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$ sudo apt-get install cppcheck

Reading package lists... Done

Building dependency tree

Reading state information... Done

The following extra packages will be installed:

  libtinyxml2.6.2

The following NEW packages will be installed:

  cppcheck libtinyxml2.6.2

0 upgraded, 2 newly installed, 0 to remove and 81 not upgraded.

Need to get 604 kB of archives.

After this operation, 1,466 kB of additional disk space will be used.

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Get:1 http://archive.ubuntu.com/ubuntu/ precise/universe libtinyxml2.6.2 amd64 2                                      .6.2-1build1 [35.3 kB]

Get:2 http://archive.ubuntu.com/ubuntu/ precise/universe cppcheck amd64 1.52-1 [                                      569 kB]

Fetched 604 kB in 2s (225 kB/s)

Selecting previously unselected package libtinyxml2.6.2.

(Reading database ... 213921 files and directories currently installed.)

Unpacking libtinyxml2.6.2 (from .../libtinyxml2.6.2_2.6.2-1build1_amd64.deb) ...

Selecting previously unselected package cppcheck.

Unpacking cppcheck (from .../cppcheck_1.52-1_amd64.deb) ...

Processing triggers for man-db ...

Setting up libtinyxml2.6.2 (2.6.2-1build1) ...

Setting up cppcheck (1.52-1) ...

Processing triggers for libc-bin ...

ldconfig deferred processing now taking place 

Example usage:

  # Recursively check the current folder. Print the progress on the screen and

    write errors to a file:

    cppcheck . 2> err.txt

  # Recursively check ../myproject/ and don't print progress:

    cppcheck --quiet ../myproject/

  # Check only files one.cpp and two.cpp and give all information there is:

    cppcheck -v -s one.cpp two.cpp

  # Check f.cpp and search include files from inc1/ and inc2/:

    cppcheck -I inc1/ -I inc2/ f.cpp

For more information:

    http://cppcheck.sf.net/manual.pdf

$ g++ cv.cpp -lopencv_core -lopencv_video -lopencv_highgui -lwiringPi 

$ cat cv.cpp

#include <opencv2/core/core.hpp>

#include <opencv2/highgui/highgui.hpp>

#include <iostream>

#include <wiringPi.h>

#define MIN_POS 30

#define MAX_POS 110

using namespace cv;

using namespace std;

void init_wiringpi()

{

        if(wiringPiSetup() == -1) exit(0);

        pinMode(1, PWM_OUTPUT);

        pwmSetMode(PWM_MODE_MS);

//      pwmSetRange(1024);

//      pwmSetClock(400);

        pinMode(23, PWM_OUTPUT);

        pwmSetMode(PWM_MODE_MS);

        pwmSetRange(1024);

        pwmSetClock(400);

        pwmWrite(1,     MIN_POS + (MAX_POS - MIN_POS) / 2);

        pwmWrite(23,    MIN_POS + (MAX_POS - MIN_POS) / 2);

}

void setPWM_1(int val)

{

        pwmWrite(23, val);

}

void setPWM_2(int val)

{

        pwmWrite(1, val);

}

void on_trackbar_1(int pos, void *ptr)

{

        int val = MIN_POS + pos * (MAX_POS - MIN_POS) / 100;

        setPWM_1(val);

        cout << "pos 1 [" << pos << ":" << val << "]" << endl;

}

void on_trackbar_2(int pos, void *ptr)

{

        int val = MIN_POS + pos * (MAX_POS - MIN_POS) / 100;

        setPWM_2(val);

        cout << "pos 2 [" << pos << ":" << val << "]" << endl;

}

void on_trackbar_3(int pos, void *ptr)

{

        int val = MIN_POS + pos * (MAX_POS - MIN_POS) / 100;

//      setPWM_1(val);

//      setPWM_2(val);

        setTrackbarPos("track 1", "cam 1", pos);

        setTrackbarPos("track 2", "cam 2", pos);

        cout << "pos 3 [" << pos << ":" << val << "]" << endl;

}

int main(int argc, char** argv)

{

        // opencv 2 style

        VideoCapture cap(0);

        int pos[2];

        init_wiringpi();

        if(!cap.isOpened())

        {

                cout << "No camera detected" << endl;

                return -1;

        }

        else

        {

                cout << "In capture ..." << endl;

                cap.set(CV_CAP_PROP_FRAME_WIDTH, 320);

                cap.set(CV_CAP_PROP_FRAME_HEIGHT, 240);

        }

        VideoCapture cap2(1);

        if(!cap2.isOpened())

        {

                cout << "No camera detected" << endl;

                return -1;

        }

        else

        {

                cout << "In capture ..." << endl;

                cap2.set(CV_CAP_PROP_FRAME_WIDTH, 320);

                cap2.set(CV_CAP_PROP_FRAME_HEIGHT, 240);

