delayMicrosecondsHard re-written - again. Added a serialRead example program, and added in the okLed to the examples too. Updated/checked some of the GPIO/PWM code. Added in some experimental servo and tone generating code and and example or 2. Tweaks to the gpio command to correctly load the I2C modules too.pull/6/head
Gordon Henderson
13 years ago
parent
183c5a6b5c
commit
25e4ec570b
@ -0,0 +1,65 @@
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/*
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* okLed:
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* Make the OK LED on the Pi Pulsate...
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* Copyright (c) 2012 gordon Henderson, but please Share and Enjoy!
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*
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* Originally posted to the Raspberry Pi forums:
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* http://www.raspberrypi.org/phpBB3/viewtopic.php?p=162581#p162581
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*
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* Compile this and store it somewhere, then kick it off at boot time
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* e.g. by putting it in /etc/rc.local and running it in the
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* background &
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*
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*/
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#include <stdio.h>
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#include <errno.h>
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#include <string.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <wiringPi.h>
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#include <softPwm.h>
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#define OK_LED 16
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int main ()
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{
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int fd, i ;
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if ((fd = open ("/sys/class/leds/led0/trigger", O_RDWR)) < 0)
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{
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fprintf (stderr, "Unable to change LED trigger: %s\n", strerror (errno)) ;
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return 1 ;
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}
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write (fd, "none\n", 5) ;
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close (fd) ;
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if (wiringPiSetupGpio () < 0)
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{
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fprintf (stderr, "Unable to setup GPIO: %s\n", strerror (errno)) ;
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return 1 ;
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}
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softPwmCreate (OK_LED, 0, 100) ;
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for (;;)
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{
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for (i = 0 ; i <= 100 ; ++i)
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{
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softPwmWrite (OK_LED, i) ;
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delay (10) ;
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}
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delay (50) ;
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for (i = 100 ; i >= 0 ; --i)
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{
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softPwmWrite (OK_LED, i) ;
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delay (10) ;
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}
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delay (10) ;
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}
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return 0 ;
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}
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@ -0,0 +1,31 @@
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/*
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* serialRead.c:
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* Example program to read bytes from the Serial line
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*
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*/
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#include <stdio.h>
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#include <string.h>
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#include <errno.h>
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#include <wiringSerial.h>
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int main ()
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{
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int fd ;
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if ((fd = serialOpen ("/dev/ttyAMA0", 115200)) < 0)
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{
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fprintf (stderr, "Unable to open serial device: %s\n", strerror (errno)) ;
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return 1 ;
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}
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// Loop, getting and printing characters
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for (;;)
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{
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putchar (serialGetchar (fd)) ;
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fflush (stdout) ;
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}
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}
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@ -0,0 +1,33 @@
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#include <stdio.h>
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#include <errno.h>
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#include <string.h>
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#include <wiringPi.h>
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#include <softServo.h>
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int main ()
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{
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if (wiringPiSetup () == -1)
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{
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fprintf (stdout, "oops: %s\n", strerror (errno)) ;
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return 1 ;
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}
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softServoSetup (0, 1, 2, 3, 4, 5, 6, 7) ;
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softServoWrite (0, 0) ;
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/*
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softServoWrite (1, 1000) ;
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softServoWrite (2, 1100) ;
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softServoWrite (3, 1200) ;
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softServoWrite (4, 1300) ;
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softServoWrite (5, 1400) ;
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softServoWrite (6, 1500) ;
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softServoWrite (7, 2200) ;
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*/
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for (;;)
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delay (10) ;
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}
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#include <stdio.h>
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#include <errno.h>
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#include <string.h>
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#include <wiringPi.h>
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#include <softTone.h>
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#define RANGE 100
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#define NUM_LEDS 12
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int scale [8] = { 262, 294, 330, 349, 392, 440, 494, 525 } ;
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int main ()
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{
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int i, j ;
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char buf [80] ;
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if (wiringPiSetup () == -1)
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{
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fprintf (stdout, "oops: %s\n", strerror (errno)) ;
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return 1 ;
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}
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softToneCreate (3) ;
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for (;;)
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{
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for (i = 0 ; i < 8 ; ++i)
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{
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printf ("%3d\n", i) ;
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softToneWrite (3, scale [i]) ;
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delay (500) ;
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}
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}
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}
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/*
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* softServo.c:
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* Provide N channels of software driven PWM suitable for RC
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* servo motors.
