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failing to test before committing :3
[matches/MCTX3420.git]
/
server
/
actuator.c
diff --git
a/server/actuator.c
b/server/actuator.c
index
9d2ad13
..
f5d7cd6
100644
(file)
--- a/
server/actuator.c
+++ b/
server/actuator.c
@@
-5,13
+5,16
@@
#include "actuator.h"
#include "options.h"
#include "actuator.h"
#include "options.h"
+// Files containing GPIO and PWM definitions
+#include "bbb_pin.h"
+
/** Array of Actuators (global to this file) initialised by Actuator_Init **/
static Actuator g_actuators[NUMACTUATORS];
/** Human readable names for the Actuators **/
const char * g_actuator_names[NUMACTUATORS] = {
/** Array of Actuators (global to this file) initialised by Actuator_Init **/
static Actuator g_actuators[NUMACTUATORS];
/** Human readable names for the Actuators **/
const char * g_actuator_names[NUMACTUATORS] = {
- "actuator_test0", "
actuator_test1
"
+ "actuator_test0", "
gpio1_16", "EHRPWM0A_duty@60Hz
"
};
/**
};
/**
@@
-25,6
+28,11
@@
void Actuator_Init()
Data_Init(&(g_actuators[i].data_file));
pthread_mutex_init(&(g_actuators[i].mutex), NULL);
}
Data_Init(&(g_actuators[i].data_file));
pthread_mutex_init(&(g_actuators[i].mutex), NULL);
}
+
+ // Initialise pins used
+ GPIO_Export(GPIO1_16);
+ PWM_Export(EHRPWM0A);
+
}
/**
}
/**
@@
-44,7
+52,6
@@
void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg)
{
char filename[BUFSIZ];
const char *experiment_name = (const char*) arg;
{
char filename[BUFSIZ];
const char *experiment_name = (const char*) arg;
- int ret;
if (snprintf(filename, BUFSIZ, "%s_a%d", experiment_name, a->id) >= BUFSIZ)
{
if (snprintf(filename, BUFSIZ, "%s_a%d", experiment_name, a->id) >= BUFSIZ)
{
@@
-54,34
+61,43
@@
void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg)
Log(LOGDEBUG, "Actuator %d with DataFile \"%s\"", a->id, filename);
// Open DataFile
Data_Open(&(a->data_file), filename);
Log(LOGDEBUG, "Actuator %d with DataFile \"%s\"", a->id, filename);
// Open DataFile
Data_Open(&(a->data_file), filename);
-
+ }
+ case CONTROL_RESUME: //Case fallthrough; no break before
+ {
+ int ret;
a->activated = true; // Don't forget this
a->activated = true; // Don't forget this
- a->allow_actuation = true;
-
a->control_changed = false;
a->control_changed = false;
- // Create the thread
ret = pthread_create(&(a->thread), NULL, Actuator_Loop, (void*)(a));
if (ret != 0)
{
Fatal("Failed to create Actuator_Loop for Actuator %d", a->id);
}
ret = pthread_create(&(a->thread), NULL, Actuator_Loop, (void*)(a));
if (ret != 0)
{
Fatal("Failed to create Actuator_Loop for Actuator %d", a->id);
}
+
+ Log(LOGDEBUG, "Resuming actuator %d", a->id);
}
break;
case CONTROL_EMERGENCY: //TODO add proper case for emergency
case CONTROL_PAUSE:
}
break;
case CONTROL_EMERGENCY: //TODO add proper case for emergency
case CONTROL_PAUSE:
- a->allow_actuation = false;
+ a->activated = false;
+ Actuator_SetControl(a, NULL);
+ pthread_join(a->thread, NULL); // Wait for thread to exit
+
+ Log(LOGDEBUG, "Paused actuator %d", a->id);
break;
break;
- case CONTROL_RESUME:
- a->allow_actuation = true;
+
break;
case CONTROL_STOP:
break;
case CONTROL_STOP:
- a->allow_actuation = false;
- a->activated = false;
- Actuator_SetControl(a, NULL);
- pthread_join(a->thread, NULL); // Wait for thread to exit
+ if (a->activated) //May have been paused before
+ {
+ a->activated = false;
+ Actuator_SetControl(a, NULL);
+ pthread_join(a->thread, NULL); // Wait for thread to exit
+ }
Data_Close(&(a->data_file)); // Close DataFile
Data_Close(&(a->data_file)); // Close DataFile
+
+ Log(LOGDEBUG, "Stopped actuator %d", a->id);
break;
default:
Fatal("Unknown control mode: %d", mode);
break;
default:
Fatal("Unknown control mode: %d", mode);
@@
-121,8
+137,6
@@
void * Actuator_Loop(void * arg)
pthread_mutex_unlock(&(a->mutex));
if (!a->activated)
break;
pthread_mutex_unlock(&(a->mutex));
if (!a->activated)
break;
- else if (!a->allow_actuation)
- continue;
Actuator_SetValue(a, a->control.value);
}
Actuator_SetValue(a, a->control.value);
}
@@
-166,6
+180,7
@@
void Actuator_SetValue(Actuator * a, double value)
{
case ACTUATOR_TEST0:
{
{
case ACTUATOR_TEST0:
{
+ // Onboard LEDs test actuator
FILE *led_handle = NULL; //code reference: http://learnbuildshare.wordpress.com/2013/05/19/beaglebone-black-controlling-user-leds-using-c/
const char *led_format = "/sys/class/leds/beaglebone:green:usr%d/brightness";
char buf[50];
FILE *led_handle = NULL; //code reference: http://learnbuildshare.wordpress.com/2013/05/19/beaglebone-black-controlling-user-leds-using-c/
const char *led_format = "/sys/class/leds/beaglebone:green:usr%d/brightness";
char buf[50];
@@
-188,7
+203,15
@@
void Actuator_SetValue(Actuator * a, double value)
}
break;
case ACTUATOR_TEST1:
}
break;
case ACTUATOR_TEST1:
+ GPIO_Set(GPIO1_16, (bool)(value));
break;
break;
+ case ACTUATOR_TEST2:
+ {
+ // PWM analogue actuator (currently generates one PWM signal with first PWM module)
+ static long freq = 16666666; // This is 60Hz
+ PWM_Set(EHRPWM0A, true, freq, value * freq); // Set the duty cycle
+ break;
+ }
}
Log(LOGDEBUG, "Actuator %s set to %f", g_actuator_names[a->id], value);
}
Log(LOGDEBUG, "Actuator %s set to %f", g_actuator_names[a->id], value);
@@
-211,6
+234,7
@@
void Actuator_BeginResponse(FCGIContext * context, ActuatorId id, DataFormat for
case JSON:
FCGI_BeginJSON(context, STATUS_OK);
FCGI_JSONLong("id", id);
case JSON:
FCGI_BeginJSON(context, STATUS_OK);
FCGI_JSONLong("id", id);
+ FCGI_JSONPair("name", g_actuator_names[id]);
break;
default:
FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
break;
default:
FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
@@
-238,8
+262,6
@@
void Actuator_EndResponse(FCGIContext * context, ActuatorId id, DataFormat forma
}
}
-
-
/**
* Handle a request for an Actuator
* @param context - FCGI context
/**
* Handle a request for an Actuator
* @param context - FCGI context
UCC
git Repository :: git.ucc.asn.au