 10px; + background-image: -webkit-gradient(linear, center top, center bottom, from(#404445), to(#404445)); + -webkit-box-shadow: 1px 3px 8px 2px rgba(0,0,0,0.60), inset 0 5px 2px 1px rgba(255,255,255,0.1), inset 0 -5px 2px 5px rgba(0,0,0,0.9); + + /*carbon fiber texture*/ + background: +linear-gradient(27deg, #111 5px, transparent 5px) 0 5px, +linear-gradient(207deg, #111 5px, transparent 5px) 10px 0px, +linear-gradient(27deg, #111 5px, transparent 5px) 0px 10px, +linear-gradient(207deg, #111 5px, transparent 5px) 10px 5px, +linear-gradient(90deg, #1b1b1b 10px, transparent 10px), +linear-gradient(#1d1d1d 25%, #1a1a1a 25%, #1a1a1a 50%, transparent 50%, transparent 75%, #111111 75%, #242424); + + background-color: #000000; +background-size: 20px 20px; +/*********************************/ + + +} + +.transportBar { + position:absolute; + width: 660px; + height: 111px; + + z-index:-1; + + border-radius: 10px; + border: 1px solid rgba(0,0,0,0.60); + background-image: -webkit-gradient(linear, center top, center bottom, from(#111), to(#222)); + -webkit-box-shadow: 2px 15px 5px rgba(0,0,0,0.6), inset 0px 3px 6px 6px #222222; +} +.transportRoundButton,.transportRoundButton:hover { + position:absolute; + left:550px; + top:140px; + width: 98px; + height: 98px; + outline: none !important; + z-index:0; + font-size: 35px; + + text-transform: uppercase; + color: #ffffff; + text-shadow: 0px 0px 6px #ffff66; + + margin-top: auto; + margin-bottom:auto; + text-align: center; + vertical-align:middle; + display:table; + + border: 1px solid black; + border-radius: 50%; + background-image: -webkit-gradient(linear, center top, center bottom, from(#1a1f26), to(#16181b)); + -webkit-box-shadow: 0 10px 5px rgba(0,0,0,0.75), inset 0 2px 3px 1px #45474a, inset 0 -2px 3px 1px #000; + +} +.transportOvalButton,.transportOvalButton:hover { + position:absolute; + left:550px; + top:140px; + width: 145px; + height: 53px; + outline: none !important; + z-index:0; + + font-family:FontAwesome; + font-size: 48px; + + text-transform: uppercase; + color: #ffffff; + text-shadow: 0px 0px 6px #ffff66; + + margin-top: auto; + margin-bottom:auto; + text-align: center; + vertical-align:middle; + display:table; + + border: 1px solid black; + border-radius: 50px; + background-image: -webkit-gradient(linear, center top, center bottom, from(#1a1f26), to(#16181b)); + -webkit-box-shadow: 0 10px 5px rgba(0,0,0,0.75), inset 0 2px 3px 1px #45474a, inset 0 -2px 3px 1px #000; +} +.transportDisplay,.transportDisplay:hover { + position:absolute; + width: 610px; + height: 50px; + outline: none !important; + z-index:0; + + font-family:"Gill Sans", "Gill Sans MT", "Myriad Pro", "DejaVu Sans Condensed", Helvetica, Arial, sans-serif; + font-size: 18px; + + text-transform: uppercase; + color: #ffffff; + text-shadow: 0px 0px 6px #ffff66; + + margin-top: auto; + margin-bottom:auto; + text-align: left; + vertical-align:middle; + display:table; + + border: 1px solid black; + border-radius: 5px; + background-image: -webkit-gradient(linear, center top, center bottom, from(#1a1f26), to(#16181b)); + -webkit-box-shadow: 0 10px 5px rgba(0,0,0,0.75), inset 0 -2px 3px 1px #35373a, inset 0 2px 3px 1px #000; +} + diff --git a/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init.css b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init.css new file mode 100644 index 0000000..d880750 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init.css @@ -0,0 +1,700 @@ +.metro .tile .tile-content.icon [class*="fa-"], +.metro .tile .tile-content.icon img { + color:#666; +} +.d-panel{ + background-color: transparent; + border: none; +} +/********************* Media Player **************************/ + +.repeatOn { + border-color: #936020 !important; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#eaa44d), to(#e48815)) !important; +} + +.repeatOff { +} + +.mutedOn { + border-color: #936020 !important; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#eaa44d), to(#e48815)) !important; +} + +.mutedOff { +} + +.annPlay_stopped{ + +} +.annPlay_playing{ + background-color: #b33a35; +} + +/*************************************************************************/ +.myButton, .myButton:hover, .myButton:focus{ + box-sizing: border-box; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif; + font-size: 20px; + text-transform: uppercase; + color: #ffffff !important; + outline: none; + text-align: center; + display:table-cell; + vertical-align:middle; + border: 7px solid #ffffff; + border-radius: 14px; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#cccccc), to(#999999)); + -webkit-box-shadow: 3px 8px 10px rgba(0,0,0,0.39), inset 0 4px 60px 1px rgba(255,255,255,0.43) !important; +} + +.myButton:active { + border-width: 9px; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif; + font-size: 19px; + color: #ffffff; +} + +.cssStateOff_mon,.cssStateOff_mon:hover{ + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#45c2d0), to(#00acc1)) !important; + border-color:#00838F !important; + outline:none !important; +} +.cssStateOn_mon,.cssStateOn_mon:hover{ + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#45c2d0), to(#00acc1)) !important; + border-color:#B2EBF2 !important; + color: #006470 !important; + outline:none !important; +} +.cssStateOff_lighting, .cssStateOff_lighting:hover{ + border-color: #936020 !important; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#eaa44d), to(#e48815)) !important; + outline:none !important; + +} +.cssStateOn_lighting, .cssStateOn_lighting:hover{ + border-color: #ffd49f!important; + color: #7a4a0d!important; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#eaa44d), to(#e48815)) !important; + outline:none !important; +} +.cssStateOn_ann,.cssStateOn_ann:hover{ + border-color:#DCEDC8 !important; + outline:none !important; + background: #7CB342 !important; + color: #ffffff !important; +} +.cssStateOff_ann,.cssStateOff_ann:hover{ + border-color:#558B2F !important; + background: #7CB342 !important; + color: #ffffff !important; + outline:none !important; +} +.cssStateOn_usher,.cssStateOn_usher:hover{ + border-color:#558B2F !important; + outline:none !important; + background: #FFFFFF !important; + color: #558B2F !important; +} +.cssStateOff_usher,.cssStateOff_usher:hover{ + border-color:#FFFFFF !important; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#cccccc), to(#999999)); + outline:none !important; +} + + + +.cssStateOn_pgm,.cssStateOn_pgm:hover{ + border-color:#64DD17 !important; + outline:none !important; + color: #000000 !important; + background: #FFFFFF !important; + text-align: center !important; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif !important; + font-size: 20px !important; + +} +.cssStateOff_pgm,.cssStateOff_pgm:hover{ + -webkit-border-radius: 10px; + outline: none; + color: #909090; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif !important; + font-size: 20px !important; + text-align: center !important; + border: 7px solid #909090 !important; + background: #000000; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#000000), to(#070707)); +} +.cssStateInactive_power,.cssStateInactive_power:hover{ + border-color: #909090 !important; + outline:none !important; + color: #909090 !important; + background: #000000 !important; + text-align: center !important; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif !important; + font-size: 50px !important; + +} + +.cssStateOn_power,.cssStateOn_power:hover{ + border-color: #00C853 !important; + outline:none !important; + color: #00C853 !important; + background: #000000 !important; + text-align: center !important; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif !important; + font-size: 50px !important; + +} +.cssStateOff_power,.cssStateOff_power:hover{ + -webkit-border-radius: 10px; + outline: none; + color: #D50000 !important; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif !important; + font-size: 50px !important; + text-align: center !important; + border: 7px solid #D50000 !important; + background: #FFFFFF; +} + +.cssStateWarming_power,.cssStateWarming_power:hover{ + -webkit-border-radius: 10px; + outline: none; + color: #FFD600 !important; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif !important; + font-size: 50px !important; + text-align: center !important; + border: 7px solid #FFD600 !important; + background: #000000; +} +/*Nav Buttons *********************************************************************************/ +.navBtn, .navBtn:hover { + height: 100px; + width: 140px; + font-size:50px; + color: #4a4a4a; + background-image: -webkit-gradient(linear, center top, center bottom, from(#969696), to(#848484)); + box-sizing: border-box; + outline: none; + vertical-align: middle; + border: 7px solid #4a4a4a; + border-radius: 10px; + background-image: -webkit-gradient(radial, center center, 0, center center, 60, from(#aaaaaa), to(#999999)); + -webkit-box-shadow: 3px 8px 10px rgba(0,0,0,0.39), inset 0 4px 60px 1px rgba(255,255,255,0.43) !important; +} + +.navBtnOn { + height: 100px; + width: 140px; + font-size:50px; + box-sizing: border-box; + outline: none !important; + border: 7px solid #eaeaea !important; + border-radius: 10px; + color: #eaeaea !important; + text-shadow: 0px 0px 10px #bbbb66; + background-image: -webkit-gradient(radial, center center, 0, center center, 60, from(#aaaaaa), to(#999999)); + box-shadow: 0px 0px 5px #ffffaa; +} +/*Show Sequence Button *********************************************************************/ +.showselectColor, .showselectColor:hover { + height: 72px; + outline: none !important; + border-color: #9e825a; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#e0c39a), to(#d5af78)); + color: #473a27; +} +.showselectColorOn { + border-color: #ce93bb; + color: #611549; + outline: none !important; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#e36ebd), to(#d839a5)); + box-shadow: 0px 0px 10px #ffffaa; +} +.showTextBox, .showTextBox:hover { + width: 489px; + height: 50px; + outline: none !important; + border: 1px solid #333; + border-radius: 3px; + background-image: -webkit-gradient(linear, center top, center bottom, from(#bdbdbd), to(#bdbdbd)); + -webkit-box-shadow: inset 1px 2px 5px rgba(0,0,0,0.45); + + box-sizing: border-box; + font-style: italic; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif; + font-size: 20px; + + text-transform: uppercase; + color: #473927; + padding-top: 7px; + text-align: left; + padding-left: 15px; + display:table-cell; + vertical-align:middle; +} +.showSeqBtn, .showSeqBtn:hover { + width: 140px; + height: 75px; + outline: none !important; + border: 4px solid #9C27B0; + border-radius:75px/42px; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#AB47BC), to(#BA68C8)); + -webkit-box-shadow: 3px 8px 10px rgba(0,0,0,0.39), inset 0 4px 60px 1px rgba(255,255,255,0.43) !important; + color: #FFFFFF; + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif; + font-size: 20px; + text-transform: uppercase; +} + +.cssInset{ + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif; + font-size: 22px; + z-index:-1; + text-transform: uppercase; + color: #ffffff; + + text-align: center; + display:table-cell; + vertical-align:top; + padding-top: 7px; + + border: 1px solid rgba(0,0,0,0.60); + border-radius: 10px; + background-image: -webkit-gradient(linear, center top, center bottom, from(#404445), to(#404445)); + -webkit-box-shadow: inset 1px 3px 8px 2px rgba(0,0,0,0.60); +} +.d-slider{ + opacity: 0.8; + border-radius: 0px !important; +} +.d-popup { + left: 500px; + font-size: 150%; +} +.bodyPreview{ + overflow: hidden; +} +/*****/ +.fakeLabel,.fakeLabel:hover{ + border:none; + outline: none; + background:none; + background-color:transparent; + color: #1e7000; + padding:0px; + margin:0px; + font-size: 50pt; +} + +.d-slider .d-slider-bar { + border:none; + background-color: rgba(0,0,0,0.1); +} +.d-slider .d-slider-progress-bar { + border-width: 0; + background-color: #E5E5E5 !important; + +} +BODY { + overflow: visible; + margin:0px; + padding:0px; +} +HTML{ + user-zoom: 100%; + overflow:auto; +} + +.volUpButton, .volUpButton:hover, .volUpButton:focus { + height:93px; + Width:93px; + -webkit-border-radius: 10px; + outline: none; + cursor: pointer; + color: #909090; + padding-top: 0px; + font-size: 55px; + border: 7px solid #909090; + background: #000000; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#000000), to(#070707)); + + +} + +.volDownButton, .volDownButton:hover,.volDownButton:focus { + height:93px; + Width:93px; + -webkit-border-radius: 10px; + outline: