/****************************************************************************
* apps/examples/pwm/pwm_main.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <string.h>
#include <inttypes.h>
#include <nuttx/timers/pwm.h>
#include "pwm.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
#ifdef CONFIG_PWM_MULTICHAN
# if CONFIG_PWM_NCHANNELS > 1
# if CONFIG_EXAMPLES_PWM_CHANNEL1 == CONFIG_EXAMPLES_PWM_CHANNEL2
# error "Channel numbers must be unique"
# endif
# endif
# if CONFIG_PWM_NCHANNELS > 2
# if CONFIG_EXAMPLES_PWM_CHANNEL1 == CONFIG_EXAMPLES_PWM_CHANNEL3 || \
CONFIG_EXAMPLES_PWM_CHANNEL2 == CONFIG_EXAMPLES_PWM_CHANNEL3
# error "Channel numbers must be unique"
# endif
# endif
# if CONFIG_PWM_NCHANNELS > 3
# if CONFIG_EXAMPLES_PWM_CHANNEL1 == CONFIG_EXAMPLES_PWM_CHANNEL4 || \
CONFIG_EXAMPLES_PWM_CHANNEL2 == CONFIG_EXAMPLES_PWM_CHANNEL4 || \
CONFIG_EXAMPLES_PWM_CHANNEL3 == CONFIG_EXAMPLES_PWM_CHANNEL4
# error "Channel numbers must be unique"
# endif
# endif
# if CONFIG_PWM_NCHANNELS > 4
# if CONFIG_EXAMPLES_PWM_CHANNEL1 == CONFIG_EXAMPLES_PWM_CHANNEL5 || \
CONFIG_EXAMPLES_PWM_CHANNEL2 == CONFIG_EXAMPLES_PWM_CHANNEL5 || \
CONFIG_EXAMPLES_PWM_CHANNEL3 == CONFIG_EXAMPLES_PWM_CHANNEL5 || \
CONFIG_EXAMPLES_PWM_CHANNEL4 == CONFIG_EXAMPLES_PWM_CHANNEL5
# error "Channel numbers must be unique"
# endif
# endif
# if CONFIG_PWM_NCHANNELS > 5
# if CONFIG_EXAMPLES_PWM_CHANNEL1 == CONFIG_EXAMPLES_PWM_CHANNEL6 || \
CONFIG_EXAMPLES_PWM_CHANNEL2 == CONFIG_EXAMPLES_PWM_CHANNEL6 || \
CONFIG_EXAMPLES_PWM_CHANNEL3 == CONFIG_EXAMPLES_PWM_CHANNEL6 || \
CONFIG_EXAMPLES_PWM_CHANNEL4 == CONFIG_EXAMPLES_PWM_CHANNEL6 || \
CONFIG_EXAMPLES_PWM_CHANNEL5 == CONFIG_EXAMPLES_PWM_CHANNEL6
# error "Channel numbers must be unique"
# endif
# endif
# if CONFIG_PWM_NCHANNELS > 6
# error "Too many PWM channels"
# endif
#endif
/****************************************************************************
* Private Types
****************************************************************************/
struct pwm_state_s
{
bool initialized;
FAR char *devpath;
#ifdef CONFIG_PWM_MULTICHAN
uint8_t channels[CONFIG_PWM_NCHANNELS];
uint8_t duties[CONFIG_PWM_NCHANNELS];
#else
uint8_t duty;
#endif
uint32_t freq;
#ifdef CONFIG_PWM_PULSECOUNT
uint32_t count;
#endif
int duration;
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
static struct pwm_state_s g_pwmstate;
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: pwm_devpath
****************************************************************************/
static void pwm_devpath(FAR struct pwm_state_s *pwm, FAR const char *devpath)
{
/* Get rid of any old device path */
if (pwm->devpath)
{
free(pwm->devpath);
}
/* Then set-up the new device path by copying the string */
pwm->devpath = strdup(devpath);
}
/****************************************************************************
* Name: pwm_help
****************************************************************************/
static void pwm_help(FAR struct pwm_state_s *pwm)
{
#ifdef CONFIG_PWM_MULTICHAN
uint8_t channels[CONFIG_PWM_NCHANNELS] =
{
CONFIG_EXAMPLES_PWM_CHANNEL1,