        }

        namedWindow("cam 1", WINDOW_AUTOSIZE );

        namedWindow("cam 2", WINDOW_AUTOSIZE );

        namedWindow("control", WINDOW_AUTOSIZE );

        createTrackbar("track 1", "cam 1", &pos[0], 100, on_trackbar_1 );

        createTrackbar("track 2", "cam 2", &pos[1], 100, on_trackbar_2 );

        createTrackbar("track 3", "control", &pos[0], 100, on_trackbar_3 );

        setTrackbarPos("track 1", "cam 1", 50);

        setTrackbarPos("track 2", "cam 2", 50);

        setTrackbarPos("track 3", "control", 50);

        for(;;)

        {

                Mat frame;

                if(!cap.read(frame)) break;

                imshow("cam 1", frame);

                if(!cap2.read(frame)) break;

                imshow("cam 2", frame);

                if(waitKey(30) >= 0) break;

        }

        return 0;

} 

 +-----+-----+---------+------+---+---Pi 2---+---+------+---------+-----+-----+

 | BCM | wPi |   Name  | Mode | V | Physical | V | Mode | Name    | wPi | BCM |

 +-----+-----+---------+------+---+----++----+---+------+---------+-----+-----+

 |     |     |    3.3v |      |   |  1 || 2  |   |      | 5v      |     |     |

 |   2 |   8 |   SDA.1 |   IN | 1 |  3 || 4  |   |      | 5V      |     |     |

 |   3 |   9 |   SCL.1 |   IN | 1 |  5 || 6  |   |      | 0v      |     |     |

 |   4 |   7 | GPIO. 7 |   IN | 1 |  7 || 8  | 1 | ALT0 | TxD     | 15  | 14  |

 |     |     |      0v |      |   |  9 || 10 | 1 | ALT0 | RxD     | 16  | 15  |

 |  17 |   0 | GPIO. 0 |   IN | 0 | 11 || 12 | 0 | IN   | GPIO. 1 | 1   | 18  |

 |  27 |   2 | GPIO. 2 |   IN | 0 | 13 || 14 |   |      | 0v      |     |     |

 |  22 |   3 | GPIO. 3 |   IN | 0 | 15 || 16 | 0 | IN   | GPIO. 4 | 4   | 23  |

 |     |     |    3.3v |      |   | 17 || 18 | 0 | IN   | GPIO. 5 | 5   | 24  |

 |  10 |  12 |    MOSI |   IN | 0 | 19 || 20 |   |      | 0v      |     |     |

 |   9 |  13 |    MISO |   IN | 0 | 21 || 22 | 0 | IN   | GPIO. 6 | 6   | 25  |

 |  11 |  14 |    SCLK |   IN | 0 | 23 || 24 | 1 | IN   | CE0     | 10  | 8   |

 |     |     |      0v |      |   | 25 || 26 | 1 | IN   | CE1     | 11  | 7   |

 |   0 |  30 |   SDA.0 |   IN | 1 | 27 || 28 | 1 | IN   | SCL.0   | 31  | 1   |

 |   5 |  21 | GPIO.21 |   IN | 1 | 29 || 30 |   |      | 0v      |     |     |

 |   6 |  22 | GPIO.22 |   IN | 1 | 31 || 32 | 0 | IN   | GPIO.26 | 26  | 12  |

 |  13 |  23 | GPIO.23 |   IN | 0 | 33 || 34 |   |      | 0v      |     |     |

 |  19 |  24 | GPIO.24 |   IN | 0 | 35 || 36 | 0 | IN   | GPIO.27 | 27  | 16  |

 |  26 |  25 | GPIO.25 |   IN | 0 | 37 || 38 | 0 | IN   | GPIO.28 | 28  | 20  |

 |     |     |      0v |      |   | 39 || 40 | 0 | IN   | GPIO.29 | 29  | 21  |

 +-----+-----+---------+------+---+----++----+---+------+---------+-----+-----+

 | BCM | wPi |   Name  | Mode | V | Physical | V | Mode | Name    | wPi | BCM |

 +-----+-----+---------+------+---+---Pi 2---+---+------+---------+-----+-----+

PWM Control

PWM can not be controlled when running in Sys mode.

• pwmSetMode (int mode) ;

The PWM generator can run in 2 modes – “balanced” and “mark:space”. The mark:space mode is traditional, however the default mode in the Pi is “balanced”. You can switch modes by supplying the parameter: PWM_MODE_BAL or PWM_MODE_MS.

• pwmSetRange (unsigned int range) ;

This sets the range register in the PWM generator. The default is 1024.

• pwmSetClock (int divisor) ;

This sets the divisor for the PWM clock.

To understand more about the PWM system, you’ll need to read the Broadcom ARM peripherals manual.

[링크 : https://projects.drogon.net/raspberry-pi/wiringpi/functions/]