diff options
Diffstat (limited to 'peripheral/libmraa/src/pwm/pwm.c')
| -rw-r--r-- | peripheral/libmraa/src/pwm/pwm.c | 289 |
1 files changed, 110 insertions, 179 deletions
diff --git a/peripheral/libmraa/src/pwm/pwm.c b/peripheral/libmraa/src/pwm/pwm.c index 43a5ba4..f8decce 100644 --- a/peripheral/libmraa/src/pwm/pwm.c +++ b/peripheral/libmraa/src/pwm/pwm.c @@ -27,8 +27,6 @@ #include <sys/stat.h> #include <unistd.h> #include <limits.h> -#include <errno.h> -#include <string.h> #include "pwm.h" #include "mraa_internal.h" @@ -52,11 +50,6 @@ mraa_pwm_setup_duty_fp(mraa_pwm_context dev) static mraa_result_t mraa_pwm_write_period(mraa_pwm_context dev, int period) { - if (!dev) { - syslog(LOG_ERR, "pwm: write_period: context is NULL"); - return MRAA_ERROR_INVALID_HANDLE; - } - if (IS_FUNC_DEFINED(dev, pwm_period_replace)) { mraa_result_t result = dev->advance_func->pwm_period_replace(dev, period); if (result == MRAA_SUCCESS) { @@ -69,14 +62,13 @@ mraa_pwm_write_period(mraa_pwm_context dev, int period) int period_f = open(bu, O_RDWR); if (period_f == -1) { - syslog(LOG_ERR, "pwm%i write_period: Failed to open period for writing: %s", dev->pin, strerror(errno)); + syslog(LOG_ERR, "pwm: Failed to open period for writing"); return MRAA_ERROR_INVALID_RESOURCE; } char out[MAX_SIZE]; int length = snprintf(out, MAX_SIZE, "%d", period); if (write(period_f, out, length * sizeof(char)) == -1) { close(period_f); - syslog(LOG_ERR, "pwm%i write_period: Failed to write to period: %s", dev->pin, strerror(errno)); return MRAA_ERROR_INVALID_RESOURCE; } @@ -88,67 +80,48 @@ mraa_pwm_write_period(mraa_pwm_context dev, int period) static mraa_result_t mraa_pwm_write_duty(mraa_pwm_context dev, int duty) { - if (!dev) { - syslog(LOG_ERR, "pwm: write_duty: context is NULL"); - return MRAA_ERROR_INVALID_HANDLE; - } - - if (IS_FUNC_DEFINED(dev, pwm_write_replace)) { - return dev->advance_func->pwm_write_replace(dev, duty); - } if (dev->duty_fp == -1) { if (mraa_pwm_setup_duty_fp(dev) == 1) { - syslog(LOG_ERR, "pwm%i write_duty: Failed to open duty_cycle for writing: %s", dev->pin, strerror(errno)); - return MRAA_ERROR_INVALID_RESOURCE; + return MRAA_ERROR_INVALID_HANDLE; } } char bu[64]; int length = sprintf(bu, "%d", duty); if (write(dev->duty_fp, bu, length * sizeof(char)) == -1) - { - syslog(LOG_ERR, "pwm%i write_duty: Failed to write to duty_cycle: %s", dev->pin, strerror(errno)); return MRAA_ERROR_INVALID_RESOURCE; - } return MRAA_SUCCESS; } static int mraa_pwm_read_period(mraa_pwm_context dev) { - if (!dev) { - syslog(LOG_ERR, "pwm: read_period: context is NULL"); - return MRAA_ERROR_INVALID_HANDLE; - } - - if (IS_FUNC_DEFINED(dev, pwm_read_replace)) { - return dev->period; - } - char bu[MAX_SIZE]; char output[MAX_SIZE]; snprintf(bu, MAX_SIZE, "/sys/class/pwm/pwmchip%d/pwm%d/period", dev->chipid, dev->pin); int period_f = open(bu, O_RDWR); if (period_f == -1) { - syslog(LOG_ERR, "pwm%i