Initial commit of source code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 401 insertions, 0 deletions

diff --git a/src/gpiocmds.c b/src/gpiocmds.c
new file mode 100644
index 00000000..ff03dfd1
--- /dev/null
+++ b/src/gpiocmds.c
@@ -0,0 +1,401 @@
+// Commands for controlling GPIO pins
+//
+// Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include <stddef.h> // offsetof
+#include "basecmd.h" // alloc_oid
+#include "board/gpio.h" // struct gpio
+#include "board/irq.h" // irq_save
+#include "command.h" // DECL_COMMAND
+#include "sched.h" // DECL_TASK
+
+
+/****************************************************************
+ * Digital out pins
+ ****************************************************************/
+
+struct digital_out_s {
+    struct timer timer;
+    struct gpio_out pin;
+    uint32_t max_duration;
+    uint8_t value, default_value;
+};
+
+static uint8_t
+digital_end_event(struct timer *timer)
+{
+    shutdown("Missed scheduling of next pin event");
+}
+
+static uint8_t
+digital_out_event(struct timer *timer)
+{
+    struct digital_out_s *d = container_of(timer, struct digital_out_s, timer);
+    gpio_out_write(d->pin, d->value);
+    if (d->value == d->default_value || !d->max_duration)
+        return SF_DONE;
+    d->timer.waketime += d->max_duration;
+    d->timer.func = digital_end_event;
+    return SF_RESCHEDULE;
+}
+
+void
+command_config_digital_out(uint32_t *args)
+{
+    struct digital_out_s *d = alloc_oid(args[0], command_config_digital_out
+                                        , sizeof(*d));
+    d->default_value = args[2];
+    d->pin = gpio_out_setup(args[1], d->default_value);
+    d->max_duration = args[3];
+}
+DECL_COMMAND(command_config_digital_out,
+             "config_digital_out oid=%c pin=%u default_value=%c"
+             " max_duration=%u");
+
+void
+command_schedule_digital_out(uint32_t *args)
+{
+    struct digital_out_s *d = lookup_oid(args[0], command_config_digital_out);
+    sched_del_timer(&d->timer);
+    d->timer.func = digital_out_event;
+    d->timer.waketime = args[1];
+    d->value = args[2];
+    sched_timer(&d->timer);
+}
+DECL_COMMAND(command_schedule_digital_out,
+             "schedule_digital_out oid=%c clock=%u value=%c");
+
+static void
+digital_out_shutdown(void)
+{
+    uint8_t i;
+    struct digital_out_s *d;
+    foreach_oid(i, d, command_config_digital_out) {
+        gpio_out_write(d->pin, d->default_value);
+    }
+}
+DECL_SHUTDOWN(digital_out_shutdown);
+
+void
+command_set_digital_out(uint32_t *args)
+{
+    gpio_out_setup(args[0], args[1]);
+}
+DECL_COMMAND(command_set_digital_out, "set_digital_out pin=%u value=%c");
+
+
+/****************************************************************
+ * Hardware PWM pins
+ ****************************************************************/
+
+struct pwm_out_s {
+    struct timer timer;
+    struct gpio_pwm pin;
+    uint32_t max_duration;
+    uint8_t value, default_value;
+};
+
+static uint8_t
+pwm_event(struct timer *timer)
+{
+    struct pwm_out_s *p = container_of(timer, struct pwm_out_s, timer);
+    gpio_pwm_write(p->pin, p->value);
+    if (p->value == p->default_value || !p->max_duration)
+        return SF_DONE;
+    p->timer.waketime += p->max_duration;
+    p->timer.func = digital_end_event;
+    return SF_RESCHEDULE;
+}
+
+void
+command_config_pwm_out(uint32_t *args)
+{
+    struct pwm_out_s *p = alloc_oid(args[0], command_config_pwm_out, sizeof(*p));
+    p->default_value = args[3];
+    p->pin = gpio_pwm_setup(args[1], args[2], p->default_value);
+    p->max_duration = args[4];
+}
+DECL_COMMAND(command_config_pwm_out,
+             "config_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c"
+             " max_duration=%u");
+
+void
+command_schedule_pwm_out(uint32_t *args)
+{
+    struct pwm_out_s *p = lookup_oid(args[0], command_config_pwm_out);
+    sched_del_timer(&p->timer);
+    p->timer.func = pwm_event;
+    p->timer.waketime = args[1];
+    p->value = args[2];
+    sched_timer(&p->timer);
+}
+DECL_COMMAND(command_schedule_pwm_out,
+             "schedule_pwm_out oid=%c clock=%u value=%c");
+
+static void
+pwm_shutdown(void)
+{
+    uint8_t i;
+    struct pwm_out_s *p;