none; + cursor: pointer; + color: #909090; + font-size: 55px; + padding-top: 0px; + border: 7px solid #909090; + background: #000000; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#000000), to(#070707)); + +} + + + +.volDownButton:active { + height:93px; + Width:93px; + outline: none !important; + font-size: 53px !important; + color: #64DD17; + border: 8px solid #64DD17; +} +.volUpButton:active { + height:93px; + Width:93px; + outline: none !important; + font-size: 53px !important; + color: #64DD17; + border: 8px solid #64DD17; +} +.volLabel,.volLabel:hover{ + height:35px; + width: 90px; + border: none; + text-align: center; + vertical-align: middle; + outline: none; + background: none; + background-color: transparent; + color: #909090; + font: Arial; + font-size: 20px; + +} +.volMuteButton, .volMuteButton:hover,.volMuteButton:focus { + height:93px; + Width:93px; + -webkit-border-radius: 10px; + outline: none; + cursor: pointer; + color: #909090; + font-size: 46px; + border: 7px solid #909090; + background: #000000; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#000000), to(#070707)); + +} +.volMuteButtonOn, .volMuteButtonOn:hover,.volMuteButtonOn:focus{ + height:93px; + Width:93px; + -webkit-border-radius: 10px; + outline: none; + color: #D50000; + border: 7px solid #D50000; + background: #FFFFFF; + +} +.volMuteButtonOff, .volMuteButtonOff:hover,.volMuteButtonOff:focus { + -webkit-border-radius: 10px; + outline: none; + color: #909090; + border: 7px solid #909090; + background: #000000; + background-image: -webkit-gradient(radial, center center, 0, center center, 40, from(#000000), to(#070707)); + +} +.volMuteButtonOff:active { + + outline: none !important; + font-size: 44px; + color: #909090; + border: 8px solid #909090; + font-size: 44px !important; +} +.volMuteButtonOn:active { + + outline: none !important; + font-size: 44px; + color: #D50000; + border: 8px solid #D50000; + font-size: 44px !important; +} +.coveLightButton, .coveLightButton:hover,.coveLightButton:focus { + height:93px; + Width:93px; + padding-top: 0px; + -webkit-border-radius: 10px; + outline: none !important; + cursor: pointer; + color: #909090 !important; + font-size: 57px; + border: 7px solid #909090 !important; + background: #000000; + +} +.coveLightRedButtonOn, .coveLightRedButtonOn:hover,.coveLightRedButtonOn:focus{ + + font-size: 57px; + padding-top: 0px; + outline: none !important; + background: #000000; + border-color: #FF0000 !important; + color: #FF0000 !important; + +} +.coveLightBlueButtonOn, .coveLightBlueButtonOn:hover,.coveLightBlueButtonOn:focus{ + + font-size: 57px; + padding-top: 0px; + outline: none; + background: #000000; + border-color: #0000FF !important; + color: #0000FF !important; + +} +.coveLightGreenButtonOn, .coveLightGreenButtonOn:hover,.coveLightGreenButtonOn:focus{ + + font-size: 57px; + padding-top: 0px; + outline: none; + background: #000000; + border-color: #00FF00 !important; + color: #00FF00 !important; + +} +.coveLightWhiteButtonOn, .coveLightWhiteButtonOn:hover,.coveLightWhiteButtonOn:focus{ + + font-size: 57px; + padding-top: 0px; + outline: none !important; + background: #000000; + border-color: #FFFFFF !important; + color: #FFFFFF !important; + +} +.coveLightButtonOff, .coveLightButtonOff:hover,.coveLightButtonOff:focus { + + font-size: 57px; + padding-top: 0px; + outline: none !important; + background: #000000; + border-color: #909090 !important; + color: #909090 !important; + +} +.coveLightButton:active { + padding-top: 1px; + outline: none !important; + font-size: 39px !important; + color: #FFFFFF !important; + border: 8px solid #FFFFFF !important; +} +.coveLightButtonOff:active { + padding-top: 1px; + outline: none !important; + font-size: 55px !important; + border: 8px solid #909090; +} +.coveLightButtonOn:active { + padding-top: 1px; + outline: none !important; + font-size: 55px !important; + border: 8px solid #D50000; +} +.sourceLabel{ + height: 38px; + width: 93px; + font: "Arial Narrow"; + font-size: 18px; + text-align: center; + padding-top: 3px; + color: #FFFFFF; + border: 3px solid #FFFFFF; + border-radius: 6px; +} + + + +@font-face { + font-family: 'LCD'; + src: url('fonts/LCDReg.eot'); + src: url('fonts/LCDReg.eot?#iefix') format('embedded-opentype'), + url('fonts/LCDReg.woff') format('woff'), + url('fonts/LCDReg.ttf') format('truetype'); + font-weight: normal; + font-style: normal; +} + +/*** + This CSS will make it fit for the meters in the background +*/ +.meterSlider.d-slider .d-slider-bar { + border: none; + border-radius: 0px; + background-color: transparent; +} +.meterSlider .d-slider-handle{ + /*width:5px !important;*/ + display: none; +} +.meterSlider.meterSlider.d-slider-v .d-slider-container { + min-height: 80px; + width: 23px; + opacity: 0.5; +} +.meterSlider.d-slider .d-slider-progress-bar { + border:none; + background-color: #E5E5E5; +} +/*** + This CSS isfor color faders +*/ +.colorSlider.d-slider .d-slider-bar { + border: none; + border-radius: 0px; + background-color: transparent; +} +.colorSlider .d-slider-handle{ + /*width:5px !important;*/ + display: none; +} +.colorSlider.meterSlider.d-slider-v .d-slider-container { + min-height: 80px; + width: 23px; + opacity: 0.5; +} +.colorSlider.d-slider .d-slider-progress-bar { + border:none; + background-color: #FFFFFF; +} +/*Music Player ********************************************************************************************/ +.musicPlayer { + position:absolute; + left:300px; + top:30px; + width: 660px; + height: 365px; + z-index:-2; + + font-family: Calibri, Candara, Segoe, "Segoe UI", Optima, Arial, sans-serif; + font-size: 24px; + + text-transform: uppercase; + color: #ffffff; + text-shadow: 0px 0px 6px #ffff66; + + text-align: center; + display:table-cell; + vertical-align:bottom; + padding-top: 10px; + + border: 1px solid rgba(0,0,0,0.60); + border-radius: 10px; + background-image: -webkit-gradient(linear, center top, center bottom, from(#404445), to(#404445)); + -webkit-box-shadow: 1px 3px 8px 2px rgba(0,0,0,0.60), inset 0 5px 2px 1px rgba(255,255,255,0.1), inset 0 -5px 2px 5px rgba(0,0,0,0.9); + + /*carbon fiber texture*/ + background: +linear-gradient(27deg, #111 5px, transparent 5px) 0 5px, +linear-gradient(207deg, #111 5px, transparent 5px) 10px 0px, +linear-gradient(27deg, #111 5px, transparent 5px) 0px 10px, +linear-gradient(207deg, #111 5px, transparent 5px) 10px 5px, +linear-gradient(90deg, #1b1b1b 10px, transparent 10px), +linear-gradient(#1d1d1d 25%, #1a1a1a 25%, #1a1a1a 50%, transparent 50%, transparent 75%, #111111 75%, #242424); + + background-color: #000000; +background-size: 20px 20px; +/*********************************/ + + +} + +.transportBar { + position:absolute; + width: 660px; + height: 111px; + + z-index:-1; + + border-radius: 10px; + border: 1px solid rgba(0,0,0,0.60); + background-image: -webkit-gradient(linear, center top, center bottom, from(#111), to(#222)); + -webkit-box-shadow: 2px 15px 5px rgba(0,0,0,0.6), inset 0px 3px 6px 6px #222222; +} +.transportRoundButton,.transportRoundButton:hover { + position:absolute; + left:550px; + top:140px; + width: 98px; + height: 98px; + outline: none !important; + z-index:0; + font-size: 35px; + + text-transform: uppercase; + color: #ffffff; + text-shadow: 0px 0px 6px #ffff66; + + margin-top: auto; + margin-bottom:auto; + text-align: center; + vertical-align:middle; + display:table; + + border: 1px solid black; + border-radius: 50%; + background-image: -webkit-gradient(linear, center top, center bottom, from(#1a1f26), to(#16181b)); + -webkit-box-shadow: 0 10px 5px rgba(0,0,0,0.75), inset 0 2px 3px 1px #45474a, inset 0 -2px 3px 1px #000; + +} +.transportOvalButton,.transportOvalButton:hover { + position:absolute; + left:550px; + top:140px; + width: 145px; + height: 53px; + outline: none !important; + z-index:0; + + font-family:FontAwesome; + font-size: 48px; + + text-transform: uppercase; + color: #ffffff; + text-shadow: 0px 0px 6px #ffff66; + + margin-top: auto; + margin-bottom:auto; + text-align: center; + vertical-align:middle; + display:table; + + border: 1px solid black; + border-radius: 50px; + background-image: -webkit-gradient(linear, center top, center bottom, from(#1a1f26), to(#16181b)); + -webkit-box-shadow: 0 10px 5px rgba(0,0,0,0.75), inset 0 2px 3px 1px #45474a, inset 0 -2px 3px 1px #000; +} +.transportDisplay,.transportDisplay:hover { + position:absolute; + width: 610px; + height: 50px; + outline: none !important; + z-index:0; + + font-family:"Gill Sans", "Gill Sans MT", "Myriad Pro", "DejaVu Sans Condensed", Helvetica, Arial, sans-serif; + font-size: 18px; + + text-transform: uppercase; + color: #ffffff; + text-shadow: 0px 0px 6px #ffff66; + + margin-top: auto; + margin-bottom:auto; + text-align: left; + vertical-align:middle; + display:table; + + border: 1px solid black; + border-radius: 5px; + background-image: -webkit-gradient(linear, center top, center bottom, from(#1a1f26), to(#16181b)); + -webkit-box-shadow: 0 10px 5px rgba(0,0,0,0.75), inset 0 -2px 3px 1px #35373a, inset 0 2px 3px 1px #000; +} + diff --git a/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init.dhtml b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init.dhtml new file mode 100644 index 0000000..1b2c08f --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init.dhtml @@ -0,0 +1,1006 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Announcements +
+
Lighting +
+
Booth Monitor +
+
Show Sequence +
+
Music Player +
+
+ + + + + + + + + + + + + + + + + + + + + + + diff --git a/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init.js b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init.js new file mode 100644 index 0000000..f032052 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init.js @@ -0,0 +1,261 @@ +require([ + 'xapp/manager/Context', + 'require', + 'dcl/dcl', + "xide/utils", + "delite/popup", + "deliteful/Combobox", + "deliteful/list/List", + "dstore/Memory", + "xide/types" +], function (Context, require, dcl, utils, popup, Combobox, List, Memory, types) { + + var context = null; + + Context.notifier.subscribe('onContextReady', function (_context) { + + context = _context; + Context.notifier.subscribe('DevicesConnected', function (evt) { + + var deviceManager = context.getDeviceManager(); + + function createPickerPopup(button, picker, Popup) { + var value = []; + var _popup; + + /** + * callback when ok + */ + function ok() { + console.log('ok ', picker._selection[0].path); + utils.destroy(picker); + utils.destroy(_popup); + } + + + var dataSource = new Memory({idProperty: "label", data: []}); + var list = new List({source: dataSource, righttextAttr: "value"}); + var combo = new Combobox({ + list: list, + id: "combo-single", + selectionMode: 'single' + }); + + var gridNode = picker.domNode; + + _popup = new Popup({ + /** + * Called when clicking the OK button of the popup. + * @protected + */ + okHandler: function () { + this.combobox._validateMultiple(this.combobox.inputNode); + this.combobox.closeDropDown(); + popup.close(button.popup); + ok(); + }, + + /** + * Called when clicking the Cancel button of the popup. + * @protected + */ + cancelHandler: function () { + this.combobox.list.selectedItems = this.combobox._selectedItems; + this.combobox.closeDropDown(); + popup.close(button.popup); + console.log('cancel'); + utils.destroy(picker); + utils.destroy(_popup); + }, + combobox: combo + }); + + + //extend button + utils.mixin(button, { + popup: _popup, + _setLabelAttr: function (label) { + this.textContent = label; + this._set("label", label); + }, + closePopup: function () { + if (this.open) { + popup.close(this.popup); + this.open = false; + } + }, + _deactivatedHandler: function () { + //this.closePopup(); + }, + _openPopup: function () { + + $(combo.list).css('height', '1000px'); + $(combo.list).css('width', '2000px'); + $(combo.list).empty(); + $(combo.list).append(gridNode); + this._openRet = popup.open({ + popup: this.popup, + parent: this, + around: this, + orient: ['center'], + maxHeight: -1 + }); + + this.open = true; + + picker._parent = combo.list; + + $(gridNode).css('height', '100%'); + $(gridNode).css('width', '100%'); + + function refreshGrid(fileGrid) { + fileGrid.collection._loadPath('.', true).then(function () { + fileGrid.refresh(); + }); + } + + setTimeout(function () { + refreshGrid(picker.leftGrid); + setTimeout(function () { + refreshGrid(picker.rightGrid); + }, 1000); + }, 1000); + } + }); + button.on("delite-deactivated", function () { + button._deactivatedHandler(); + }); + button._openPopup(); + + + } + + window['openPlaylists'] = function (button) { + + var variable = $(button).attr('variable'); + + console.log('open popup with variable ' + variable); + + var targetVariable = $(button).attr('targetVariable'); + var targetLabel = $($(button).attr('targetText')); + + console.log('use target label : ',targetLabel); + + require(["xdeliteful/Widgets/Popup"], function (Popup) { + + //grab app context + + //device manager + var deviceManager = context.getDeviceManager(); + + //flow variables for onOk + var deviceName = "ShowSource"; + var sourceVariable = variable; + var targetCommand = "PlayList"; + + //device instance + var instance = deviceManager.getInstanceByName(deviceName); + if (!instance) { + console.error('cant find device instance ' + deviceName); + return; + } + var blockScope = instance.blockScope; + var playListVariable = blockScope.getVariable(sourceVariable); + if (!playListVariable) { + console.error('cant find variable Playlists'); + return; + } + + //build combo-box list data + var data = utils.getJson(playListVariable.value); + var playListData = []; + _.each(data, function (item) { + playListData.push({ + label: item.name, + value: item.index + }); + }); + var dataSource = new Memory({idProperty: "label", data: playListData}); + var list = new List({source: dataSource}); + var combo = new Combobox({ + list: list, + id: "combo-single", + selectionMode: 'single' + }); + + + /** + * callback when ok + */ + function ok() { + var value = combo.value; + if (value && value[0]) { + //set driver variable without network updates + var _item = list.selectedItems[0].