read_period: Failed to open period for reading: %s", dev->pin, strerror(errno)); + syslog(LOG_ERR, "pwm: Failed to open period for reading"); return 0; } + off_t size = lseek(period_f, 0, SEEK_END); + lseek(period_f, 0, SEEK_SET); - ssize_t rb = read(period_f, output, MAX_SIZE); + ssize_t rb = read(period_f, output, size + 1); close(period_f); if (rb < 0) { - syslog(LOG_ERR, "pwm%i read_period: Failed to read period: %s", dev->pin, strerror(errno)); + syslog(LOG_ERR, "pwm: Error in reading period"); return -1; } char* endptr; long int ret = strtol(output, &endptr, 10); if ('\0' != *endptr && '\n' != *endptr) { - syslog(LOG_ERR, "pwm%i read_period: Error in string conversion", dev->pin); + syslog(LOG_ERR, "pwm: Error in string conversion"); return -1; } else if (ret > INT_MAX || ret < INT_MIN) { - syslog(LOG_ERR, "pwm%i read_period: Number is invalid", dev->pin); + syslog(LOG_ERR, "pwm: Number is invalid"); return -1; } dev->period = (int) ret; @@ -158,39 +131,29 @@ mraa_pwm_read_period(mraa_pwm_context dev) static int mraa_pwm_read_duty(mraa_pwm_context dev) { - if (!dev) { - syslog(LOG_ERR, "pwm: read_duty: context is NULL"); - return MRAA_ERROR_INVALID_HANDLE; - } - - if (IS_FUNC_DEFINED(dev, pwm_read_replace)) { - return dev->advance_func->pwm_read_replace(dev); - } - if (dev->duty_fp == -1) { if (mraa_pwm_setup_duty_fp(dev) == 1) { - syslog(LOG_ERR, "pwm%i read_duty: Failed to open duty_cycle for reading: %s", - dev->pin, strerror(errno)); - return -1; + return MRAA_ERROR_INVALID_HANDLE; } } else { lseek(dev->duty_fp, 0, SEEK_SET); } - + off_t size = lseek(dev->duty_fp, 0, SEEK_END); + lseek(dev->duty_fp, 0, SEEK_SET); char output[MAX_SIZE]; - ssize_t rb = read(dev->duty_fp, output, MAX_SIZE); + ssize_t rb = read(dev->duty_fp, output, size + 1); if (rb < 0) { - syslog(LOG_ERR, "pwm%i read_duty: Failed to read duty_cycle: %s", dev->pin, strerror(errno)); + syslog(LOG_ERR, "pwm: Error in reading duty"); return -1; } char* endptr; long int ret = strtol(output, &endptr, 10); if ('\0' != *endptr && '\n' != *endptr) { - syslog(LOG_ERR, "pwm%i read_duty: Error in string conversion", dev->pin); + syslog(LOG_ERR, "pwm: Error in string converstion"); return -1; } else if (ret > INT_MAX || ret < INT_MIN) { - syslog(LOG_ERR, "pwm%i read_duty: Number is invalid", dev->pin); + syslog(LOG_ERR, "pwm: Number is invalid"); return -1; } return (int) ret; @@ -215,75 +178,66 @@ mraa_pwm_init_internal(mraa_adv_func_t* func_table, int chipin, int pin) mraa_pwm_context mraa_pwm_init(int pin) { - mraa_board_t* board = plat; - if (board == NULL) { - syslog(LOG_ERR, "pwm_init: Platform Not Initialised"); + if (plat == NULL) { + syslog(LOG_ERR, "pwm: Platform Not Initialised"); return NULL; } if (mraa_is_sub_platform_id(pin)) { - syslog(LOG_NOTICE, "pwm_init: Using sub platform"); - board = board->sub_platform; - if (board == NULL) { - syslog(LOG_ERR, "pwm_init: