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WiringPi
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#263 PiFace PWM unit test

pull/270/head
mstroh76 3 月之前
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0fab17c768
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8241cd619e
共有 2 個文件被更改，包括 198 次插入 和 117 次删除
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  1. +31
    -15
      wiringPi/test/Makefile
  2. +167
    -102
      wiringPi/test/wiringpi_test9_pwm.c

+ 31
- 15
wiringPi/test/Makefile 查看文件

@@ -1,6 +1,6 @@
CC = gcc
CFLAGS = -Wall
LDFLAGS =
LDFLAGS =

# Need BCM26 <-> BCM19 connected (1kOhm)
tests = wiringpi_test1_sysfs wiringpi_test2_sysfs wiringpi_test3_device_wpi wiringpi_test4_device_phys wiringpi_test5_default wiringpi_test6_isr wiringpi_test7_version
@@ -9,45 +9,53 @@ tests = wiringpi_test1_sysfs wiringpi_test2_sysfs wiringpi_test3_device_wpi wiri
xotests = wiringpi_xotest_test1_spi wiringpi_i2c_test1_pcf8574

# Need PiFace hardware and tests condition
pifacetests = wiringpi_piface_test1
pifacetests = wiringpi_piface_test1 wiringpi_test9_pwm

all: $(tests) $(xotests) $(pifacetests)

wiringpi_test1_sysfs:
wiringpi_test1_sysfs:
${CC} ${CFLAGS} wiringpi_test1_sysfs.c -o wiringpi_test1_sysfs -lwiringPi

wiringpi_test2_sysfs:
wiringpi_test2_sysfs:
${CC} ${CFLAGS} wiringpi_test2_sysfs.c -o wiringpi_test2_sysfs -lwiringPi

wiringpi_test3_device_wpi:
wiringpi_test3_device_wpi:
${CC} ${CFLAGS} wiringpi_test3_device_wpi.c -o wiringpi_test3_device_wpi -lwiringPi

wiringpi_test4_device_phys:
wiringpi_test4_device_phys:
${CC} ${CFLAGS} wiringpi_test4_device_phys.c -o wiringpi_test4_device_phys -lwiringPi

wiringpi_test5_default:
wiringpi_test5_default:
${CC} ${CFLAGS} wiringpi_test5_default.c -o wiringpi_test5_default -lwiringPi

wiringpi_test6_isr:
wiringpi_test6_isr:
${CC} ${CFLAGS} wiringpi_test6_isr.c -o wiringpi_test6_isr -lwiringPi

wiringpi_test7_version:
wiringpi_test7_version:
${CC} ${CFLAGS} wiringpi_test7_version.c -o wiringpi_test7_version -lwiringPi

wiringpi_test9_pwm:
${CC} ${CFLAGS} wiringpi_test9_pwm.c -o wiringpi_test9_pwm -lwiringPi

wiringpi_piface_test1:
${CC} ${CFLAGS} wiringpi_piface_test1.c -o wiringpi_piface_test1 -lwiringPi -lwiringPiDev

wiringpi_xotest_test1_spi:
${CC} ${CFLAGS} wiringpi_xotest_test1_spi.c -o wiringpi_xotest_test1_spi -lwiringPi

wiringpi_i2c_test1_pcf8574:
${CC} ${CFLAGS} wiringpi_i2c_test1_pcf8574.c -o wiringpi_i2c_test1_pcf8574 -lwiringPi

wiringpi_piface_test1:
${CC} ${CFLAGS} wiringpi_piface_test1.c -o wiringpi_piface_test1 -lwiringPi -lwiringPiDev

test:
@error_state=false ; \
for t in $(tests) ; do \
echo === unit test: $${t} === ; \
time ./$${t}; \
if [ $${t} = *"pwm" ]; then \
time sudo ./$${t} ; \
else \
time ./$${t} ; \
fi ; \
if [ $$? -ne 0 ]; then \
error_state=true ; \
fi ; \
@@ -63,7 +71,11 @@ xotest:
@error_state=false ; \
for t in $(tests) $(xotests) ; do \
echo === XO unit test: $${t} === ; \
time ./$${t} ; \
if [ $${t} = *"pwm" ]; then \
time sudo ./$${t} ; \
else \
time ./$${t} ; \
fi ; \
if [ $$? -ne 0 ]; then \
error_state=true ; \
fi ; \
@@ -79,7 +91,11 @@ pifacetest:
@error_state=false ; \
for t in $(tests) $(pifacetests) ; do \
echo === PiFace unit test: $${t} === ; \
time ./$${t} ; \
if [ $${t} = *"pwm" ]; then \
time sudo ./$${t} ; \
else \
time ./$${t} ; \
fi ; \
if [ $$? -ne 0 ]; then \
error_state=true ; \
fi ; \
@@ -91,7 +107,7 @@ pifacetest:
echo "\n\e[5mPIFACE TEST SUCCESS\e[0m\n"; \
fi

clean:
clean:
for t in $(tests) $(xotests) $(pifacetests) ; do \
rm -fv $${t} ; \
done