#if CONFIG_PWM_NCHANNELS > 1
CONFIG_EXAMPLES_PWM_CHANNEL2,
#endif
#if CONFIG_PWM_NCHANNELS > 2
CONFIG_EXAMPLES_PWM_CHANNEL3,
#endif
#if CONFIG_PWM_NCHANNELS > 3
CONFIG_EXAMPLES_PWM_CHANNEL4,
#endif
#if CONFIG_PWM_NCHANNELS > 4
CONFIG_EXAMPLES_PWM_CHANNEL5,
#endif
#if CONFIG_PWM_NCHANNELS > 5
CONFIG_EXAMPLES_PWM_CHANNEL6,
#endif
};
uint8_t duties[CONFIG_PWM_NCHANNELS] =
{
CONFIG_EXAMPLES_PWM_DUTYPCT1,
#if CONFIG_PWM_NCHANNELS > 1
CONFIG_EXAMPLES_PWM_DUTYPCT2,
#endif
#if CONFIG_PWM_NCHANNELS > 2
CONFIG_EXAMPLES_PWM_DUTYPCT3,
#endif
#if CONFIG_PWM_NCHANNELS > 3
CONFIG_EXAMPLES_PWM_DUTYPCT4,
#endif
#if CONFIG_PWM_NCHANNELS > 4
CONFIG_EXAMPLES_PWM_DUTYPCT5,
#endif
#if CONFIG_PWM_NCHANNELS > 5
CONFIG_EXAMPLES_PWM_DUTYPCT6,
#endif
};
int i;
#endif
printf("Usage: pwm [OPTIONS]\n");
printf("\nArguments are \"sticky\". "
"For example, once the PWM frequency is\n");
printf("specified, that frequency will be re-used until it is changed.\n");
printf("\n\"sticky\" OPTIONS include:\n");
printf(" [-p devpath] selects the PWM device. "
"Default: %s Current: %s\n",
CONFIG_EXAMPLES_PWM_DEVPATH, pwm->devpath ? pwm->devpath : "NONE");
printf(" [-f frequency] selects the pulse frequency. "
"Default: %d Hz Current: %" PRIu32 " Hz\n",
CONFIG_EXAMPLES_PWM_FREQUENCY, pwm->freq);
#ifdef CONFIG_PWM_MULTICHAN
printf(" [[-c channel1] [[-c channel2] ...]] "
"selects the channel number for each channel. ");
printf("Default:");
for (i = 0; i < CONFIG_PWM_NCHANNELS; i++)
{
printf(" %d", channels[i]);
}
printf(" Current:");
for (i = 0; i < CONFIG_PWM_NCHANNELS; i++)
{
printf(" %d", pwm->channels[i]);
}
printf("\n");
printf(" [[-d duty1] [[-d duty2] ...]] "
"selects the pulse duty as a percentage. ");
printf("Default:");
for (i = 0; i < CONFIG_PWM_NCHANNELS; i++)
{
printf(" %d %%", duties[i]);
}
printf(" Current:");
for (i = 0; i < CONFIG_PWM_NCHANNELS; i++)
{
printf(" %d %%", pwm->duties[i]);
}
printf("\n");
#else
printf(" [-d duty] selects the pulse duty as a percentage. "
"Default: %d %% Current: %d %%\n",
CONFIG_EXAMPLES_PWM_DUTYPCT, pwm->duty);
#endif
#ifdef CONFIG_PWM_PULSECOUNT
printf(" [-n count] selects the pulse count. "
"Default: %d Current: %" PRIx32 "\n",
CONFIG_EXAMPLES_PWM_PULSECOUNT, pwm->count);
#endif
printf(" [-t duration] is the duration of the pulse train in seconds. "
"Default: %d Current: %d\n",
CONFIG_EXAMPLES_PWM_DURATION, pwm->duration);
printf(" [-h] shows this message and exits\n");
}
/****************************************************************************
* Name: arg_string
****************************************************************************/
static int arg_string(FAR char **arg, FAR char **value)
{
FAR char *ptr = *arg;
if (ptr[2] == '\0')
{
*value = arg[1];
return 2;
}
else
{
*value = &ptr[2];
return 1;
}
}
/****************************************************************************
* Name: arg_decimal
****************************************************************************/
static int arg_decimal(FAR char **arg, FAR long *value)
{
FAR char *string;
int ret;
ret = arg_string(arg, &string);
*value = strtol(string, NULL, 10);
return ret;