Sub platform Not Initialised"); - return NULL; - } - pin = mraa_get_sub_platform_index(pin); + syslog(LOG_NOTICE, "pwm: Using sub platform is not supported"); + return NULL; } - if (pin < 0 || pin > board->phy_pin_count) { - syslog(LOG_ERR, "pwm_init: pin %i beyond platform definition", pin); + if (pin < 0 || pin > plat->phy_pin_count) { + syslog(LOG_ERR, "pwm: pin %i beyond platform definition", pin); return NULL; } - if (board->pins[pin].capabilites.pwm != 1) { - syslog(LOG_ERR, "pwm_init: pin %i not capable of pwm", pin); + if (plat->pins[pin].capabilites.pwm != 1) { + syslog(LOG_ERR, "pwm: pin not capable of pwm"); return NULL; } - if (board->adv_func->pwm_init_replace != NULL) { - return board->adv_func->pwm_init_replace(pin); + if (plat->adv_func->pwm_init_replace != NULL) { + return plat->adv_func->pwm_init_replace(pin); } - if (board->adv_func->pwm_init_internal_replace != NULL) { - return board->adv_func->pwm_init_internal_replace(board->adv_func, pin); - } - if (board->adv_func->pwm_init_pre != NULL) { - if (board->adv_func->pwm_init_pre(pin) != MRAA_SUCCESS) + if (plat->adv_func->pwm_init_pre != NULL) { + if (plat->adv_func->pwm_init_pre(pin) != MRAA_SUCCESS) return NULL; } - if (board->pins[pin].capabilites.gpio == 1) { + if (plat->pins[pin].capabilites.gpio == 1) { // This deserves more investigation mraa_gpio_context mux_i; - mux_i = mraa_gpio_init_raw(board->pins[pin].gpio.pinmap); + mux_i = mraa_gpio_init_raw(plat->pins[pin].gpio.pinmap); if (mux_i == NULL) { - syslog(LOG_ERR, "pwm_init: error in gpio->pwm%i transition. gpio_init", pin); + syslog(LOG_ERR, "pwm: error in gpio->pwm transition"); return NULL; } if (mraa_gpio_dir(mux_i, MRAA_GPIO_OUT) != MRAA_SUCCESS) { - syslog(LOG_ERR, "pwm_init: error in gpio->pwm%i transition. gpio_dir", pin); + syslog(LOG_ERR, "pwm: error in gpio->pwm transition"); return NULL; } if (mraa_gpio_write(mux_i, 1) != MRAA_SUCCESS) { - syslog(LOG_ERR, "pwm_init: error in gpio->pwm%i transition. gpio_write", pin); + syslog(LOG_ERR, "pwm: error in gpio->pwm transition"); return NULL; } if (mraa_gpio_close(mux_i) != MRAA_SUCCESS) { - syslog(LOG_ERR, "pwm_init: error in gpio->pwm%i transition. gpio_close", pin); + syslog(LOG_ERR, "pwm: error in gpio->pwm transition"); return NULL; } } - if (board->pins[pin].pwm.mux_total > 0) { - if (mraa_setup_mux_mapped(board->pins[pin].pwm) != MRAA_SUCCESS) { - syslog(LOG_ERR, "pwm_init: Failed to set-up pwm%i multiplexer", pin); + if (plat->pins[pin].pwm.mux_total > 0) { + if (mraa_setup_mux_mapped(plat->pins[pin].pwm) != MRAA_SUCCESS) { + syslog(LOG_ERR, "pwm: Failed to set-up multiplexer"); return NULL; } } - int chip = board->pins[pin].pwm.parent_id; - int pinn = board->pins[pin].pwm.pinmap; + int chip = plat->pins[pin].pwm.parent_id; + int pinn = plat->pins[pin].pwm.pinmap; - if (board->adv_func->pwm_init_post != NULL) { + if (plat->adv_func->pwm_init_post != NULL) { mraa_pwm_context pret = mraa_pwm_init_raw(chip, pinn); - mraa_result_t ret = board->adv_func->pwm_init_post(pret); + mraa_result_t ret = plat->adv_func->pwm_init_post(pret); if (ret != MRAA_SUCCESS) { free(pret); return NULL; @@ -304,14 +258,14 @@ mraa_pwm_init_raw(int chipin, int pin) snprintf(directory, MAX_SIZE, SYSFS_PWM "/pwmchip%d/pwm%d", dev->chipid, dev->pin); struct stat dir; if (stat(directory, &dir) == 0 && S_ISDIR(dir.st_mode)) { - syslog(LOG_NOTICE, "pwm_init: pwm%i already exported, continuing", pin); + syslog(LOG_NOTICE, "pwm: Pin already exported, continuing"); dev->owner = 0; // Not Owner } else { char buffer[MAX_SIZE]; snprintf(buffer, MAX_SIZE, "/sys/class/pwm/pwmchip%d/export", dev->chipid); int export_f = open(buffer, O_WRONLY); if (export_f == -1) { - syslog(LOG_ERR, "pwm_init: pwm%i. Failed to open export for writing: %s", pin, strerror(errno)); + syslog(LOG_ERR, "pwm: Failed to open export for writing"); free(dev); return NULL; } @@ -319,7 +273,7 @@ mraa_pwm_init_raw(int chipin, int pin) char out[MAX_SIZE]; int size = snprintf(out, MAX_SIZE, "%d", dev->pin); if (write(export_f, out, size * sizeof(char)) == -1) { - syslog(LOG_WARNING, "pwm_init: pwm%i. Failed to write to export! (%s) Potentially already in use.", pin, strerror(errno)); + syslog(LOG_WARNING, "pwm: Failed to write to export! Potentially already enabled"); close(export_f); free(dev); return NULL; @@ -335,25 +289,13 @@ mraa_pwm_init_raw(int chipin, int pin) mraa_result_t mraa_pwm_write(mraa_pwm_context dev, float percentage) { - if (!dev) { - syslog(LOG_ERR, "pwm: write: context is NULL"); - return MRAA_ERROR_INVALID_HANDLE; - } - - if (IS_FUNC_DEFINED(dev, pwm_write_pre)) { - if (dev->advance_func->pwm_write_pre(dev, percentage) != MRAA_SUCCESS) { - syslog(LOG_ERR, "mraa_pwm_write (pwm%i): pwm_write_pre failed, see syslog", dev->pin); - return MRAA_ERROR_UNSPECIFIED; - } - } - if (dev->period == -1) { if (mraa_pwm_read_period(dev) <= 0) return MRAA_ERROR_NO_DATA_AVAILABLE; } if (percentage > 1.0f) { - syslog(LOG_WARNING, "pwm_write: %i%% entered, defaulting to 100%%",(int) percentage * 100); + syslog(LOG_WARNING, "pwm: number greater than 1 entered, defaulting to 100%%"); return mraa_pwm_write_duty(dev, dev->period); } return mraa_pwm_write_duty(dev, percentage * dev->period); @@ -362,11 +304,6 @@ mraa_pwm_write(mraa_pwm_context dev, float percentage) float mraa_pwm_read(mraa_pwm_context dev) { - if (!dev) { - syslog(LOG_ERR, "pwm: read: context is NULL"); - return MRAA_ERROR_INVALID_HANDLE; - } - int period = mraa_pwm_read_period(dev); if (period > 0) { return (mraa_pwm_read_duty(dev) / (float) period); @@ -389,22 +326,8 @@ mraa_pwm_period_ms(mraa_pwm_context dev, int ms) mraa_result_t mraa_pwm_period_us(mraa_pwm_context dev, int us) { - int min, max; - - if (!dev) { - syslog(LOG_ERR, "pwm: period: context is NULL"); - return MRAA_ERROR_INVALID_HANDLE; - } - - if (mraa_is_sub_platform_id(dev->chipid)) { - min = plat->sub_platform->pwm_min_period; - max = plat->sub_platform->pwm_max_period; - } else { - min = plat->pwm_min_period; - max = plat->pwm_max_period; - } - if (us < min || us > max) { - syslog(LOG_ERR, "pwm_period: pwm%i: %i uS outside platform range", dev->pin, us); + if (us < plat->pwm_min_period || us > plat->pwm_max_period) { + syslog(LOG_ERR, "pwm: period value outside platform range"); return MRAA_ERROR_INVALID_PARAMETER; } return mraa_pwm_write_period(dev, us * 1000); @@ -431,37 +354,27 @@ mraa_pwm_pulsewidth_us(mraa_pwm_context dev, int us) mraa_result_t mraa_pwm_enable(mraa_pwm_context dev, int enable) { - if (!dev) { - syslog(LOG_ERR, "pwm: enable: context is NULL"); - return MRAA_ERROR_INVALID_HANDLE; - } - - if (IS_FUNC_DEFINED(dev, pwm_enable_replace)) { - return dev->advance_func->pwm_enable_replace(dev, enable); - } - - if (IS_FUNC_DEFINED(dev, pwm_enable_pre)) { - if (dev->advance_func->pwm_enable_pre(dev, enable) != MRAA_SUCCESS) { - syslog(LOG_ERR, "mraa_pwm_enable (pwm%i): pwm_enable_pre failed, see syslog", dev->pin); - return MRAA_ERROR_UNSPECIFIED; - } + int status; + if (enable != 0) { + status = 1; + } else { + status = enable; } - char bu[MAX_SIZE]; snprintf(bu, MAX_SIZE, "/sys/class/pwm/pwmchip%d/pwm%d/enable", dev->chipid, dev->pin); int enable_f = open(bu, O_RDWR); if (enable_f == -1) { - syslog(LOG_ERR, "pwm_enable: pwm%i: Failed to open enable for writing: %s", dev->pin, strerror(errno)); + syslog(LOG_ERR, "pwm: Failed to open enable for writing"); return MRAA_ERROR_INVALID_RESOURCE; } char out[2]; int size = snprintf(out, sizeof(out), "%d", enable); if (write(enable_f, out, size * sizeof(char)) == -1) { - syslog(LOG_ERR, "pwm_enable: pwm%i: Failed to write to enable: %s", dev->pin, strerror(errno)); + syslog(LOG_ERR, "pwm: Failed to write to enable"); close(enable_f); - return MRAA_ERROR_UNSPECIFIED; + return MRAA_ERROR_INVALID_RESOURCE; } close(enable_f); return MRAA_SUCCESS; @@ -475,16 +388,16 @@ mraa_pwm_unexport_force(mraa_pwm_context dev) int unexport_f = open(filepath, O_WRONLY); if (unexport_f == -1) { - syslog(LOG_ERR, "pwm_unexport: pwm%i: Failed to open unexport for writing: %s", dev->pin, strerror(errno)); + syslog(LOG_ERR, "pwm: Failed to open unexport for writing"); return MRAA_ERROR_INVALID_RESOURCE; } char out[MAX_SIZE]; int size = snprintf(out, MAX_SIZE, "%d", dev->pin); if (write(unexport_f, out, size * sizeof(char)) == -1) { - syslog(LOG_ERR, "pwm_unexport: pwm%i: Failed to write to unexport: %s", dev->pin, strerror(errno)); + syslog(LOG_ERR, "pwm: Failed to write to unexport"); close(unexport_f); - return MRAA_ERROR_UNSPECIFIED; + return MRAA_ERROR_INVALID_RESOURCE; } close(unexport_f); @@ -494,26 +407,16 @@ mraa_pwm_unexport_force(mraa_pwm_context dev) mraa_result_t mraa_pwm_unexport(mraa_pwm_context dev) { - if (!dev) { - syslog(LOG_ERR, "pwm: unexport: context is NULL"); - return MRAA_ERROR_INVALID_HANDLE; - } - mraa_pwm_enable(dev, 0); if (dev->owner) { return mraa_pwm_unexport_force(dev); } - return MRAA_ERROR_INVALID_PARAMETER; + return MRAA_ERROR_INVALID_RESOURCE; } mraa_result_t mraa_pwm_close(mraa_pwm_context dev) { - if (!dev) { - syslog(LOG_ERR, "pwm: close: context is NULL"); - return MRAA_ERROR_INVALID_HANDLE; - } - mraa_pwm_unexport(dev); free(dev); return MRAA_SUCCESS; @@ -522,46 +425,74 @@ mraa_pwm_close(mraa_pwm_context dev) mraa_result_t mraa_pwm_owner(mraa_pwm_context dev, mraa_boolean_t owner_new) { - if (!dev) { - syslog(LOG_ERR, "pwm: owner: context is NULL"); - return MRAA_ERROR_INVALID_HANDLE; - } + if (dev == NULL) + return MRAA_ERROR_INVALID_RESOURCE; dev->owner = owner_new; return MRAA_SUCCESS; } -int -mraa_pwm_get_max_period(mraa_pwm_context dev) +mraa_result_t +mraa_pwm_config_ms(mraa_pwm_context dev, int ms, float ms_float) { - if (plat == NULL) { - return -1; + int old_dutycycle, old_period, status; + old_dutycycle = mraa_pwm_read_duty(dev); + old_period = mraa_pwm_read_period(dev); + status = mraa_pwm_period_us(dev, ms * 1000); + if (status != MRAA_SUCCESS) { + mraa_pwm_write_duty(dev, old_dutycycle); + return status; + } + status = mraa_pwm_write_duty(dev, 0); + if (status != MRAA_SUCCESS) { + return status; + } + status = mraa_pwm_pulsewidth_us(dev, ms_float * 1000); + if (status != MRAA_SUCCESS) { + mraa_pwm_write_duty(dev, old_dutycycle); + mraa_pwm_write_period(dev, old_period); + return status; } + return MRAA_SUCCESS; +} - if (!dev) { - syslog(LOG_ERR, "pwm: get_max_period: context is NULL"); - return MRAA_ERROR_INVALID_HANDLE; +mraa_result_t +mraa_pwm_config_percent(mraa_pwm_context dev, int ms, float percentage) +{ + int old_dutycycle, old_period, status; + old_dutycycle = mraa_pwm_read_duty(dev); + old_period = mraa_pwm_read_period(dev); + status = mraa_pwm_period_us(dev, ms * 1000); + if (status != MRAA_SUCCESS) { + mraa_pwm_write_duty(dev, old_dutycycle); + return status; + } + status = mraa_pwm_write_duty(dev, 0); + if (status != MRAA_SUCCESS) { + return status; + } + status = mraa_pwm_pulsewidth_us(dev, (ms * 1000) * percentage); + if (status != MRAA_SUCCESS) { + mraa_pwm_write_duty(dev, old_dutycycle); + mraa_pwm_write_period(dev, old_period); + return status; } + return MRAA_SUCCESS; +} - if (mraa_is_sub_platform_id(dev->chipid)) { - return plat->sub_platform->pwm_max_period; +int +mraa_pwm_get_max_period() +{ + if (plat == NULL) { + return -1; } return plat->pwm_max_period; } int -mraa_pwm_get_min_period(mraa_pwm_context dev) +mraa_pwm_get_min_period() { if (plat == NULL) { return -1; } - - if (!dev) { - syslog(LOG_ERR, "pwm: get_min_period: context is NULL"); - return MRAA_ERROR_INVALID_HANDLE; - } - - if (mraa_is_sub_platform_id(dev->chipid)) { - return plat->sub_platform->pwm_min_period; - } return plat->pwm_min_period; } |