__item; + var _value = _item.value; + instance.setVariable(targetVariable, _value, true,true,true); + targetLabel[0].innerHTML = value[0]; + console.log('set variable '+_value,value); + //instance.callCommand(targetCommand); + } + } + + //extend button + utils.mixin(button, { + popup: new Popup({ + /** + * Called when clicking the OK button of the popup. + * @protected + */ + okHandler: function () { + this.combobox._validateMultiple(this.combobox.inputNode); + this.combobox.closeDropDown(); + popup.close(button.popup); + ok(); + + }, + + /** + * Called when clicking the Cancel button of the popup. + * @protected + */ + cancelHandler: function () { + this.combobox.list.selectedItems = this.combobox._selectedItems; + this.combobox.closeDropDown(); + popup.close(button.popup); + }, + combobox: combo + }), + _setLabelAttr: function (label) { + this.textContent = label; + this._set("label", label); + }, + closePopup: function () { + if (this.open) { + popup.close(this.popup); + this.open = false; + } + }, + _deactivatedHandler: function () { + this.closePopup(); + }, + _openPopup: function () { + this._openRet = popup.open({ + popup: this.popup, + parent: this, + around: this, + orient: ['center'], + maxHeight: -1 + }); + this.open = true; + } + }); + button.on("delite-deactivated", function () { + button._deactivatedHandler(); + }); + button._openPopup(); + }); + }; + }); + }); +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init.xblox b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init.xblox new file mode 100644 index 0000000..3a2c1ab --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/ClayCenter/init.xblox @@ -0,0 +1,748 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "group": "myapp__load", + "id": "a01159cf-5327-f1e0-a8b1-7ef8941d3e7d", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "method": "", + "args": "", + "deferred": false, + "icon": "fa-code", + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "description": "No Description" + }, + { + "_containsChildrenIds": [], + "group": "btnAnn1__click", + "id": "84c454a5-e483-bf2e-56b6-275fda36c01d", + 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"enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "group": "navVideo__click", + "id": "c89f1a06-da09-cd4a-bc19-3e0090485c33", + "reference": "{\"reference\":\"#navShow\",\"mode\":\"bycss\"}", + "declaredClass": "xblox.model.html.SetState", + "name": "Set State", + "description": "Switches to a state", + "value": "0", + "mode": 1, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "group": "navUtility__click", + "id": "380f8d1f-2ecb-cc23-31b0-21f677102930", + "reference": "{\"reference\":\"#navUtility\",\"mode\":\"bycss\"}", + "declaredClass": "xblox.model.html.SetState", + "name": "Set State", + "description": "Switches to a state", + "value": "1", + "mode": 1, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "group": "navUtility__click", + "id": "35dc1b0a-adc6-b397-9b97-9eedcfa0200a", + "reference": "{\"reference\":\"#navVideo\",\"mode\":\"bycss\"}", + "declaredClass": "xblox.model.html.SetState", + "name": "Set State", + "description": "Switches to a state", + "value": "0", + "mode": 1, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "group": "navUtility__click", + "id": "450dc3a8-869e-2823-4633-59a146068551", + "reference": "{\"reference\":\"#navAudio\",\"mode\":\"bycss\"}", + "declaredClass": "xblox.model.html.SetState", + "name": "Set State", + "description": "Switches to a state", + "value": "0", + "mode": 1, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "group": "navUtility__click", + "id": "d726a92c-bf0c-f623-4853-a8c392c5c583", + "reference": "{\"reference\":\"#navShow\",\"mode\":\"bycss\"}", + "declaredClass": "xblox.model.html.SetState", + "name": "Set State", + "description": "Switches to a state", + "value": "0", + "mode": 1, + "outlet": 0, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "icon": "fa-play" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/ComboBox.css b/shredder/asterix-pp/resources/hmi/workspace/ComboBox.css new file mode 100644 index 0000000..0cd9621 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/ComboBox.css @@ -0,0 +1,41 @@ +BODY{ + background-color: transparent; +} +#myapp .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +#myapp .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +#myapp .myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/ComboBox.dhtml b/shredder/asterix-pp/resources/hmi/workspace/ComboBox.dhtml new file mode 100644 index 0000000..24a7a56 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/ComboBox.dhtml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/shredder/asterix-pp/resources/hmi/workspace/ComboBox.xblox b/shredder/asterix-pp/resources/hmi/workspace/ComboBox.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/ComboBox.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/Printer.css b/shredder/asterix-pp/resources/hmi/workspace/Printer.css new file mode 100644 index 0000000..953516c --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Printer.css @@ -0,0 +1,45 @@ +BODY{ + background-color: white; +} +.d-button{ + background-color: transparent; + color:black; +} +#myapp .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +#myapp .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +#myapp .myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/Printer.dhtml b/shredder/asterix-pp/resources/hmi/workspace/Printer.dhtml new file mode 100644 index 0000000..fe99800 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Printer.dhtml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/shredder/asterix-pp/resources/hmi/workspace/Printer.js b/shredder/asterix-pp/resources/hmi/workspace/Printer.js new file mode 100644 index 0000000..392a0ec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Printer.js @@ -0,0 +1,32 @@ +require([ + 'xapp/manager/Context', + 'require', + 'dcl/dcl', + "xide/utils", + "xide/types" +], function (Context, require, dcl, utils, types) { + + var context = null; + var deviceInstance = null; + var deviceName = "File-Server"; + + //subscribe to 'onContextReady' in order to have a valid application context object + Context.notifier.subscribe('onContextReady', function (_context) { + + //track context + context = _context; + + //Subscribe to 'DevicesConnected' in order to get a driver instance by name. + //This gets called multiple times since there multiple device/driver sources (user/system) + Context.notifier.subscribe('DevicesConnected', function (evt) { + var deviceManager = context.getDeviceManager(); + //device instance + deviceInstance = deviceManager.getInstanceByName(deviceName); + + //not yet there ? abort and wait for the next round + if(!deviceInstance){ + + } + }); + }); +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/Printer.xblox b/shredder/asterix-pp/resources/hmi/workspace/Printer.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Printer.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/Tutorials/18150130.png b/shredder/asterix-pp/resources/hmi/workspace/Tutorials/18150130.png new file mode 100644 index 0000000..a4ffd89 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Tutorials/18150130.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acb1d1e864bb28a407efe8979c2d18dcf7615069219398221369d96d72358bc4 +size 22147 diff --git a/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.css b/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.css new file mode 100644 index 0000000..77981dd --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.css @@ -0,0 +1,38 @@ +#myapp .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear,left top,left bottom,color-stop(0.05,#eae0c2),color-stop(1,#ccc2a6)); + background: -moz-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: -webkit-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: -o-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: -ms-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: linear-gradient(to bottom,#eae0c2 5%,#ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +#myapp .myButton:hover { + background: -webkit-gradient(linear,left top,left bottom,color-stop(0.05,#ccc2a6),color-stop(1,#eae0c2)); + background: -moz-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: -webkit-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: -o-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: -ms-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: linear-gradient(to bottom,#ccc2a6 5%,#eae0c2 100%); + background-color: #ccc2a6; +} +#myapp .myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.dhtml b/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.dhtml new file mode 100644 index 0000000..93168b9 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.dhtml @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + +
+ +
+ + + \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.js b/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.js new file mode 100644 index 0000000..392a0ec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.js @@ -0,0 +1,32 @@ +require([ + 'xapp/manager/Context', + 'require', + 'dcl/dcl', + "xide/utils", + "xide/types" +], function (Context, require, dcl, utils, types) { + + var context = null; + var deviceInstance = null; + var deviceName = "File-Server"; + + //subscribe to 'onContextReady' in order to have a valid application context object + Context.notifier.subscribe('onContextReady', function (_context) { + + //track context + context = _context; + + //Subscribe to 'DevicesConnected' in order to get a driver instance by name. + //This gets called multiple times since there multiple device/driver sources (user/system) + Context.notifier.subscribe('DevicesConnected', function (evt) { + var deviceManager = context.getDeviceManager(); + //device instance + deviceInstance = deviceManager.getInstanceByName(deviceName); + + //not yet there ? abort and wait for the next round + if(!deviceInstance){ + + } + }); + }); +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.less b/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.less new file mode 100644 index 0000000..0228ca2 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.less @@ -0,0 +1,43 @@ +#myapp { + + .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; + } + .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + + background-color: #ccc2a6; + } + .myButton:active { + position: relative; + top: 1px; + } + } \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.xblox b/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.xblox new file mode 100644 index 0000000..38e414b --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Tutorials/index.xblox @@ -0,0 +1,40 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "group": "btnMediaPlayer__load", + "id": "27abd4e5-bfd4-0ec2-402e-cc2b45a3d1a0", + "description": "Runs an expression.