+ 167
- 102
wiringPi/test/wiringpi_test9_pwm.c 查看文件

@@ -9,151 +9,216 @@
#include <time.h>
#include <stdint.h>

/*
int PWM0[2] = {18, 12};
int PWM0_IN[2] = {17, 13};
int PWM1[2] = {13, 19};
int PWM1_IN[2] = {12, 16};
*/

int PWM0 = 12;
int FREQIN = 6;
int PWM_OUT[4] = { 18, 12, 13, 19 };
int PWM_IN[4] = { 17, 13, 12, 16 };

volatile int gCounter = 0;

//Interrupt Service Routine for FREQIN
void ISR_FREQIN(void) {
gCounter++;
gCounter++;
}

double MeasureAndCheckFreq(const char* msg, double expect_freq) {
double fFrequency;
clock_t CPUClockBegin, CPUClockEnd;
int CountBegin, CountEnd;
double CPUClockInterval, CountInterval;
double elapsed_time, CPULoad;
double fFrequency;
clock_t CPUClockBegin, CPUClockEnd;
int CountBegin, CountEnd;
double CPUClockInterval, CountInterval;
double elapsed_time, CPULoad;
uint64_t tbegin, tend;
int SleepMs = 1200;

CPUClockBegin = clock();
tbegin = piMicros64();
tbegin = piMicros64();
CountBegin = gCounter;
delay(SleepMs);
CountEnd = gCounter;
CPUClockEnd = clock();
tend = piMicros64();
tend = piMicros64();

elapsed_time = (double)(tend-tbegin)/1.0e6;
CountInterval = CountEnd - CountBegin;
CPUClockInterval = CPUClockEnd - CPUClockBegin;
CPUClockInterval = CPUClockEnd - CPUClockBegin;
CPULoad = CPUClockInterval*100.0 / CLOCKS_PER_SEC / elapsed_time;
fFrequency = CountInterval / elapsed_time / 1000;

printf("Interval: time: %.6f sec (CPU: %3.1f %%), count: %g -> frequency: %.3f kHz\n",
printf("\nInterval: time: %.6f sec (CPU: %3.1f %%), count: %g -> frequency: %.3f kHz\n",
elapsed_time, CPULoad, CountInterval, fFrequency);

CheckSameDouble("Wait for freq. meas.", elapsed_time, SleepMs/1000.0, 0.1); //100ms tolerance. maybe problematic on high freq/cpu load
CheckSameDouble(msg, fFrequency, expect_freq, expect_freq*2/100); //2% tolerance

CheckSameDouble("Wait for freq. meas.", elapsed_time, SleepMs/1000.0, 0.1); //100ms tolerance. maybe problematic on high freq/cpu load
CheckSameDouble(msg, fFrequency, expect_freq, expect_freq*2/100); //2% toleranc
return fFrequency;
}


int tests_pwmc[7] = {1456, 1000, 512, 100, 2000, 3000, 4000};
int tests_duty[7] = { 512, 768, 682, 922, 256, 341, 102};
int tests_pwmr[10]= { 100, 512, 1024, 1456, 2000, 3000, 5000, 10000, 15000, 20000};
int tests_pwmr[12]= { 50, 100, 200, 512, 1024, 1456, 2000, 3000, 5000, 10000, 15000, 20000};
int tests_pwm[3] = { 50, 25, 75};

int main (void) {

int major, minor;
char msg[255];

wiringPiVersion(&major, &minor);

printf("WiringPi GPIO test program 9 (using PWM@GPIO%d (output) and GPIO%d (input))\n", PWM0, FREQIN);
printf(" pwm0 irq time\n");

printf("\nPWM/ISR test (WiringPi %d.%d)\n", major, minor);

wiringPiSetupGpio() ;

int rev, mem, maker, overVolted, RaspberryPiModel;
piBoardId(&RaspberryPiModel, &rev, &mem, &maker, &overVolted);
CheckNotSame("Model: ", RaspberryPiModel, -1);
int major, minor;
char msg[255];
int testruns = 4;
int PWM, FREQIN;

wiringPiVersion(&major, &minor);

printf("WiringPi GPIO test program 9\n");
printf("PWM/ISR test (WiringPi %d.%d)\n", major, minor);

wiringPiSetupGpio() ;