+    foreach_oid(i, p, command_config_pwm_out) {
+        gpio_pwm_write(p->pin, p->default_value);
+    }
+}
+DECL_SHUTDOWN(pwm_shutdown);
+
+void
+command_set_pwm_out(uint32_t *args)
+{
+    gpio_pwm_setup(args[0], args[1], args[2]);
+}
+DECL_COMMAND(command_set_pwm_out, "set_pwm_out pin=%u cycle_ticks=%u value=%c");
+
+
+/****************************************************************
+ * Soft PWM output pins
+ ****************************************************************/
+
+struct soft_pwm_s {
+    struct timer timer;
+    uint32_t on_duration, off_duration, end_time;
+    uint32_t next_on_duration, next_off_duration;
+    uint32_t max_duration, cycle_time, pulse_time;
+    struct gpio_out pin;
+    uint8_t default_value, flags;
+};
+
+enum {
+    SPF_ON=1<<0, SPF_TOGGLING=1<<1, SPF_CHECK_END=1<<2, SPF_HAVE_NEXT=1<<3,
+    SPF_NEXT_ON=1<<4, SPF_NEXT_TOGGLING=1<<5, SPF_NEXT_CHECK_END=1<<6,
+};
+
+static uint8_t soft_pwm_load_event(struct timer *timer);
+
+// Normal pulse change event
+static uint8_t
+soft_pwm_toggle_event(struct timer *timer)
+{
+    struct soft_pwm_s *s = container_of(timer, struct soft_pwm_s, timer);
+    gpio_out_toggle(s->pin);
+    s->flags ^= SPF_ON;
+    uint32_t waketime = s->timer.waketime;
+    if (s->flags & SPF_ON)
+        waketime += s->on_duration;
+    else
+        waketime += s->off_duration;
+    if (s->flags & SPF_CHECK_END && !sched_is_before(waketime, s->end_time)) {
+        // End of normal pulsing - next event loads new pwm settings
+        s->timer.func = soft_pwm_load_event;
+        waketime = s->end_time;
+    }
+    s->timer.waketime = waketime;
+    return SF_RESCHEDULE;
+}
+
+// Load next pwm settings
+static uint8_t
+soft_pwm_load_event(struct timer *timer)
+{
+    struct soft_pwm_s *s = container_of(timer, struct soft_pwm_s, timer);
+    if (!(s->flags & SPF_HAVE_NEXT))
+        shutdown("Missed scheduling of next pwm event");
+    uint8_t flags = s->flags >> 4;
+    s->flags = flags;
+    gpio_out_write(s->pin, flags & SPF_ON);
+    if (!(flags & SPF_TOGGLING)) {
+        // Pin is in an always on (value=255) or always off (value=0) state
+        if (!(flags & SPF_CHECK_END))
+            return SF_DONE;
+        s->timer.waketime = s->end_time = s->end_time + s->max_duration;
+        return SF_RESCHEDULE;
+    }
+    // Schedule normal pin toggle timer events
+    s->timer.func = soft_pwm_toggle_event;
+    s->off_duration = s->next_off_duration;
+    s->on_duration = s->next_on_duration;
+    s->timer.waketime = s->end_time + s->on_duration;
+    s->end_time += s->max_duration;
+    return SF_RESCHEDULE;
+}
+
+void
+command_config_soft_pwm_out(uint32_t *args)
+{
+    struct soft_pwm_s *s = alloc_oid(args[0], command_config_soft_pwm_out
+                                     , sizeof(*s));
+    s->cycle_time = args[2];
+    s->pulse_time = s->cycle_time / 255;
+    s->default_value = !!args[3];
+    s->max_duration = args[4];
+    s->flags = s->default_value ? SPF_ON : 0;
+    s->pin = gpio_out_setup(args[1], s->default_value);
+}
+DECL_COMMAND(command_config_soft_pwm_out,
+             "config_soft_pwm_out oid=%c pin=%u cycle_ticks=%u default_value=%c"
+             " max_duration=%u");
+
+void
+command_schedule_soft_pwm_out(uint32_t *args)
+{
+    struct soft_pwm_s *s = lookup_oid(args[0], command_config_soft_pwm_out);
+    uint32_t time = args[1];
+    uint8_t value = args[2];
+    uint8_t next_flags = SPF_CHECK_END | SPF_HAVE_NEXT;
+    uint32_t next_on_duration, next_off_duration;
+    if (value == 0 || value == 255) {
+        next_on_duration = next_off_duration = 0;
+        next_flags |= value ? SPF_NEXT_ON : 0;
+        if (!!value != s->default_value && s->max_duration)
+            next_flags |= SPF_NEXT_CHECK_END;
+    } else {
+        next_on_duration = s->pulse_time * value;
+        next_off_duration = s->cycle_time - next_on_duration;
+        next_flags |= SPF_NEXT_ON | SPF_NEXT_TOGGLING;
+        if (s->max_duration)
+            next_flags |= SPF_NEXT_CHECK_END;
+    }
+    uint8_t flag = irq_save();
+    if (s->flags & SPF_CHECK_END && sched_is_before(s->end_time, time))
+        shutdown("next soft pwm extends existing pwm");