\n\nBehaviour\n\n
\n\n    //to abort execution (child blocks), return something negative as -1 or false.\n    return false;\n\n
", + "method": "$('#btnDVD, #btnTV, #btnRadio, #btnMediaPlayer').on('click',function(evt){\n\t\n\t\t$('#btnDVD, #btnTV, #btnRadio, #btnMediaPlayer').css('background-color','gray');\n\t\t\n\t\tvar buttonClicked = $(evt.target);\n\t\tbuttonClicked.css('background-color','red');\n\t\t\n});\n", + "name": "Run Script", + "args": "", + "deferred": false, + "declaredClass": "xblox.model.code.RunScript", + "enabled": true, + "serializeMe": true, + "shareTitle": "", + "canDelete": true, + "renderBlockIcon": true, + "order": 0 + }, + { + "_containsChildrenIds": [], + "group": "btnMediaPlayer__click", + "id": "9bcdc95b-5783-758f-c4ca-122e583ea67c", + "value": "border:1px solid black;", + "reference": "{\"reference\":\".d-button\",\"mode\":\"byid\"}", + "name": "Set Style", + "description": "Sets HTML Node Style Attribute", + "mode": 1, + "declaredClass": "xblox.model.html.SetStyle", + "_didRegisterSubscribers": false, + "enabled": true, + "serializeMe": true, + "shareTitle": "", + "canDelete": true, + "renderBlockIcon": true, + "order": 0 + } + ], + "variables": [] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/Widgets/2017-01-03-PHOTO-00000303.jpg b/shredder/asterix-pp/resources/hmi/workspace/Widgets/2017-01-03-PHOTO-00000303.jpg new file mode 100644 index 0000000..eb87656 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Widgets/2017-01-03-PHOTO-00000303.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82d2bb7bbed1517e385aa82e9db2fe2bc986417401e5c9036605092276580fa2 +size 186954 diff --git a/shredder/asterix-pp/resources/hmi/workspace/Widgets/Popup.js b/shredder/asterix-pp/resources/hmi/workspace/Widgets/Popup.js new file mode 100644 index 0000000..57ec9ba --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Widgets/Popup.js @@ -0,0 +1,11 @@ +/** @module deliteful/Combobox/ComboPopup */ +define([ + "delite/register", + "delite/handlebars!./popup.html", + "deliteful/Combobox/ComboPopup" +], function (register,template,ComboPopup) { + return register("d-combo-popup2", [ComboPopup], /** @lends module:deliteful/Combobox/ComboPopup# */ { + baseClass: "d-combo-popup2", + template:template + }); +}); diff --git a/shredder/asterix-pp/resources/hmi/workspace/Widgets/key.txt b/shredder/asterix-pp/resources/hmi/workspace/Widgets/key.txt new file mode 100644 index 0000000..6816f65 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/Widgets/key.txt @@ -0,0 +1,5 @@ +Registration Key +ADF8D83B-0683-4d1f-BB60-FF66D-WFM1-CHPZ-PII0-HN75-BC + +Authorization Key +F08113BA-8B4F-41df-8F01-46DF2C35D249 \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/app.js b/shredder/asterix-pp/resources/hmi/workspace/app.js new file mode 100644 index 0000000..392a0ec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/app.js @@ -0,0 +1,32 @@ +require([ + 'xapp/manager/Context', + 'require', + 'dcl/dcl', + "xide/utils", + "xide/types" +], function (Context, require, dcl, utils, types) { + + var context = null; + var deviceInstance = null; + var deviceName = "File-Server"; + + //subscribe to 'onContextReady' in order to have a valid application context object + Context.notifier.subscribe('onContextReady', function (_context) { + + //track context + context = _context; + + //Subscribe to 'DevicesConnected' in order to get a driver instance by name. + //This gets called multiple times since there multiple device/driver sources (user/system) + Context.notifier.subscribe('DevicesConnected', function (evt) { + var deviceManager = context.getDeviceManager(); + //device instance + deviceInstance = deviceManager.getInstanceByName(deviceName); + + //not yet there ? abort and wait for the next round + if(!deviceInstance){ + + } + }); + }); +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/asterix.css b/shredder/asterix-pp/resources/hmi/workspace/asterix.css new file mode 100644 index 0000000..9f5b12a --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/asterix.css @@ -0,0 +1,51 @@ +BODY{ + width: 1024px; + height: 600px; +} +.text{ + +} +#myapp .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +#myapp .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +#myapp .myButton:active { + position: relative; + top: 1px; +} +.statusOn{ + background-color: red; +} +.statusOff{ + background-color: green; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/asterix.dhtml b/shredder/asterix-pp/resources/hmi/workspace/asterix.dhtml new file mode 100644 index 0000000..f3b7a3f --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/asterix.dhtml @@ -0,0 +1,52 @@ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/asterix.js b/shredder/asterix-pp/resources/hmi/workspace/asterix.js new file mode 100644 index 0000000..392a0ec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/asterix.js @@ -0,0 +1,32 @@ +require([ + 'xapp/manager/Context', + 'require', + 'dcl/dcl', + "xide/utils", + "xide/types" +], function (Context, require, dcl, utils, types) { + + var context = null; + var deviceInstance = null; + var deviceName = "File-Server"; + + //subscribe to 'onContextReady' in order to have a valid application context object + Context.notifier.subscribe('onContextReady', function (_context) { + + //track context + context = _context; + + //Subscribe to 'DevicesConnected' in order to get a driver instance by name. + //This gets called multiple times since there multiple device/driver sources (user/system) + Context.notifier.subscribe('DevicesConnected', function (evt) { + var deviceManager = context.getDeviceManager(); + //device instance + deviceInstance = deviceManager.getInstanceByName(deviceName); + + //not yet there ? abort and wait for the next round + if(!deviceInstance){ + + } + }); + }); +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/asterix.xblox b/shredder/asterix-pp/resources/hmi/workspace/asterix.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/asterix.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/atabtest.css b/shredder/asterix-pp/resources/hmi/workspace/atabtest.css new file mode 100644 index 0000000..821e5a2 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/atabtest.css @@ -0,0 +1,38 @@ +#myapp .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +#myapp .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +#myapp .myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/atabtest.dhtml b/shredder/asterix-pp/resources/hmi/workspace/atabtest.dhtml new file mode 100644 index 0000000..41c41f2 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/atabtest.dhtml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/shredder/asterix-pp/resources/hmi/workspace/atabtest.xblox b/shredder/asterix-pp/resources/hmi/workspace/atabtest.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/atabtest.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/ave_tests.css b/shredder/asterix-pp/resources/hmi/workspace/ave_tests.css new file mode 100644 index 0000000..f390c50 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/ave_tests.css @@ -0,0 +1,38 @@ +.myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +#myapp .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +#myapp .myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/backgrounds/518079-background-hd.jpg b/shredder/asterix-pp/resources/hmi/workspace/backgrounds/518079-background-hd.jpg new file mode 100644 index 0000000..8346c07 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/backgrounds/518079-background-hd.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac48b7a5f45a8b2aa31191ebdfaa1b4b1d2bf277738d98c16facdbaaade2c086 +size 172889 diff --git a/shredder/asterix-pp/resources/hmi/workspace/backgrounds/CC_Skin.png b/shredder/asterix-pp/resources/hmi/workspace/backgrounds/CC_Skin.png new file mode 100644 index 0000000..2504834 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/backgrounds/CC_Skin.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9297c1ae50314bad4cd534282732370da7c72fac6b5984fc2883786584aa373 +size 866839 diff --git a/shredder/asterix-pp/resources/hmi/workspace/default.css b/shredder/asterix-pp/resources/hmi/workspace/default.css new file mode 100644 index 0000000..6c5f5ba --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/default.css @@ -0,0 +1,38 @@ +.myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear,left top,left bottom,color-stop(0.05,#eae0c2),color-stop(1,#ccc2a6)); + background: -moz-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: -webkit-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: -o-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: -ms-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: linear-gradient(to bottom,#eae0c2 5%,#ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +.myButton:hover { + background: -webkit-gradient(linear,left top,left bottom,color-stop(0.05,#ccc2a6),color-stop(1,#eae0c2)); + background: -moz-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: -webkit-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: -o-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: -ms-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: linear-gradient(to bottom,#ccc2a6 5%,#eae0c2 100%); + background-color: #ccc2a6; +} +.myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/default.dhtml b/shredder/asterix-pp/resources/hmi/workspace/default.dhtml new file mode 100644 index 0000000..63ec6bb --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/default.dhtml @@ -0,0 +1,10 @@ + + + + + + + + + + \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/default.less b/shredder/asterix-pp/resources/hmi/workspace/default.less new file mode 100644 index 0000000..a30e40a --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/default.less @@ -0,0 +1,42 @@ +#myapp { + .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; + } + .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + + background-color: #ccc2a6; + } + .myButton:active { + position: relative; + top: 1px; + } + } \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/default.xblox b/shredder/asterix-pp/resources/hmi/workspace/default.xblox new file mode 100644 index 0000000..341dec6 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/default.xblox @@ -0,0 +1,6 @@ +{ + "blocks": [ + + ], + "variables": [] +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Accordion.css b/shredder/asterix-pp/resources/hmi/workspace/examples/Accordion.css new file mode 100644 index 0000000..cd2d273 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Accordion.css @@ -0,0 +1,38 @@ +.myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +.myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +.myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Accordion.dhtml b/shredder/asterix-pp/resources/hmi/workspace/examples/Accordion.dhtml new file mode 100644 index 0000000..f490c1b --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Accordion.dhtml @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Accordion.js b/shredder/asterix-pp/resources/hmi/workspace/examples/Accordion.js new file mode 100644 index 0000000..392a0ec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Accordion.js @@ -0,0 +1,32 @@ +require([ + 'xapp/manager/Context', + 'require', + 'dcl/dcl', + "xide/utils", + "xide/types" +], function (Context, require, dcl, utils, types) { + + var context = null; + var deviceInstance = null; + var deviceName = "File-Server"; + + //subscribe to 'onContextReady' in order to have a valid application context object + Context.notifier.subscribe('onContextReady', function (_context) { + + //track context + context = _context; + + //Subscribe to 'DevicesConnected' in order to get a driver instance by name. + //This gets called multiple times since there multiple device/driver sources (user/system) + Context.notifier.subscribe('DevicesConnected', function (evt) { + var deviceManager = context.getDeviceManager(); + //device instance + deviceInstance = deviceManager.getInstanceByName(deviceName); + + //not yet there ? abort and wait for the next round + if(!deviceInstance){ + + } + }); + }); +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Accordion.xblox b/shredder/asterix-pp/resources/hmi/workspace/examples/Accordion.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Accordion.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Bar.css b/shredder/asterix-pp/resources/hmi/workspace/examples/Bar.css new file mode 100644 index 0000000..cd2d273 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Bar.css @@ -0,0 +1,38 @@ +.myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +.myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +.myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Bar.dhtml b/shredder/asterix-pp/resources/hmi/workspace/examples/Bar.dhtml new file mode 100644 index 0000000..1b69ad8 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Bar.dhtml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Bar.js b/shredder/asterix-pp/resources/hmi/workspace/examples/Bar.js new file mode 100644 index 0000000..392a0ec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Bar.js @@ -0,0 +1,32 @@ +require([ + 'xapp/manager/Context', + 'require', + 'dcl/dcl', + "xide/utils", + "xide/types" +], function (Context, require, dcl, utils, types) { + + var context = null; + var deviceInstance = null; + var deviceName = "File-Server"; + + //subscribe to 'onContextReady' in order to have a valid application context object + Context.notifier.subscribe('onContextReady', function (_context) { + + //track context + context = _context; + + //Subscribe to 'DevicesConnected' in order to get a driver instance by name. + //This gets called multiple times since there multiple device/driver sources (user/system) + Context.notifier.subscribe('DevicesConnected', function (evt) { + var deviceManager = context.getDeviceManager(); + //device instance + deviceInstance = deviceManager.getInstanceByName(deviceName); + + //not yet there ? abort and wait for the next round + if(!deviceInstance){ + + } + }); + }); +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Bar.xblox b/shredder/asterix-pp/resources/hmi/workspace/examples/Bar.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Bar.