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* Copyright (c) 2012 Gordon Henderson
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***********************************************************************
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* This file is part of wiringPi:
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* https://projects.drogon.net/raspberry-pi/wiringpi/
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*
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* wiringPi is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as
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* published by the Free Software Foundation, either version 3 of the
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* License, or (at your option) any later version.
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*
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* wiringPi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with wiringPi.
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* If not, see <http://www.gnu.org/licenses/>.
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***********************************************************************
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*/
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//#include <stdio.h>
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#include <string.h>
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#include <time.h>
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#include <sys/time.h>
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#include <pthread.h>
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#include "wiringPi.h"
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#include "softServo.h"
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// RC Servo motors are a bit of an oddity - designed in the days when
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// radio control was experimental and people were tryin to make
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// things as simple as possible as it was all very expensive...
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//
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// So... To drive an RC Servo motor, you need to send it a modified PWM
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// signal - it needs anything from 1ms to 2ms - with 1ms meaning
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// to move the server fully left, and 2ms meaning to move it fully
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// right. Then you need a long gap before sending the next pulse.
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// The reason for this is that you send a multiplexed stream of these
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// pulses up the radio signal into the reciever which de-multiplexes
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// them into the signals for each individual servo. Typically there
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// might be 8 channels, so you need at least 8 "slots" of 2mS pulses
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// meaning the entire frame must fit into a 16mS slot - which would
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// then be repeated...
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//
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// In practice we have a total slot width of about 20mS - so we're sending 50
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// updates per second to each servo.
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//
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// In this code, we don't need to be too fussy about the gap as we're not doing
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// the multipexing, but it does need to be at least 10mS, and preferably 16
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// from what I've been able to determine.
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#define MAX_SERVOS 8
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static int pinMap [MAX_SERVOS] ; // Keep track of our pins
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static int pulseWidth [MAX_SERVOS] ; // microseconds
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/*
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* softServoThread:
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* Thread to do the actual Servo PWM output
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*********************************************************************************
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*/
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static PI_THREAD (softServoThread)
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{
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register int i, j, k, m, tmp ;
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int lastDelay, pin, servo ;
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int myDelays [MAX_SERVOS] ;
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int myPins [MAX_SERVOS] ;
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struct timeval tNow, tStart, tPeriod, tGap, tTotal ;
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struct timespec tNs ;
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tTotal.tv_sec = 0 ;
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tTotal.tv_usec = 8000 ;
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piHiPri (50) ;
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for (;;)
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{
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gettimeofday (&tStart, NULL) ;
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memcpy (myDelays, pulseWidth, sizeof (myDelays)) ;
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memcpy (myPins, pinMap, sizeof (myPins)) ;
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// Sort the delays (& pins), shortest first
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for (m = MAX_SERVOS / 2 ; m > 0 ; m /= 2 )
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for (j = m ; j < MAX_SERVOS ; ++j)
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for (i = j - m ; i >= 0 ; i -= m)
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{
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k = i + m ;
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if (myDelays [k] >= myDelays [i])
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break ;
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else // Swap
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{
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tmp = myDelays [i] ; myDelays [i] = myDelays [k] ; myDelays [k] = tmp ;
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tmp = myPins [i] ; myPins [i] = myPins [k] ; myPins [k] = tmp ;
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}
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}
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// All on
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lastDelay = 0 ;
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for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
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{
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if ((pin = myPins [servo]) == -1)
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continue ;
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digitalWrite (pin, HIGH) ;
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myDelays [servo] = myDelays [servo] - lastDelay ;
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lastDelay += myDelays [servo] ;
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}
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// Now loop, turning them all off as required