int rev, mem, maker, overVolted, RaspberryPiModel;
piBoardId(&RaspberryPiModel, &rev, &mem, &maker, &overVolted);
CheckNotSame("Model: ", RaspberryPiModel, -1);
int Pi4 = 0;
double MaxFreq = 100.0;
switch(RaspberryPiModel) {
case PI_MODEL_A:
case PI_MODEL_B:
case PI_MODEL_BP:
case PI_MODEL_AP:
case PI_MODEL_ZERO:
case PI_MODEL_ZERO_W:
case PI_MODEL_CM:
MaxFreq = 13.0; // 12.5 kHz -> ~40% CPU@800 MHz
printf(" - Pi1/BCM2835 detected, will skip tests with frequency above %g kHz\n", MaxFreq);
break;
case PI_MODEL_2:
MaxFreq = 20.0;
printf(" - Pi2/BCM2836 detected, will skip tests with frequency above %g kHz\n", MaxFreq);
break;
case PI_MODEL_3B:
case PI_MODEL_CM3:
case PI_MODEL_3BP:
case PI_MODEL_3AP:
case PI_MODEL_CM3P:
case PI_MODEL_ZERO_2W:
MaxFreq = 50.0;
printf(" - Pi3/BCM2837 detected, will skip tests with frequency above %g kHz\n", MaxFreq);
break;
case PI_MODEL_4B:
case PI_MODEL_400:
case PI_MODEL_CM4:
case PI_MODEL_CM4S:
Pi4 = 1;
break;
case PI_MODEL_5:
return UnitTestState(); //not supported so far
}

if (!piBoard40Pin()) {
PWM0 = 18;
FREQIN = 17;
}
// INT_EDGE_BOTH, INT_EDGE_FALLING, INT_EDGE_RISING only one ISR per input
int result = wiringPiISR(FREQIN, INT_EDGE_RISING, &ISR_FREQIN);
CheckSame("Register ISR", result, 0);
if (result < 0) {
printf("Unable to setup ISR for GPIO %d (%s)\n\n",
FREQIN, strerror(errno));
return UnitTestState();
}

int Pi4 = 0;
switch(RaspberryPiModel) {
case PI_MODEL_4B:
case PI_MODEL_400:
case PI_MODEL_CM4:
case PI_MODEL_CM4S:
Pi4 = 1;
break;
case PI_MODEL_5:
return UnitTestState(); //not supported so far
}

printf("\nPWM0 BAL mode:\n");
printf("==============\n");

pinMode(PWM0, PWM_OUTPUT); //pwmr=1024, pwmc=32
const int pmw = 512;
int pmwr = 1024;
pwmWrite(PWM0, pmw); //50% Duty
//MeasureAndCheckFreq("50\% Duty (default)", 300.000); //FAIL , freq (pwmc=32) to high for irq count

for (int c_duty=0, c_duty_end = sizeof(tests_duty)/sizeof(tests_duty[0]); c_duty<c_duty_end; c_duty++) {

double tests_duty_corr;
if (tests_duty[c_duty]>(pmwr/2)) {
tests_duty_corr = pmwr-tests_duty[c_duty];
} else {
tests_duty_corr = tests_duty[c_duty];
if (!piBoard40Pin()) {
testruns = 1; // only fist PWM0, supported
}

double duty_fact = tests_duty_corr/(double)pmwr;
printf("\n%d/%d set duty %d/%d\n",c_duty+1, c_duty_end, tests_duty[c_duty], pmwr);
pwmWrite(PWM0, tests_duty[c_duty]);

for (int c_pwmc=0, end = sizeof(tests_pwmc)/sizeof(tests_pwmc[0]); c_pwmc<end; c_pwmc++) {
if (Pi4 && tests_pwmc[c_pwmc]>1456) {
printf("* Set Clock (pwmc) %d not possible on BCM2711 system (OSC 54 MHz), ignore\n", tests_pwmc[c_pwmc]);
continue;
for (int testrun=0; testrun<testruns; testrun++) {
PWM = PWM_OUT[testrun];
FREQIN = PWM_IN[testrun];

printf("using PWM@GPIO%d (output) and GPIO%d (input))\n", PWM, FREQIN);


