1 files changed, 78 insertions, 0 deletions
diff --git a/src/pwmcmds.c b/src/pwmcmds.c
new file mode 100644
index 00000000..bc9fec03
--- /dev/null
+++ b/src/pwmcmds.c
@@ -0,0 +1,78 @@
+// Commands for controlling hardware based pulse-width-modulator pins
+//
+// Copyright (C) 2016  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include "basecmd.h" // alloc_oid
+#include "board/gpio.h" // struct gpio_pwm
+#include "command.h" // DECL_COMMAND
+#include "sched.h" // sched_timer
+
+struct pwm_out_s {
+    struct timer timer;
+    struct gpio_pwm pin;
+    uint32_t max_duration;
+    uint8_t value, default_value;
+};
+
+static uint8_t
+pwm_end_event(struct timer *timer)
+{
+    shutdown("Missed scheduling of next hard pwm event");
+}
+
+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 = pwm_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");