}
/****************************************************************************
* Name: parse_args
****************************************************************************/
static void parse_args(FAR struct pwm_state_s *pwm, int argc,
FAR char **argv)
{
FAR char *ptr;
FAR char *str;
long value;
int index;
int nargs;
#ifdef CONFIG_PWM_MULTICHAN
int nchannels = 0;
int nduties = 0;
#endif
for (index = 1; index < argc; )
{
ptr = argv[index];
if (ptr[0] != '-')
{
printf("Invalid options format: %s\n", ptr);
exit(0);
}
switch (ptr[1])
{
case 'f':
nargs = arg_decimal(&argv[index], &value);
if (value < 1)
{
printf("Frequency out of range: %ld\n", value);
exit(1);
}
pwm->freq = (uint32_t)value;
index += nargs;
break;
#ifdef CONFIG_PWM_MULTICHAN
case 'c':
nargs = arg_decimal(&argv[index], &value);
if (value < -1 || value > CONFIG_PWM_NCHANNELS)
{
printf("Channel out of range: %ld\n", value);
exit(1);
}
if (nchannels < CONFIG_PWM_NCHANNELS)
{
nchannels++;
}
else
{
memmove(pwm->channels, pwm->channels + 1,
CONFIG_PWM_NCHANNELS - 1);
}
pwm->channels[nchannels - 1] = (int8_t)value;
index += nargs;
break;
#endif
case 'd':
nargs = arg_decimal(&argv[index], &value);
if (value < 0 || value > 100)
{
printf("Duty out of range: %ld\n", value);
exit(1);
}
#ifdef CONFIG_PWM_MULTICHAN
if (nduties < CONFIG_PWM_NCHANNELS)
{
nduties++;
}
else
{
memmove(pwm->duties, pwm->duties + 1,
CONFIG_PWM_NCHANNELS - 1);
}
pwm->duties[nduties - 1] = (uint8_t)value;
#else
pwm->duty = (uint8_t)value;
#endif
index += nargs;
break;
#ifdef CONFIG_PWM_PULSECOUNT
case 'n':
nargs = arg_decimal(&argv[index], &value);
if (value < 0)
{
printf("Count must be non-negative: %ld\n", value);
exit(1);
}
pwm->count = (uint32_t)value;
index += nargs;
break;
#endif
case 'p':
nargs = arg_string(&argv[index], &str);
pwm_devpath(pwm, str);
index += nargs;
break;
case 't':
nargs = arg_decimal(&argv[index], &value);
if (value < 1 || value > INT_MAX)
{
printf("Duration out of range: %ld\n", value);
exit(1);
}
pwm->duration = (int)value;
index += nargs;
break;
case 'h':
pwm_help(pwm);
exit(0);
default:
printf("Unsupported option: %s\n", ptr);
pwm_help(pwm);
exit(1);
}
}
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: pwm_main
****************************************************************************/
int main(int argc, FAR char *argv[])
{
struct pwm_info_s info;
int fd;
int ret;
#ifdef CONFIG_PWM_MULTICHAN
int i;
int j;
#endif
/* Initialize the state data */
if (!g_pwmstate.initialized)
{
#ifdef CONFIG_PWM_MULTICHAN
g_pwmstate.channels[0] = CONFIG_EXAMPLES_PWM_CHANNEL1;
g_pwmstate.duties[0] = CONFIG_EXAMPLES_PWM_DUTYPCT1;
#if CONFIG_PWM_NCHANNELS > 1
g_pwmstate.channels[1] = CONFIG_EXAMPLES_PWM_CHANNEL2;
g_pwmstate.duties[1] = CONFIG_EXAMPLES_PWM_DUTYPCT2;
#endif
#if CONFIG_PWM_NCHANNELS > 2
g_pwmstate.channels[2] = CONFIG_EXAMPLES_PWM_CHANNEL3;
g_pwmstate.duties[2] = CONFIG_EXAMPLES_PWM_DUTYPCT3;
#endif
#if CONFIG_PWM_NCHANNELS > 3
g_pwmstate.channels[3] = CONFIG_EXAMPLES_PWM_CHANNEL4;
g_pwmstate.duties[3] = CONFIG_EXAMPLES_PWM_DUTYPCT4;
#endif
#if CONFIG_PWM_NCHANNELS > 4