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/ButtonGroup.css b/shredder/asterix-pp/resources/hmi/workspace/examples/ButtonGroup.css new file mode 100644 index 0000000..119f9a1 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/ButtonGroup.css @@ -0,0 +1,41 @@ +BODY { + background-color:transparent; +} +.myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +.myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +.myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/ButtonGroup.dhtml b/shredder/asterix-pp/resources/hmi/workspace/examples/ButtonGroup.dhtml new file mode 100644 index 0000000..806a01e --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/ButtonGroup.dhtml @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/ButtonGroup.js b/shredder/asterix-pp/resources/hmi/workspace/examples/ButtonGroup.js new file mode 100644 index 0000000..392a0ec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/ButtonGroup.js @@ -0,0 +1,32 @@ +require([ + 'xapp/manager/Context', + 'require', + 'dcl/dcl', + "xide/utils", + "xide/types" +], function (Context, require, dcl, utils, types) { + + var context = null; + var deviceInstance = null; + var deviceName = "File-Server"; + + //subscribe to 'onContextReady' in order to have a valid application context object + Context.notifier.subscribe('onContextReady', function (_context) { + + //track context + context = _context; + + //Subscribe to 'DevicesConnected' in order to get a driver instance by name. + //This gets called multiple times since there multiple device/driver sources (user/system) + Context.notifier.subscribe('DevicesConnected', function (evt) { + var deviceManager = context.getDeviceManager(); + //device instance + deviceInstance = deviceManager.getInstanceByName(deviceName); + + //not yet there ? abort and wait for the next round + if(!deviceInstance){ + + } + }); + }); +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/ButtonGroup.xblox b/shredder/asterix-pp/resources/hmi/workspace/examples/ButtonGroup.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/ButtonGroup.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/ComboBox.css b/shredder/asterix-pp/resources/hmi/workspace/examples/ComboBox.css new file mode 100644 index 0000000..3a05114 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/ComboBox.css @@ -0,0 +1,41 @@ +BODY{ + background-color: transparent; +} +.myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +.myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +.myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/ComboBox.dhtml b/shredder/asterix-pp/resources/hmi/workspace/examples/ComboBox.dhtml new file mode 100644 index 0000000..101efec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/ComboBox.dhtml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + { "label": "France", "sales": 500, "profit": 50, "region": "EU" }, + { "label": "Germany", "sales": 450, "profit": 48, "region": "EU" }, + { "label": "UK", "sales": 700, "profit": 60, "region": "EU" }, + { "label": "USA", "sales": 2000, "profit": 250, "region": "America" }, + { "label": "Canada", "sales": 600, "profit": 30, "region": "America" }, + { "label": "Brazil", "sales": 450, "profit": 30, "region": "America" }, + { "label": "China", "sales": 500, "profit": 40, "region": "Asia" }, + { "label": "Japan", "sales": 900, "profit": 100, "region": "Asia" } + + + + + diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/ComboBox.js b/shredder/asterix-pp/resources/hmi/workspace/examples/ComboBox.js new file mode 100644 index 0000000..392a0ec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/ComboBox.js @@ -0,0 +1,32 @@ +require([ + 'xapp/manager/Context', + 'require', + 'dcl/dcl', + "xide/utils", + "xide/types" +], function (Context, require, dcl, utils, types) { + + var context = null; + var deviceInstance = null; + var deviceName = "File-Server"; + + //subscribe to 'onContextReady' in order to have a valid application context object + Context.notifier.subscribe('onContextReady', function (_context) { + + //track context + context = _context; + + //Subscribe to 'DevicesConnected' in order to get a driver instance by name. + //This gets called multiple times since there multiple device/driver sources (user/system) + Context.notifier.subscribe('DevicesConnected', function (evt) { + var deviceManager = context.getDeviceManager(); + //device instance + deviceInstance = deviceManager.getInstanceByName(deviceName); + + //not yet there ? abort and wait for the next round + if(!deviceInstance){ + + } + }); + }); +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/ComboBox.xblox b/shredder/asterix-pp/resources/hmi/workspace/examples/ComboBox.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/ComboBox.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Select.css b/shredder/asterix-pp/resources/hmi/workspace/examples/Select.css new file mode 100644 index 0000000..dec42b6 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Select.css @@ -0,0 +1,42 @@ +BODY { + /*background-color:transparent;*/ +} + +.myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +.myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +.myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Select.dhtml b/shredder/asterix-pp/resources/hmi/workspace/examples/Select.dhtml new file mode 100644 index 0000000..d1b3a72 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Select.dhtml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + { "text": "Option 1", "value": "1" }, + { "text": "Option 2", "value": "2" }, + { "text": "Option 3", "value": "3" } + + + + + + diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Select.xblox b/shredder/asterix-pp/resources/hmi/workspace/examples/Select.xblox new file mode 100644 index 0000000..a1e4ce6 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Select.xblox @@ -0,0 +1,86 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "group": "select__change", + "id": "37f2924b-51a7-d1f1-af5f-70c7a442f3a9", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "method": "console.log('select changed ' + arguments[0]);", + "args": "", + "deferred": false, + "icon": "fa-code", + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "description": "No Description" + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "select__change", + "id": "a0ab02bd-3942-0f22-33fc-3f9dcca29c51", + "items": [ + "6674f7ff-260f-81f1-5a07-b1ec9fad7fc2" + ], + "declaredClass": "xblox.model.logic.SwitchBlock", + "name": "Switch", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added", + "_stopped": false + }, + { + "_containsChildrenIds": [], + "comparator": "==", + "expression": "3", + "id": "6674f7ff-260f-81f1-5a07-b1ec9fad7fc2", + "declaredClass": "xblox.model.logic.CaseBlock", + "name": "Case", + "icon": "", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "parentId": "a0ab02bd-3942-0f22-33fc-3f9dcca29c51", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "cb__change", + "id": "2e35f24d-48e3-4699-a816-6d8bddf86859", + "items": [ + "36fe209d-b75e-4ff4-9824-3d2c6991ec1b" + ], + "declaredClass": "xblox.model.logic.SwitchBlock", + "name": "Switch", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "type": "added" + }, + { + "_containsChildrenIds": [], + "comparator": "==", + "expression": "true", + "id": "36fe209d-b75e-4ff4-9824-3d2c6991ec1b", + "declaredClass": "xblox.model.logic.CaseBlock", + "name": "Case", + "icon": "", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "parentId": "2e35f24d-48e3-4699-a816-6d8bddf86859", + "order": 0, + "type": "added" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Slider.css b/shredder/asterix-pp/resources/hmi/workspace/examples/Slider.css new file mode 100644 index 0000000..b9a4290 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Slider.css @@ -0,0 +1,41 @@ +BODY { + +} +.myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +.myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +.myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Slider.dhtml b/shredder/asterix-pp/resources/hmi/workspace/examples/Slider.dhtml new file mode 100644 index 0000000..732c37a --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Slider.dhtml @@ -0,0 +1,14 @@ + + + + + + + + + + +
+ Change background via slider
+ + diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/Slider.xblox b/shredder/asterix-pp/resources/hmi/workspace/examples/Slider.xblox new file mode 100644 index 0000000..d28b4eb --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/Slider.xblox @@ -0,0 +1,52 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "group": "d-slider_0__change", + "id": "248faad1-dcd4-66c6-a976-c695324ecceb", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "method": "console.log('changed ',arguments);", + "args": "", + "deferred": false, + "icon": "fa-code", + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "description": "No Description" + }, + { + "_containsChildrenIds": [], + "group": "d-slider_0__change", + "id": "57550d8f-020a-71d9-7e19-ebb9f4bbf2b0", + "reference": "{\"reference\":\"test\",\"mode\":\"byid\"}", + "declaredClass": "xblox.model.html.SetStyle", + "name": "Set Style", + "description": "Sets HTML Node Style Attribute", + "value": "background-color:rgba(255,{value},{value},1)", + "mode": 1, + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added", + "icon": "fa-play" + }, + { + "_containsChildrenIds": [], + "group": "d-checkbox_0__change", + "id": "1b5cc90b-96ce-4cb6-e7d4-66cd10222cd8", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "method": "console.log('changed cb ' + arguments[0]);", + "args": "", + "deferred": false, + "icon": "fa-code", + "enabled": true, + "shareTitle": "", + "order": 0, + "type": "added" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/ViewStack.css b/shredder/asterix-pp/resources/hmi/workspace/examples/ViewStack.css new file mode 100644 index 0000000..119f9a1 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/ViewStack.css @@ -0,0 +1,41 @@ +BODY { + background-color:transparent; +} +.myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +.myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +.myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/ViewStack.dhtml b/shredder/asterix-pp/resources/hmi/workspace/examples/ViewStack.dhtml new file mode 100644 index 0000000..3385c2c --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/ViewStack.dhtml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/ViewStack.js b/shredder/asterix-pp/resources/hmi/workspace/examples/ViewStack.js new file mode 100644 index 0000000..392a0ec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/ViewStack.js @@ -0,0 +1,32 @@ +require([ + 'xapp/manager/Context', + 'require', + 'dcl/dcl', + "xide/utils", + "xide/types" +], function (Context, require, dcl, utils, types) { + + var context = null; + var deviceInstance = null; + var deviceName = "File-Server"; + + //subscribe to 'onContextReady' in order to have a valid application context object + Context.notifier.subscribe('onContextReady', function (_context) { + + //track context + context = _context; + + //Subscribe to 'DevicesConnected' in order to get a driver instance by name. + //This gets called multiple times since there multiple device/driver sources (user/system) + Context.notifier.subscribe('DevicesConnected', function (evt) { + var deviceManager = context.getDeviceManager(); + //device instance + deviceInstance = deviceManager.getInstanceByName(deviceName); + + //not yet there ? abort and wait for the next round + if(!deviceInstance){ + + } + }); + }); +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/examples/ViewStack.xblox b/shredder/asterix-pp/resources/hmi/workspace/examples/ViewStack.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/examples/ViewStack.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/index.css b/shredder/asterix-pp/resources/hmi/workspace/index.css new file mode 100644 index 0000000..77981dd --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/index.css @@ -0,0 +1,38 @@ +#myapp .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear,left top,left bottom,color-stop(0.05,#eae0c2),color-stop(1,#ccc2a6)); + background: -moz-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: -webkit-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: -o-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: -ms-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: linear-gradient(to bottom,#eae0c2 5%,#ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +#myapp .myButton:hover { + background: -webkit-gradient(linear,left top,left bottom,color-stop(0.05,#ccc2a6),color-stop(1,#eae0c2)); + background: -moz-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: -webkit-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: -o-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: -ms-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: linear-gradient(to bottom,#ccc2a6 5%,#eae0c2 100%); + background-color: #ccc2a6; +} +#myapp .myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/index.less b/shredder/asterix-pp/resources/hmi/workspace/index.less new file mode 100644 index 0000000..a30e40a --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/index.less @@ -0,0 +1,42 @@ +#myapp { + .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; + } + .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + + background-color: #ccc2a6; + } + .myButton:active { + position: relative; + top: 1px; + } + } \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/index.xblox b/shredder/asterix-pp/resources/hmi/workspace/index.xblox new file mode 100644 index 0000000..c33d4a4 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/index.xblox @@ -0,0 +1,91 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [], + "name": "PowerState", + "send": "nada", + "group": "Variables", + "id": "31c98cdd-02a8-3af1-3a49-11955c0fad48", + "declaredClass": "xcf.model.Variable", + "gui": "off", + "cmd": "off", + "save": false, + "target": "None", + "type": "added", + "value": "off", + "register": true, + "readOnly": false, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "isCommand": false, + "allowActionOverride": true, + "icon": "fa-play" + }, + { + "_containsChildrenIds": [ + "items" + ], + "group": "On Load", + "id": "e813a85f-7511-723f-bc1f-c13698456a5b", + "method": "console.log('script!!:',this);", + "name": "Run Script", + "args": "", + "deferred": false, + "declaredClass": "xblox.model.code.RunScript", + "enabled": true, + "shareTitle": "Log Me", + "description": "No Description", + "canDelete": true, + "order": 0, + "items": [ + "b59b0d8d-7010-e9d7-5ab5-d2c86f124e97" + ], + "icon": "fa-code", + "isCommand": false, + "allowActionOverride": true, + "type": "added" + }, + { + "_containsChildrenIds": [], + "parentId": "e813a85f-7511-723f-bc1f-c13698456a5b", + "id": "b59b0d8d-7010-e9d7-5ab5-d2c86f124e97", + "method": "console.error('error');", + "name": "Run Script", + "args": "", + "deferred": false, + "declaredClass": "xblox.model.code.RunScript", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "canDelete": true, + "order": 0, + "icon": "fa-code", + "isCommand": false, + "allowActionOverride": true, + "type": "added" + }, + { + "_containsChildrenIds": [], + "group": "btnRadio2__click", + "id": "0df3d9dc-bff2-ea90-8141-8bb108dd4ed1", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "method": "console.log(this);", + "args": "", + "deferred": false, + "icon": "fa-code", + "isCommand": false, + "enabled": true, + "shareTitle": "", + "allowActionOverride": true, + "description": "Runs an expression.