// INT_EDGE_BOTH, INT_EDGE_FALLING, INT_EDGE_RISING only one ISR per input
int result = wiringPiISR(FREQIN, INT_EDGE_RISING, &ISR_FREQIN);
CheckSame("Register ISR", result, 0);
if (result < 0) {
printf("Unable to setup ISR for GPIO %d (%s)\n\n",
FREQIN, strerror(errno));
return UnitTestState();
}

printf("\n");
printf("*********************************\n");
printf("* PWM BAL mode *\n");
printf("*********************************\n");
pinMode(PWM, PWM_OUTPUT); //pwmr=1024, pwmc=32
const int pmw = 512;
int pmwr = 1024;
pwmWrite(PWM, pmw); //50% Duty
//MeasureAndCheckFreq("50\% Duty (default)", 300.000); //FAIL , freq (pwmc=32) to high for irq count

for (int c_duty=0, c_duty_end = sizeof(tests_duty)/sizeof(tests_duty[0]); c_duty<c_duty_end; c_duty++) {
double tests_duty_corr;
if (tests_duty[c_duty]>(pmwr/2)) {
tests_duty_corr = pmwr-tests_duty[c_duty];
} else {
tests_duty_corr = tests_duty[c_duty];
}

double duty_fact = tests_duty_corr/(double)pmwr;
printf("\n%d/%d set duty %d/%d\n",c_duty+1, c_duty_end, tests_duty[c_duty], pmwr);
pwmWrite(PWM, tests_duty[c_duty]);

for (int c_pwmc=0, end = sizeof(tests_pwmc)/sizeof(tests_pwmc[0]); c_pwmc<end; c_pwmc++) {
int pwmc = tests_pwmc[c_pwmc];
if (Pi4 && pwmc>1456) {
printf("* Set clock (pwmc) %d not possible on BCM2711 system (OSC 54 MHz), ignore\n", pwmc);
continue;
}
double freq = 19200.0/pwmc*duty_fact;
if (freq>MaxFreq) {
printf("* Set clock (pwmc) %d not possible on system (to slow to measure %g kHz with ISR), ignore\n", pwmc, freq);
continue;
}
pwmSetClock(pwmc);
delay(250);
sprintf(msg, "Set Clock (pwmc) %d, %d%% duty", pwmc, tests_duty[c_duty]*100/pmwr);
MeasureAndCheckFreq(msg, freq);
}
}
pwmSetClock(tests_pwmc[c_pwmc]);
delay(250);
double freq = 19200.0/tests_pwmc[c_pwmc]*duty_fact;
sprintf(msg, "Set Clock (pwmc) %d, %d%% duty", tests_pwmc[c_pwmc], tests_duty[c_duty]*100/pmwr);
MeasureAndCheckFreq(msg, freq);
}
printf("\n");
printf("*********************************\n");
printf("* PWM MS mode *\n");
printf("*********************************\n");
pwmSetMode(PWM_MODE_MS) ;

int pwmc = 10;
pwmSetClock(pwmc);
delay(2500);

for (int c_pmwr=0, c_pmwr_end = sizeof(tests_pwmr)/sizeof(tests_pwmr[0]); c_pmwr<c_pmwr_end; c_pmwr++) {
int pwmr = tests_pwmr[c_pmwr];
double freq = 19200.0/(double)pwmc/(double)pwmr;
if (freq>MaxFreq) {
printf("* Set Clock (pwmc, pwmr) %d, %d not possible on system (to slow to measure %g kHz with ISR), ignore\n", pwmc, pwmr, freq);
continue;
}
sprintf(msg, "Set range (pwmr) %d", pwmr);
pwmSetRange(pwmr);

for (int c_pmw=0, c_pmw_end = sizeof(tests_pwm)/sizeof(tests_pwm[0]); c_pmw<c_pmw_end; c_pmw++) {
int pwm = pwmr*tests_pwm[c_pmw]/100;
sprintf(msg, "Set pwm %d/%d (%d %%)", pwm, pwmr, tests_pwm[c_pmw]);
pwmWrite(PWM, pwm);
delay(250);
MeasureAndCheckFreq(msg, freq);
}
}

}

delay(250);
pwmSetMode(PWM_MODE_MS) ;
printf("\nPWM0 MS mode:\n");
printf("==============\n");
result = wiringPiISRStop(FREQIN);
CheckSame("\n\nRelease ISR", result, 0);
if (result < 0) {
printf("Unable to release ISR for GPIO %d (%s)\n\n",
FREQIN, strerror(errno));
return UnitTestState();
}
pinMode(PWM, INPUT);

int pwmc = 10;
pwmSetClock(pwmc);
delay(2500);
}

for (int c_pmwr=0, c_pmwr_end = sizeof(tests_pwmr)/sizeof(tests_pwmr[0]); c_pmwr<c_pmwr_end; c_pmwr++) {
pwmWrite(PWM0, tests_pwmr[c_pmwr]/2);
pwmSetRange(tests_pwmr[c_pmwr]) ;
delay(250);
double freq = 19200.0/(double)pwmc/(double)tests_pwmr[c_pmwr];
sprintf(msg, "Set range (pwmr) %d", tests_pwmr[c_pmwr]);
MeasureAndCheckFreq(msg, freq);
}


return UnitTestState();
return UnitTestState();
}

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