+    s->end_time = time;
+    s->next_on_duration = next_on_duration;
+    s->next_off_duration = next_off_duration;
+    s->flags |= next_flags;
+    if (s->flags & SPF_TOGGLING && sched_is_before(s->timer.waketime, time)) {
+        // soft_pwm_toggle_event() will schedule a load event when ready
+    } else {
+        // Schedule the loading of the pwm parameters at the requested time
+        sched_del_timer(&s->timer);
+        s->timer.waketime = time;
+        s->timer.func = soft_pwm_load_event;
+        sched_timer(&s->timer);
+    }
+    irq_restore(flag);
+}
+DECL_COMMAND(command_schedule_soft_pwm_out,
+             "schedule_soft_pwm_out oid=%c clock=%u value=%c");
+
+static void
+soft_pwm_shutdown(void)
+{
+    uint8_t i;
+    struct soft_pwm_s *s;
+    foreach_oid(i, s, command_config_soft_pwm_out) {
+        gpio_out_write(s->pin, s->default_value);
+        s->flags = s->default_value ? SPF_ON : 0;
+    }
+}
+DECL_SHUTDOWN(soft_pwm_shutdown);
+
+
+/****************************************************************
+ * Analog input pins
+ ****************************************************************/
+
+struct analog_in {
+    struct timer timer;
+    uint32_t rest_time, sample_time, next_begin_time;
+    uint16_t value, min_value, max_value;
+    struct gpio_adc pin;
+    uint8_t state, sample_count;
+};
+
+static uint8_t
+analog_in_event(struct timer *timer)
+{
+    struct analog_in *a = container_of(timer, struct analog_in, timer);
+    if (gpio_adc_sample(a->pin)) {
+        a->timer.waketime += gpio_adc_sample_time();
+        return SF_RESCHEDULE;
+    }
+    uint16_t value = gpio_adc_read(a->pin);
+    uint8_t state = a->state;
+    if (state >= a->sample_count) {
+        state = 0;
+    } else {
+        value += a->value;
+    }
+    a->value = value;
+    a->state = state+1;
+    if (a->state < a->sample_count) {
+        a->timer.waketime += a->sample_time;
+        return SF_RESCHEDULE;
+    }
+    if (a->value < a->min_value || a->value > a->max_value)
+        shutdown("adc out of range");
+    a->next_begin_time += a->rest_time;
+    a->timer.waketime = a->next_begin_time;
+    return SF_RESCHEDULE;
+}
+
+void
+command_config_analog_in(uint32_t *args)
+{
+    struct analog_in *a = alloc_oid(
+        args[0], command_config_analog_in, sizeof(*a));
+    a->timer.func = analog_in_event;
+    a->pin = gpio_adc_setup(args[1]);
+    a->state = 1;
+}
+DECL_COMMAND(command_config_analog_in, "config_analog_in oid=%c pin=%u");
+
+void
+command_query_analog_in(uint32_t *args)
+{
+    struct analog_in *a = lookup_oid(args[0], command_config_analog_in);
+    sched_del_timer(&a->timer);
+    gpio_adc_clear_sample(a->pin);
+    a->next_begin_time = args[1];
+    a->timer.waketime = a->next_begin_time;
+    a->sample_time = args[2];
+    a->sample_count = args[3];
+    a->state = a->sample_count + 1;
+    a->rest_time = args[4];
+    a->min_value = args[5];
+    a->max_value = args[6];
+    if (! a->sample_count)
+        return;
+    sched_timer(&a->timer);
+}
+DECL_COMMAND(command_query_analog_in,
+             "query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c"
+             " rest_ticks=%u min_value=%hu max_value=%hu");
+
+static void
+analog_in_task(void)
+{
+    static uint16_t next;
+    if (!sched_check_periodic(3, &next))
+        return;
+    uint8_t oid;
+    struct analog_in *a;
+    foreach_oid(oid, a, command_config_analog_in) {
+        if (a->state != a->sample_count)
+            continue;
+        uint8_t flag = irq_save();
+        if (a->state != a->sample_count) {
+            irq_restore(flag);
+            continue;
+        }
+        uint16_t value = a->value;
+        uint32_t next_begin_time = a->next_begin_time;
+        a->state++;
+        irq_restore(flag);
+        sendf("analog_in_state oid=%c next_clock=%u value=%hu"
+              , oid, next_begin_time, value);
+    }
+}
+DECL_TASK(analog_in_task);
+
+static void
+analog_in_shutdown(void)
+{
+    uint8_t i;
+    struct analog_in *a;
+    foreach_oid(i, a, command_config_analog_in) {
+        gpio_adc_clear_sample(a->pin);
+    }
+}
+DECL_SHUTDOWN(analog_in_shutdown);