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