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// 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" // oid_alloc
#include "board/gpio.h" // struct gpio_pwm
#include "command.h" // DECL_COMMAND
#include "sched.h" // sched_add_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 = oid_alloc(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=%hu"
" max_duration=%u");
void
command_schedule_pwm_out(uint32_t *args)
{
struct pwm_out_s *p = oid_lookup(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_add_timer(&p->timer);
}
DECL_COMMAND(command_schedule_pwm_out,
"schedule_pwm_out oid=%c clock=%u value=%hu");
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=%hu");
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