\n\nBehaviour\n\n
\n\n    //to abort execution (child blocks), return something negative as -1 or false.\n    return false;\n\n
", + "canDelete": true, + "order": 0, + "type": "added" + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/marantz.css b/shredder/asterix-pp/resources/hmi/workspace/marantz.css new file mode 100644 index 0000000..5384d86 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/marantz.css @@ -0,0 +1,54 @@ +body { + background-color:transparent !important; +} + +body { + /* + font-weight: 300; + padding-bottom: 100px; + background-color: #154265 20%; + background-image: radial-gradient(farthest-side ellipse at 10% 0, #154265 20%, #7392c2); + background-image: -webkit-radial-gradient(10% 0, farthest-side ellipse, #154265 20%, #7392c2); + background-image: -moz-radial-gradient(10% 0, farthest-side ellipse, #154265 20%, #7392c2); + background-attachment: fixed, fixed; + */ +} + +#myapp .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear,left top,left bottom,color-stop(0.05,#eae0c2),color-stop(1,#ccc2a6)); + background: -moz-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: -webkit-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: -o-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: -ms-linear-gradient(top,#eae0c2 5%,#ccc2a6 100%); + background: linear-gradient(to bottom,#eae0c2 5%,#ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +#myapp .myButton:hover { + background: -webkit-gradient(linear,left top,left bottom,color-stop(0.05,#ccc2a6),color-stop(1,#eae0c2)); + background: -moz-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: -webkit-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: -o-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: -ms-linear-gradient(top,#ccc2a6 5%,#eae0c2 100%); + background: linear-gradient(to bottom,#ccc2a6 5%,#eae0c2 100%); + background-color: #ccc2a6; +} +#myapp .myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/marantz.dhtml b/shredder/asterix-pp/resources/hmi/workspace/marantz.dhtml new file mode 100644 index 0000000..a6473c1 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/marantz.dhtml @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/marantz.js b/shredder/asterix-pp/resources/hmi/workspace/marantz.js new file mode 100644 index 0000000..392a0ec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/marantz.js @@ -0,0 +1,32 @@ +require([ + 'xapp/manager/Context', + 'require', + 'dcl/dcl', + "xide/utils", + "xide/types" +], function (Context, require, dcl, utils, types) { + + var context = null; + var deviceInstance = null; + var deviceName = "File-Server"; + + //subscribe to 'onContextReady' in order to have a valid application context object + Context.notifier.subscribe('onContextReady', function (_context) { + + //track context + context = _context; + + //Subscribe to 'DevicesConnected' in order to get a driver instance by name. + //This gets called multiple times since there multiple device/driver sources (user/system) + Context.notifier.subscribe('DevicesConnected', function (evt) { + var deviceManager = context.getDeviceManager(); + //device instance + deviceInstance = deviceManager.getInstanceByName(deviceName); + + //not yet there ? abort and wait for the next round + if(!deviceInstance){ + + } + }); + }); +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/marantz.less b/shredder/asterix-pp/resources/hmi/workspace/marantz.less new file mode 100644 index 0000000..a30e40a --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/marantz.less @@ -0,0 +1,42 @@ +#myapp { + .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; + } + .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + + background-color: #ccc2a6; + } + .myButton:active { + position: relative; + top: 1px; + } + } \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/marantz.xblox b/shredder/asterix-pp/resources/hmi/workspace/marantz.xblox new file mode 100644 index 0000000..920e555 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/marantz.xblox @@ -0,0 +1,99 @@ +{ + "blocks": [ + { + "_containsChildrenIds": [ + "items" + ], + "group": "On Load", + "id": "e813a85f-7511-723f-bc1f-c13698456a5b", + "method": "console.log('script!!:',this);", + "shareTitle": "Log Me", + "description": "Runs an expression.
\n\nBehaviour\n\n
\n\n    //to abort execution (child blocks), return something negative as -1 or false.\n    return false;\n\n
", + "items": [ + "b59b0d8d-7010-e9d7-5ab5-d2c86f124e97" + ], + "type": "added", + "name": "Run Script", + "args": "", + "deferred": false, + "declaredClass": "xblox.model.code.RunScript", + "enabled": true, + "order": 0, + "icon": "fa-code", + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "parentId": "e813a85f-7511-723f-bc1f-c13698456a5b", + "id": "b59b0d8d-7010-e9d7-5ab5-d2c86f124e97", + "method": "console.error('error');", + "type": "added", + "name": "Run Script", + "args": "", + "deferred": false, + "declaredClass": "xblox.model.code.RunScript", + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "icon": "fa-code", + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "d-slider_0__change", + "condition": "", + "id": "7cb63658-8947-69d8-7086-1014f5cc9091", + "command": "command://deviceScope=system_devices&device=e5a06e24-6aa4-c8c5-3ffc-9d84d8528a91&driver=235eb680-cb87-11e3-9c1a-0800200c9a66&driverScope=system_drivers&block=ad01c68d-cdbb-7ba7-0046-c9f4c9113f4b", + "type": "added", + "declaredClass": "xblox.model.functions.CallBlock", + "icon": "", + "_timeout": 100, + "enabled": true, + "shareTitle": "", + "description": "No Description", + "order": 0, + "startup": false, + "send": "", + "name": "No Title", + "interval": 0, + "flags": 2048, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "d-button_0__click", + "id": "5d08eba0-54f0-88d2-1692-6ec70d11c610", + "method": "console.error('-test click');\n\n", + "description": "Runs an expression.
\n\nBehaviour\n\n
\n\n    //to abort execution (child blocks), return something negative as -1 or false.\n    return false;\n\n
", + "type": "added", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "enabled": true, + "shareTitle": "", + "order": 0, + "outlet": 0 + }, + { + "_containsChildrenIds": [], + "group": "button_7__click", + "id": "bb961846-c3b8-e843-ab88-6d6dbeb805bc", + "method": "console.log('click')", + "description": "Runs an expression.
\n\nBehaviour\n\n
\n\n    //to abort execution (child blocks), return something negative as -1 or false.\n    return false;\n\n
", + "type": "added", + "declaredClass": "xblox.model.code.RunScript", + "name": "Run Script", + "args": "", + "deferred": false, + "icon": "fa-code", + "enabled": true, + "shareTitle": "", + "order": 0, + "outlet": 0 + } + ], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/settings.json b/shredder/asterix-pp/resources/hmi/workspace/settings.json new file mode 100644 index 0000000..c59d174 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/settings.json @@ -0,0 +1,43 @@ +{ + "activeEditor": "./project1/sketch_hd.html", + "editors": [ + + ], + "nhfo": { + "project1": { + "device": "iphone", + "layout": "flow", + "themeSet": { + "name": "(none)", + "desktopTheme": "claro", + "mobileTheme": [ + { + "theme": "android", + "device": "Android" + }, + { + "theme": "blackberry", + "device": "BlackBerry" + }, + { + "theme": "ipad", + "device": "iPad" + }, + { + "theme": "iphone", + "device": "iPhone" + }, + { + "theme": "iphone", + "device": "other" + } + ] + } + } + }, + "project": "project1", + "id": "", + "Fields": [ + ] + +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/templates/delite_table.css b/shredder/asterix-pp/resources/hmi/workspace/templates/delite_table.css new file mode 100644 index 0000000..821e5a2 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/templates/delite_table.css @@ -0,0 +1,38 @@ +#myapp .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +#myapp .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +#myapp .myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/templates/delite_table.dhtml b/shredder/asterix-pp/resources/hmi/workspace/templates/delite_table.dhtml new file mode 100644 index 0000000..a5f603c --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/templates/delite_table.dhtml @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/templates/delite_table.less b/shredder/asterix-pp/resources/hmi/workspace/templates/delite_table.less new file mode 100644 index 0000000..a30e40a --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/templates/delite_table.less @@ -0,0 +1,42 @@ +#myapp { + .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; + } + .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + + background-color: #ccc2a6; + } + .myButton:active { + position: relative; + top: 1px; + } + } \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/templates/delite_table.xblox b/shredder/asterix-pp/resources/hmi/workspace/templates/delite_table.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/templates/delite_table.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/templates/functions.css b/shredder/asterix-pp/resources/hmi/workspace/templates/functions.css new file mode 100644 index 0000000..7cf8647 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/templates/functions.css @@ -0,0 +1,54 @@ +/*** + + Awesome LESS macros to generate cross browser CSS + +*/ +/*** + Layout - Macros +*/ +/*** + Macros zum erstellen von Rahmen +*/ +/*** + Macros fuer geometrische Operationen +*/ +/*** + Effect Macros +*/ +/*** + Macros fuer Highlighting bei Feedbacks +*/ +/*** + Text - Macros +*/ +/*** + Text - Macros +*/ +/*** + Macros fuer Hintergrund-Sprites +*/ +/*** Background-Sprite with different width & height*/ +/*** + Background - Color - Transparent Overlay +*/ +/*** + Shadow - Macro +*/ +/*** + Image related +*/ +/*** + Pure Class Macros +*/ +/*** + LOW-LEVEL : Macros zum animieren von CSS Eigentschaften +*/ +/*** + LOW-LEVEL : Macros zum erstellen von Gradients +*/ +/**********************************************************************************************************************/ +/* Polyfill */ +/**********************************************************************************************************************/ +/** + Text-Font-Size Macros +**/ diff --git a/shredder/asterix-pp/resources/hmi/workspace/templates/functions.less b/shredder/asterix-pp/resources/hmi/workspace/templates/functions.less new file mode 100644 index 0000000..0e082a0 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/templates/functions.less @@ -0,0 +1,620 @@ +/*** + + Awesome LESS macros to generate cross browser CSS + +*/ + + +/*** + Layout - Macros +*/ +.defaultPadding(@paddingVar:""){ + padding:@paddingVar; +} +.defaultBox(@paddingVar:"",@marginVar:""){ + padding:@paddingVar; + margin:@marginVar; +} +.defaultBoxEx(@paddingH:"",@paddingV:"",@marginH:"",@marginV:""){ + padding-left:@paddingH; + padding-right:@paddingH; + padding-top:@paddingV; + padding-bottom:@paddingV; + margin-left:@marginH; + margin-right:@marginH; + margin-top:@marginV; + margin-bottom:@marginV; +} + +// Box sizing +.box-sizing(@boxmodel) { + -webkit-box-sizing: @boxmodel; + -moz-box-sizing: @boxmodel; + box-sizing: @boxmodel; +} + +/*** + Macros zum erstellen von Rahmen +*/ +.sunkenBorder(@width, @color1,@color2){ + border-top: @width solid @color1; + border-left: @width solid @color1; + border-right: @width solid @color2; + border-bottom: @width solid @color2; +} +.border(@width, @color){ + border: @width solid @color; +} + +.borderEx(@width,@style, @color){ + border: @width @style @color; +} +.border-radius (@radius) { + -moz-border-radius: @radius; + border-radius: @radius; +} +.box-shadow (@value) { + -webkit-box-shadow: @value; + -moz-box-shadow: @value; + box-shadow: @value; +} + +.box_shadow_inset(@x: 0px, @y: 0px, @feather: 0px, @bcolor: #000000) { + box-shadow: inset @x @y @feather @bcolor; + -moz-box-shadow: inset @x @y @feather @bcolor; + -webkit-box-shadow: inset @x @y @feather @bcolor; +} +// Sizing shortcuts + .size(@width, @height) { + width: @width; + height: @height; +} +.square(@size) { + .size(@size, @size); +} +// Center-align a block level element +.center-block() { + display: block; + margin-left: auto; + margin-right: auto; +} + +// Clearfix +// Source: http://nicolasgallagher.com/micro-clearfix-hack/ +// +// For modern browsers +// 1. The space content is one way to avoid an Opera bug when the +// contenteditable attribute is included anywhere else in the document. +// Otherwise it causes space to appear at the top and bottom of elements +// that are clearfixed. +// 2. The use of `table` rather than `block` is only necessary if using +// `:before` to contain the top-margins of child elements. +.clearfix() { + &:before, + &:after { + content: " "; /* 1 */ + display: table; /* 2 */ + } + &:after { + clear: both; + } +} + + +/*** + Macros fuer geometrische Operationen +*/ +.rotate(@degrees) { + -webkit-transform: rotate(@degrees); + -ms-transform: rotate(@degrees); // IE9+ + transform: rotate(@degrees); +} +.scale(@ratio) { + -webkit-transform: scale(@ratio); + -ms-transform: scale(@ratio); // IE9+ + transform: scale(@ratio); +} + .translate(@x, @y) { + -webkit-transform: translate(@x, @y); + -ms-transform: translate(@x, @y); // IE9+ + transform: translate(@x, @y); +} + .skew(@x, @y) { + -webkit-transform: skew(@x, @y); + -ms-transform: skewX(@x) skewY(@y); // See https://github.com/twbs/bootstrap/issues/4885; IE9+ + transform: skew(@x, @y); +} + .translate3d(@x, @y, @z) { + -webkit-transform: translate3d(@x, @y, @z); + transform: translate3d(@x, @y, @z); +} + +.rotateX(@degrees) { + -webkit-transform: rotateX(@degrees); + -ms-transform: rotateX(@degrees); // IE9+ + transform: rotateX(@degrees); +} +.rotateY(@degrees) { + -webkit-transform: rotateY(@degrees); + -ms-transform: rotateY(@degrees); // IE9+ + transform: rotateY(@degrees); +} +.perspective(@perspective) { + -webkit-perspective: @perspective; + -moz-perspective: @perspective; + perspective: @perspective; +} +.perspective-origin(@perspective) { + -webkit-perspective-origin: @perspective; + -moz-perspective-origin: @perspective; + perspective-origin: @perspective; +} +.transform-origin(@origin){ + -webkit-transform-origin: @origin; + -moz-transform-origin: @origin; + transform-origin: @origin; +} + +/*** + Effect Macros +*/ + + +// Opacity +.opacity(@opacity) { + opacity: @opacity; + // IE8 filter + @opacity-ie: (@opacity * 100); + filter: ~"alpha(opacity=@{opacity-ie})"; +} + + + +/*** + Macros fuer Highlighting bei Feedbacks +*/ +.highlightCorrect(){ + background-color: #3c763d !important; + opacity: 0.7; + .rounded_corners(@border-radius-small); +} +.highlightCorrectBorder(){ + opacity: 0.7; + border: 1px solid #3c763d !important; + .rounded_corners(@border-radius-small); +} +.highlightMissing(){ + border: 1px solid #3c763d !important; + opacity: 0.7; + .rounded_corners(@border-radius-small); +} +.highlightCorrectUnselected(){ + /*border: 3px solid @default-highlight-color-correct !important;*/ + opacity: 0.7; + .rounded_corners(@border-radius-small); +} +.highlightWrong(){ + border: 1px solid #ebccd1 !important; + background-color: #ebccd1 !important; + opacity: 0.7; + .rounded_corners(@border-radius-small); +} +.highlightWrongBorder(){ + border: 1px solid #ebccd1 !important; + opacity: 0.7; + .rounded_corners(@border-radius-small); +} + +/*** + Text - Macros +*/ +.makeText(@size, @color){ + color: @color; + font-size: @size; + font-family: @font-family-sans-serif; + font-weight: bold; + +} +/*** + Text - Macros +*/ +.makeTextEx(@size, @color,@fontFamily,@fontWeight,@textAlign){ + .makeText(@size,@color);//standard attributes + font-family: @font-family-sans-serif; + font-weight: @fontWeight; + text-align: @textAlign; +} + +// Optional hyphenation +.hyphens(@mode: auto) { + word-wrap: break-word; + -webkit-hyphens: @mode; + -moz-hyphens: @mode; + -ms-hyphens: @mode; // IE10+ + -o-hyphens: @mode; + hyphens: @mode; +} +.text-hide() { + font: ~"0/0" a; + color: transparent; + text-shadow: none; + background-color: transparent; + border: 0; +} + +// Text overflow +// Requires inline-block or block for proper styling +.text-overflow() { + overflow: hidden; + text-overflow: ellipsis; + white-space: nowrap; +} + +/*** + Macros fuer Hintergrund-Sprites +*/ + +.backgroundSprite(@url,@size){ + background-image: url(@url); + background-size: 100% 100%; + width: @size; + height: @size; +} +/*** Background-Sprite with different width & height*/ +.backgroundSpriteEx(@url,@sizeX,@sizeY){ + background-image: url(@url); + background-size: 100% 100%; + width: @sizeX; + height: @sizeY; +} + +/*** + Background - Color - Transparent Overlay +*/ +.backgroundColorOverlay(@color,@opacity){ + background-color: @color; + background-size: 100% 100%; + content: ""; + height: inherit; + opacity: @opacity; + position: absolute; + width: inherit; + pointer-events:none; +} + +.rounded_corners(@radius: 5px) { + -webkit-border-radius: @radius; + -moz-border-radius: @radius; + border-radius: @radius; +} + +.rounded_corners_custom(@tr: 5px, @tl: 5px, @bl: 5px, @br: 5px) { + -webkit-border-radius: @tr @tl @bl @br; + -moz-border-radius: @tr @tl @bl @br; + border-radius:@tr @tl @bl @br; +} +.button-colorize(@color) { + background-color:@color; + border:1px solid darken(@color, 20%); + + text-shadow:0 2px 0 darken(@color, 10%); + box-shadow:0 3px 0 0 darken(@color, 30%), inset 0 1px 3px rgba(255,255,255,0.4); + background-image:-webkit-linear-gradient(top, rgba(255,255,255, 0.125) 0%, rgba(0,0,0, 0.125) 100%); +} +/*** + Shadow - Macro +*/ +.box_shadow(@x: 0px, @y: 0px, @feather: 0px, @bcolor: #000000) { + box-shadow: @x @y @feather @bcolor; + -moz-box-shadow: @x @y @feather @bcolor; + -webkit-box-shadow: @x @y @feather @bcolor; +} + + +// Reset filters for IE +// +// When you need to remove a gradient background, do not forget to use this to reset +// the IE filter for IE9 and below. +.reset-filter() { + filter: e(%("progid:DXImageTransform.Microsoft.gradient(enabled = false)")); +} + + +/*** + Image related +*/ + +// Responsive image +// +// Keep images from scaling beyond the width of their parents. + +.img-responsive(@display: block) { + display: @display; + max-width: 100%; // Part 1: Set a maximum relative to the parent + height: auto; // Part 2: Scale the height according to the width, otherwise you get stretching +} + +// Retina images +// +// Short retina mixin for setting background-image and -size + +.img-retina(@file-1x, @file-2x, @width-1x, @height-1x) { + background-image: url("@{file-1x}"); + + @media + only screen and (-webkit-min-device-pixel-ratio: 2), + only screen and ( min--moz-device-pixel-ratio: 2), + only screen and ( -o-min-device-pixel-ratio: 2/1), + only screen and ( min-device-pixel-ratio: 2), + only screen and ( min-resolution: 192dpi), + only screen and ( min-resolution: 2dppx) { + background-image: url("@{file-2x}"); + background-size: @width-1x @height-1x; + } +} + + +/*** + Pure Class Macros +*/ + +//remove outlines and borders from Dijit-Buttons +.adjustDojoButton(@prefix:"",@suffix:""){ + .@{prefix} .@{suffix} .dijitButtonNode{ + border: none; + height: inherit; + width: inherit; + outline: none; + + //hide out line + &:focus{ + outline: none; + } + + } + + .@{prefix} .@{suffix} .dijitButtonContents{ + display: none; + } +} + +.adjustDojoButtonStates(@prefix:"",@suffix:""){ + + .@{prefix}@{suffix}{ + outline: none; + } +} + +/*** + LOW-LEVEL : Macros zum animieren von CSS Eigentschaften +*/ +.transition-property (@value) { + -webkit-transition-property: @value; + -moz-transition-property: @value; + transition-property: @value; +} + +.fadeProperty (@value,@time) { + .transition-property(@value); + .transition-duration(@time); +} + +.transition-property (@value1, @value2) { + -webkit-transition-property: @value1, @value2; + -moz-transition-property: @value1, @value2; + transition-property: @value1, @value2; +} + +.transition-duration (@value) { + -webkit-transition-duration: @value; + -moz-transition-duration: @value; + transition-duration: @value; +} + +.transition-duration (@value1, @value2) { + -webkit-transition-duration: @value1, @value2; + -moz-transition-duration: @value1, @value2; + transition-duration: @value1, @value2; +} + +.transition-timing-function (@value) { + -webkit-transition-timing-function: @value; + -moz-transition-timing-function: @value; + transition-timing-function: @value; +} +/*** + LOW-LEVEL : Macros zum erstellen von Gradients +*/ +.linear-gradient (@value1, @value2) { + // summary: + // Expands to browser specific background-image specifications for a linear-gradient (2 stops) + background-image: -moz-linear-gradient(@value1, @value2); // FF3.6 - FF15 (FF16+ supports linear-gradient) + background-image: -webkit-linear-gradient(@value1, @value2); // Chrome10+, Safari5.1+ + background-image: -o-linear-gradient(@value1, @value2); // Opera 11.10+ + background-image: linear-gradient(@value1, @value2); +} +.linear-gradient (@value1, @value2, @value3) { + background-image: -moz-linear-gradient(@value1, @value2, @value3); // FF3.6 - FF15 (FF16+ supports linear-gradient) + background-image: -webkit-linear-gradient(@value1, @value2, @value3); // Chrome10+, Safari5.1+ + background-image: -o-linear-gradient(@value1, @value2, @value3); // Opera 11.10+ + background-image: linear-gradient(@value1, @value2, @value3); +} +.linear-gradient (@value1, @value2, @value3, @value4) { + background-image: -moz-linear-gradient(@value1, @value2, @value3, @value4); // FF3.6 - FF15 (FF16+ supports linear-gradient) + background-image: -webkit-linear-gradient(@value1, @value2, @value3, @value4); // Chrome10+, Safari5.1+ + background-image: -o-linear-gradient(@value1, @value2, @value3, @value4); // Opera 11.10+ + background-image: linear-gradient(@value1, @value2, @value3, @value4); +} +.linear-gradient (@value1, @value2, @value3, @value4, @value5) { + background-image: -moz-linear-gradient(@value1, @value2, @value3, @value4, @value5); // FF3.6 - FF15 (FF16+ supports linear-gradient) + background-image: -webkit-linear-gradient(@value1, @value2, @value3, @value4, @value5); // Chrome10+, Safari5.1+ + background-image: -o-linear-gradient(@value1, @value2, @value3, @value4, @value5); // Opera 11.10+ + background-image: linear-gradient(@value1, @value2, @value3, @value4, @value5); +} +.linear-gradient (@value1, @value2, @value3, @value4, @value5, @value6) { + background-image: -moz-linear-gradient(@value1, @value2, @value3, @value4, @value5, @value6); // FF3.6 - FF15 (FF16+ supports linear-gradient) + background-image: -webkit-linear-gradient(@value1, @value2, @value3, @value4, @value5, @value6); // Chrome10+, Safari5.1+ + background-image: -o-linear-gradient(@value1, @value2, @value3, @value4, @value5, @value6); // Opera 11.10+ + background-image: linear-gradient(@value1, @value2, @value3, @value4, @value5, @value6); +} +.linear-gradient (@value1, @value2, @value3, @value4, @value5, @value6, @value7) { + background-image: -moz-linear-gradient(@value1, @value2, @value3, @value4, @value5, @value6, @value7); // FF3.6 - FF15 (FF16+ supports linear-gradient) + background-image: -webkit-linear-gradient(@value1, @value2, @value3, @value4, @value5, @value6, @value7); // Chrome10+, Safari5.1+ + background-image: -o-linear-gradient(@value1, @value2, @value3, @value4, @value5, @value6, @value7); // Opera 11.10+ + background-image: linear-gradient(@value1, @value2, @value3, @value4, @value5, @value6, @value7); +} + +.alpha-white-gradient (@opacity1, @stop1, @opacity2, @stop2) { + // summary: + // For setting up white background-image with variable transparency. + // example: + // Gradient starts at top (0%) with 30% opacity, and then ends at bottom (100%) with full transparency + // | .alpha-white-gradient(0.3, 0%, 0, 100%) + // + .linear-gradient(rgba(255,255,255,@opacity1) @stop1, rgba(255,255,255,@opacity2) @stop2); +} +.alpha-white-gradient (@start, @opacity1, @stop1, @opacity2, @stop2) { + .linear-gradient(@start, rgba(255,255,255,@opacity1) @stop1, rgba(255,255,255,@opacity2) @stop2); +} +.alpha-white-gradient (@opacity1, @stop1, @opacity2, @stop2, @opacity3, @stop3) { + .linear-gradient(rgba(255,255,255,@opacity1) @stop1, rgba(255,255,255,@opacity2) @stop2, rgba(255,255,255, @opacity3) @stop3); +} +.alpha-white-gradient (@start, @opacity1, @stop1, @opacity2, @stop2, @opacity3, @stop3) { + .linear-gradient(@start, rgba(255,255,255,@opacity1) @stop1, rgba(255,255,255,@opacity2) @stop2, rgba(255,255,255, @opacity3) @stop3); +} +.alpha-white-gradient (@opacity1, @stop1, @opacity2, @stop2, @opacity3, @stop3, @opacity4, @stop4) { + .linear-gradient(rgba(255,255,255,@opacity1) @stop1, rgba(255,255,255,@opacity2) @stop2, rgba(255,255,255, @opacity3) @stop3, rgba(255,255,255, @opacity4) @stop4); +} +.alpha-white-gradient (@start, @opacity1, @stop1, @opacity2, @stop2, @opacity3, @stop3, @opacity4, @stop4) { + .linear-gradient(@start, rgba(255,255,255,@opacity1) @stop1, rgba(255,255,255,@opacity2) @stop2, rgba(255,255,255, @opacity3) @stop3, rgba(255,255,255, @opacity4) @stop4); +} +.alpha-white-gradient (@start, @opacity1, @stop1, @opacity2, @stop2, @opacity3, @stop3, @opacity4, @stop4, @opacity5, @stop5) { + .linear-gradient(@start, rgba(255,255,255,@opacity1) @stop1, rgba(255,255,255,@opacity2) @stop2, rgba(255,255,255, @opacity3) @stop3, rgba(255,255,255, @opacity4) @stop4, rgba(255,255,255, @opacity5) @stop5); +} +.alpha-white-gradient (@start, @opacity1, @stop1, @opacity2, @stop2, @opacity3, @stop3, @opacity4, @stop4, @opacity5, @stop5, @opacity6, @stop6) { + .linear-gradient(@start, rgba(255,255,255,@opacity1) @stop1, rgba(255,255,255,@opacity2) @stop2, rgba(255,255,255, @opacity3) @stop3, rgba(255,255,255, @opacity4) @stop4, rgba(255,255,255, @opacity5) @stop5, rgba(255,255,255, @opacity6) @stop6); +} + +.gradient-and-filter (@color, @fade1, @fade2) { + // summary: + // Sets up a background color with a vertical gradient. + // In order to make transitions work properly on mozilla and webkit, this is done by combining + // a background-color which will be changed based on state (ex: hover) with a constant + // white alpha-transparency background-image. On IE it creates a DXImageTransform filter. + // @color: + // The color + // @fade1: + // The percent to fade at the top + // @fade2: + // The percent to fade at the bottom + background-color: @color; // the base color + .linear-gradient(fadeout(#fff, 100-@fade1), fadeout(#fff, 100-@fade2)); + filter: ~"progid:DXImageTransform.Microsoft.gradient(startColorstr="lighten(@color, @fade1)~", endColorstr="lighten(@color, @fade2)~")"; // IE +} +.horizontal-gradient-and-filter (@color, @fade1, @fade2) { + // summary: + // Sets up a background color with a horizontal gradient. + // In order to make transitions work properly on mozilla and webkit, this is done by combining + // a background-color which will be changed based on state (ex: hover) with a constant + // white alpha-transparency background-image. On IE it creates a DXImageTransform filter. + // @color: + // The color + // @fade1: + // The percent to fade at the top + // @fade2: + // The percent to fade at the bottom + background-color: @color; // the base color + .linear-gradient(left, fadeout(#fff, 100-@fade1), fadeout(#fff, 100-@fade2)); + filter: ~"progid:DXImageTransform.Microsoft.gradient(startColorstr="lighten(@color, @fade1)~", endColorstr="lighten(@color, @fade2)~"gradientType=1)"; // IE +} +.textbox-background-image () { + // summary: + // Background image used for hovered TextBoxes and similar controls. + // It's just a small inset shadow below the top border (inside of the TextBox). + .linear-gradient(rgba(127,127,127,0.2) 0%, rgba(127,127,127,0) 2px); +} + +.standard-gradient (@pathToRoot: "") { + // summary: + // Light to dark background-image used by widgets with short height (~16px) including: + // - MenuBar, and hovered MenuItem/MenuBarItem + // - arrow icon wrapper for Select, ComboBox, Spinner + // - Toolbar and hovered Toolbar buttons + // - TitlePane title bar, AccordionContainer title bar, Dialog title bar + + // Fallback for IE + background-image: url("@{pathToRoot}images/standardGradient.png"); + background-repeat: repeat-x; + + // CSS gradient for other browsers + .alpha-white-gradient(0.7, 0%, 0, 100%); + + // IE6 can't handle a background-image with transparency and a background-color; the color is blocked out + _background-image: none; +} +.active-gradient (@pathToRoot: "") { + // summary: + // Light to dark background-image with an inset gray shadow at the top, + // used by widgets when they are active (ie: mousedown) or selected, including: + // - active MenuItem/MenuBarItem + // - arrow icon wrapper for Select, ComboBox, Spinner when active or drop down is open + // - active Toolbar buttons + // - active TitlePane title bar, AccordionContainer title bar + + // Fallback for IE + background-image: url("@{pathToRoot}images/activeGradient.png"); + background-repeat: repeat-x; + + // CSS gradient for other browsers + .linear-gradient(rgba(190,190,190,0.98) 0px, rgba(255, 255, 255, 0.65) 3px, rgba(255, 255, 255, 0) 100%); + + // IE6 can't handle a background-image with transparency and a background-color; the color is blocked out + _background-image: none; +} + +/**********************************************************************************************************************/ +/* Polyfill */ +/**********************************************************************************************************************/ + +/** + Text-Font-Size Macros +**/ +@iterations: 5; +@fontPrefix:assign; +@className :questionText; +@startSize :100; +@startFontSize :12px; +@stepSize :2; +@stepSizeDimension :100; + + +// end the loop when index is 0 +//.loopingClass (@fontPrefix,@className,0) {} + +// "call" the loopingClass the first time with highest value +//.loopingClass (@fontPrefix,@className,0); + + +.makeButton(){ + display: inline-block; + padding: 6px 12px; + padding-top: 2px; + margin-bottom: 0; + font-size: 14px; + font-weight: normal; + line-height: 1.428571429; + text-align: center; + white-space: nowrap; + vertical-align: middle; + cursor: pointer; + border: 1px solid transparent; + border-radius: 4px; + -webkit-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + -o-user-select: none; + user-select: none; + text-shadow: 0 -1px 0 rgba(0,0,0,0.2); + -webkit-box-shadow: inset 0 1px 0 rgba(255,255,255,0.15),0 1px 1px rgba(0,0,0,0.075); + box-shadow: inset 0 1px 0 rgba(255,255,255,0.15),0 1px 1px rgba(0,0,0,0.075); +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/templates/newDHTML.css b/shredder/asterix-pp/resources/hmi/workspace/templates/newDHTML.css new file mode 100644 index 0000000..821e5a2 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/templates/newDHTML.css @@ -0,0 +1,38 @@ +#myapp .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; +} +#myapp .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + background-color: #ccc2a6; +} +#myapp .myButton:active { + position: relative; + top: 1px; +} diff --git a/shredder/asterix-pp/resources/hmi/workspace/templates/newDHTML.js b/shredder/asterix-pp/resources/hmi/workspace/templates/newDHTML.js new file mode 100644 index 0000000..392a0ec --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/templates/newDHTML.js @@ -0,0 +1,32 @@ +require([ + 'xapp/manager/Context', + 'require', + 'dcl/dcl', + "xide/utils", + "xide/types" +], function (Context, require, dcl, utils, types) { + + var context = null; + var deviceInstance = null; + var deviceName = "File-Server"; + + //subscribe to 'onContextReady' in order to have a valid application context object + Context.notifier.subscribe('onContextReady', function (_context) { + + //track context + context = _context; + + //Subscribe to 'DevicesConnected' in order to get a driver instance by name. + //This gets called multiple times since there multiple device/driver sources (user/system) + Context.notifier.subscribe('DevicesConnected', function (evt) { + var deviceManager = context.getDeviceManager(); + //device instance + deviceInstance = deviceManager.getInstanceByName(deviceName); + + //not yet there ? abort and wait for the next round + if(!deviceInstance){ + + } + }); + }); +}); \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/templates/newDHTML.less b/shredder/asterix-pp/resources/hmi/workspace/templates/newDHTML.less new file mode 100644 index 0000000..a30e40a --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/templates/newDHTML.less @@ -0,0 +1,42 @@ +#myapp { + .myButton { + -moz-box-shadow: 0px 1px 0px 0px #1c1b18; + -webkit-box-shadow: 0px 1px 0px 0px #1c1b18; + box-shadow: 0px 1px 0px 0px #1c1b18; + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #eae0c2), color-stop(1, #ccc2a6)); + background: -moz-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -webkit-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -o-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: -ms-linear-gradient(top, #eae0c2 5%, #ccc2a6 100%); + background: linear-gradient(to bottom, #eae0c2 5%, #ccc2a6 100%); + + background-color: #eae0c2; + -moz-border-radius: 15px; + -webkit-border-radius: 15px; + border-radius: 15px; + border: 2px solid #333029; + display: inline-block; + cursor: pointer; + color: #505739; + font-family: arial; + font-size: 14px; + font-weight: bold; + padding: 12px 16px; + text-decoration: none; + text-shadow: 0px 1px 0px #ffffff; + } + .myButton:hover { + background: -webkit-gradient(linear, left top, left bottom, color-stop(0.05, #ccc2a6), color-stop(1, #eae0c2)); + background: -moz-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -webkit-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -o-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: -ms-linear-gradient(top, #ccc2a6 5%, #eae0c2 100%); + background: linear-gradient(to bottom, #ccc2a6 5%, #eae0c2 100%); + + background-color: #ccc2a6; + } + .myButton:active { + position: relative; + top: 1px; + } + } \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/templates/newDHTML.xblox b/shredder/asterix-pp/resources/hmi/workspace/templates/newDHTML.xblox new file mode 100644 index 0000000..af01d17 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/templates/newDHTML.xblox @@ -0,0 +1,4 @@ +{ + "blocks": [], + "variables": null +} \ No newline at end of file diff --git a/shredder/asterix-pp/resources/hmi/workspace/templates/variables.css b/shredder/asterix-pp/resources/hmi/workspace/templates/variables.css new file mode 100644 index 0000000..e69de29 diff --git a/shredder/asterix-pp/resources/hmi/workspace/templates/variables.less b/shredder/asterix-pp/resources/hmi/workspace/templates/variables.less new file mode 100644 index 0000000..5606634 --- /dev/null +++ b/shredder/asterix-pp/resources/hmi/workspace/templates/variables.less @@ -0,0 +1,2 @@ +@test:"#fff"; + diff --git a/shredder/asterix-pp/resources/suppliers/Amazon Links.txt b/shredder/asterix-pp/resources/suppliers/Amazon Links.txt new file mode 100644 index 0000000..7377f9e --- /dev/null +++ b/shredder/asterix-pp/resources/suppliers/Amazon Links.txt @@ -0,0 +1,4 @@ + +FIXKIT 4 Piezas Ruedas Giratorias para Muebles, 50mm Ruedas Doble, Silenciosa, 360 ° Liso, Flexible, con Freno, capacidad 300 kg, para Transporte, Industrial, Muebles etc + +https://www.amazon.es/dp/B07LFY2K8H/ref=sspa_dk_hqp_detail_aax_0?psc=1&spLa=ZW5jcnlwdGVkUXVhbGlmaWVyPUEyRUNWTUZaREpJTFdLJmVuY3J5cHRlZElkPUEwNDI5OTY0Mk4zTEUzM0xaSkpKNCZlbmNyeXB0ZWRBZElkPUEwNTg1MDM2Mkw5V0tWVjk1NlI0VSZ3aWRnZXROYW1lPXNwX2hxcF9zaGFyZWQmYWN0aW9uPWNsaWNrUmVkaXJlY3QmZG9Ob3RMb2dDbGljaz10cnVl \ No newline at end of file diff --git a/shredder/asterix-pp/specs.xlsx b/shredder/asterix-pp/specs.xlsx new file mode 100644 index 0000000..41a918e Binary files /dev/null and b/shredder/asterix-pp/specs.xlsx differ