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for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
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{
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if ((pin = myPins [servo]) == -1)
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continue ;
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delayMicroseconds (myDelays [servo]) ;
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digitalWrite (pin, LOW) ;
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}
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// Wait until the end of an 8mS time-slot
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gettimeofday (&tNow, NULL) ;
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timersub (&tNow, &tStart, &tPeriod) ;
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timersub (&tTotal, &tPeriod, &tGap) ;
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tNs.tv_sec = tGap.tv_sec ;
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tNs.tv_nsec = tGap.tv_usec * 1000 ;
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nanosleep (&tNs, NULL) ;
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}
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return NULL ;
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}
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/*
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* softServoWrite:
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* Write a Servo value to the given pin
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*********************************************************************************
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*/
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void softServoWrite (int servoPin, int value)
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{
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int servo ;
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servoPin &= 63 ;
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/**/ if (value < -250)
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value = -250 ;
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else if (value > 1250)
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value = 1250 ;
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for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
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if (pinMap [servo] == servoPin)
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pulseWidth [servo] = value + 1000 ; // uS
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}
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/*
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* softServoSetup:
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* Setup the software servo system
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*********************************************************************************
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*/
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int softServoSetup (int p0, int p1, int p2, int p3, int p4, int p5, int p6, int p7)
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{
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int servo ;
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if (p0 != -1) { pinMode (p0, OUTPUT) ; digitalWrite (p0, LOW) ; }
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if (p1 != -1) { pinMode (p1, OUTPUT) ; digitalWrite (p1, LOW) ; }
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if (p2 != -1) { pinMode (p2, OUTPUT) ; digitalWrite (p2, LOW) ; }
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if (p3 != -1) { pinMode (p3, OUTPUT) ; digitalWrite (p3, LOW) ; }
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if (p4 != -1) { pinMode (p4, OUTPUT) ; digitalWrite (p4, LOW) ; }
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if (p5 != -1) { pinMode (p5, OUTPUT) ; digitalWrite (p5, LOW) ; }
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if (p6 != -1) { pinMode (p6, OUTPUT) ; digitalWrite (p6, LOW) ; }
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if (p7 != -1) { pinMode (p7, OUTPUT) ; digitalWrite (p7, LOW) ; }
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pinMap [0] = p0 ;
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pinMap [1] = p1 ;
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pinMap [2] = p2 ;
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pinMap [3] = p3 ;
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pinMap [4] = p4 ;
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pinMap [5] = p5 ;
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pinMap [6] = p6 ;
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pinMap [7] = p7 ;
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for (servo = 0 ; servo < MAX_SERVOS ; ++servo)
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pulseWidth [servo] = 1500 ; // Mid point
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return piThreadCreate (softServoThread) ;
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}
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@ -0,0 +1,35 @@
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/*
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* softServo.h:
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||||
* Provide N channels of software driven PWM suitable for RC
|
||||
* servo motors.
|
||||
* Copyright (c) 2012 Gordon Henderson
|
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***********************************************************************
|
||||
* This file is part of wiringPi:
|
||||
* https://projects.drogon.net/raspberry-pi/wiringpi/
|
||||
*
|
||||
* wiringPi 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, either version 3 of the
|
||||
* License, or (at your option) any later version.
|
||||
*
|
||||
* wiringPi 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 wiringPi.
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
***********************************************************************
|
||||
*/
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||||
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||||
#ifdef __cplusplus
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extern "C" {
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||||
#endif
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||||
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extern void softServoWrite (int pin, int value) ;
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extern int softServoSetup (int p0, int p1, int p2, int p3, int p4, int p5, int p6, int p7) ;
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||||
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||||
#ifdef __cplusplus
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||||
}
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||||
#endif
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@ -0,0 +1,119 @@
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/*
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||||
* softTone.c:
|
||||
* For that authentic retro sound...
|
||||
* Er... A little experiment to produce tones out of a Pi using
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* one (or 2) GPIO pins and a piezeo "speaker" element.
|
||||
* (Or a high impedance speaker, but don'y blame me if you blow-up
|
||||
* the GPIO pins!)
|
||||
* Copyright (c) 2012 Gordon Henderson
|
||||
***********************************************************************
|
||||
* This file is part of wiringPi:
|
||||
* https://projects.drogon.net/raspberry-pi/wiringpi/
|
||||
*
|
||||
* wiringPi 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, either version 3 of the
|
||||
* License, or (at your option) any later version.
|
||||
*
|
||||
* wiringPi 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 wiringPi.