g_pwmstate.channels[4] = CONFIG_EXAMPLES_PWM_CHANNEL5;
g_pwmstate.duties[4] = CONFIG_EXAMPLES_PWM_DUTYPCT5;
#endif
#if CONFIG_PWM_NCHANNELS > 5
g_pwmstate.channels[5] = CONFIG_EXAMPLES_PWM_CHANNEL6;
g_pwmstate.duties[5] = CONFIG_EXAMPLES_PWM_DUTYPCT6;
#endif
#else
g_pwmstate.duty = CONFIG_EXAMPLES_PWM_DUTYPCT;
#endif
g_pwmstate.freq = CONFIG_EXAMPLES_PWM_FREQUENCY;
g_pwmstate.duration = CONFIG_EXAMPLES_PWM_DURATION;
#ifdef CONFIG_PWM_PULSECOUNT
g_pwmstate.count = CONFIG_EXAMPLES_PWM_PULSECOUNT;
#endif
g_pwmstate.initialized = true;
}
/* Parse the command line */
parse_args(&g_pwmstate, argc, argv);
#ifdef CONFIG_PWM_MULTICHAN
for (i = 0; i < CONFIG_PWM_MULTICHAN; i++)
{
for (j = i + 1; j < CONFIG_PWM_MULTICHAN; j++)
{
if (g_pwmstate.channels[j] == g_pwmstate.channels[i])
{
printf("pwm_main: channel numbers must be unique\n");
goto errout;
}
}
}
#endif
/* Has a device been assigned? */
if (!g_pwmstate.devpath)
{
/* No.. use the default device */
pwm_devpath(&g_pwmstate, CONFIG_EXAMPLES_PWM_DEVPATH);
}
/* Open the PWM device for reading */
fd = open(g_pwmstate.devpath, O_RDONLY);
if (fd < 0)
{
printf("pwm_main: open %s failed: %d\n", g_pwmstate.devpath, errno);
goto errout;
}
/* Configure the characteristics of the pulse train */
info.frequency = g_pwmstate.freq;
#ifdef CONFIG_PWM_MULTICHAN
printf("pwm_main: starting output with frequency: %" PRIu32,
info.frequency);
for (i = 0; i < CONFIG_PWM_NCHANNELS; i++)
{
info.channels[i].channel = g_pwmstate.channels[i];
info.channels[i].duty = b16divi(uitoub16(g_pwmstate.duties[i]), 100);
printf(" channel: %d duty: %08" PRIx32,
info.channels[i].channel, info.channels[i].duty);
}
printf("\n");
#else
info.duty = b16divi(uitoub16(g_pwmstate.duty), 100);
# ifdef CONFIG_PWM_PULSECOUNT
info.count = g_pwmstate.count;
printf("pwm_main: starting output "
"with frequency: %" PRIu32 " duty: %08" PRIx32
" count: %" PRIx32 "\n",
info.frequency, (uint32_t)info.duty, info.count);
# else
printf("pwm_main: starting output "
"with frequency: %" PRIu32 " duty: %08" PRIx32 "\n",
info.frequency, (uint32_t)info.duty);
# endif
#endif
ret = ioctl(fd, PWMIOC_SETCHARACTERISTICS,
(unsigned long)((uintptr_t)&info));
if (ret < 0)
{
printf("pwm_main: ioctl(PWMIOC_SETCHARACTERISTICS) failed: %d\n",
errno);
goto errout_with_dev;
}
/* Then start the pulse train. Since the driver was opened in blocking
* mode, this call will block if the count value is greater than zero.
*/
ret = ioctl(fd, PWMIOC_START, 0);
if (ret < 0)
{
printf("pwm_main: ioctl(PWMIOC_START) failed: %d\n", errno);
goto errout_with_dev;
}
/* It a non-zero count was not specified, then wait for the selected
* duration, then stop the PWM output.
*/
#ifdef CONFIG_PWM_PULSECOUNT
if (info.count == 0)
#endif
{
/* Wait for the specified duration */
sleep(g_pwmstate.duration);
/* Then stop the pulse train */
printf("pwm_main: stopping output\n");
ret = ioctl(fd, PWMIOC_STOP, 0);
if (ret < 0)
{
printf("pwm_main: ioctl(PWMIOC_STOP) failed: %d\n", errno);
goto errout_with_dev;
}
}
close(fd);
fflush(stdout);
return OK;
errout_with_dev:
close(fd);
errout:
fflush(stdout);
return ERROR;
}