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
***********************************************************************
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <pthread.h>
|
||||
|
||||
#include "wiringPi.h"
|
||||
#include "softTone.h"
|
||||
|
||||
#define MAX_PINS 64
|
||||
|
||||
#define PULSE_TIME 100
|
||||
|
||||
static int frewqs [MAX_PINS] ;
|
||||
|
||||
static int newPin = -1 ;
|
||||
|
||||
|
||||
/*
|
||||
* softToneThread:
|
||||
* Thread to do the actual PWM output
|
||||
*********************************************************************************
|
||||
*/
|
||||
|
||||
static PI_THREAD (softToneThread)
|
||||
{
|
||||
int pin, frewq, halfPeriod ;
|
||||
|
||||
pin = newPin ;
|
||||
newPin = -1 ;
|
||||
|
||||
piHiPri (50) ;
|
||||
|
||||
for (;;)
|
||||
{
|
||||
frewq = frewqs [pin] ;
|
||||
if (frewq != 0)
|
||||
{
|
||||
halfPeriod = 500000 / frewq ;
|
||||
|
||||
digitalWrite (pin, HIGH) ;
|
||||
delayMicroseconds (halfPeriod) ;
|
||||
|
||||
digitalWrite (pin, LOW) ;
|
||||
delayMicroseconds (halfPeriod) ;
|
||||
}
|
||||
}
|
||||
|
||||
return NULL ;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* softToneWrite:
|
||||
* Write a frequency value to the given pin
|
||||
*********************************************************************************
|
||||
*/
|
||||
|
||||
void softToneWrite (int pin, int frewq)
|
||||
{
|
||||
pin &= 63 ;
|
||||
|
||||
/**/ if (frewq < 0)
|
||||
frewq = 0 ;
|
||||
else if (frewq > 5000) // Max 5KHz
|
||||
frewq = 5000 ;
|
||||
|
||||
frewqs [pin] = frewq ;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* softToneCreate:
|
||||
* Create a new tone thread.
|
||||
*********************************************************************************
|
||||
*/
|
||||
|
||||
int softToneCreate (int pin)
|
||||
{
|
||||
int res ;
|
||||
|
||||
pinMode (pin, OUTPUT) ;
|
||||
digitalWrite (pin, LOW) ;
|
||||
|
||||
frewqs [pin] = 0 ;
|
||||
|
||||
newPin = pin ;
|
||||
res = piThreadCreate (softToneThread) ;
|
||||
|
||||
while (newPin != -1)
|
||||
delay (1) ;
|
||||
|
||||
return res ;
|
||||
}
|
||||
@ -0,0 +1,38 @@
|
||||
/*
|
||||
* softTone.c:
|
||||
* For that authentic retro sound...
|
||||
* Er... A little experiment to produce tones out of a Pi using
|
||||
* one (or 2) GPIO pins and a piezeo "speaker" element.
|
||||
* (Or a high impedance speaker, but don'y blame me if you blow-up
|
||||
* the GPIO pins!)
|
||||
* Copyright (c) 2012 Gordon Henderson
|
||||
***********************************************************************
|
||||
* This file is part of wiringPi:
|
||||
* https://projects.drogon.net/raspberry-pi/wiringpi/
|
||||
*
|
||||
* wiringPi 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, either version 3 of the
|
||||
* License, or (at your option) any later version.
|
||||
*
|
||||
* wiringPi 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 wiringPi.
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
***********************************************************************
|
||||
*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
extern int softToneCreate (int pin) ;
|
||||
extern void softToneWrite (int pin, int frewq) ;
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
Loading…
Reference in new issue