Added Beaglebone code to sensors.c & actuators.c

[matches/MCTX3420.git] / server / actuator.c

diff --git a/server/actuator.c b/server/actuator.c
index 9d2ad13..1abaa97 100644 (file)
--- a/server/actuator.c
+++ b/server/actuator.c
@@ -5,13 +5,16 @@
 
 #include "actuator.h"
 #include "options.h"
+// Files containing GPIO and PWM definitions
+#include "gpio.h"
+#include "pwm.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] = {        
-       "actuator_test0", "actuator_test1"
+       "actuator_test0", "actuator_test1", "actuator_test2"
 };
 
 /**
@@ -166,6 +169,7 @@ void Actuator_SetValue(Actuator * a, double value)
        {
                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];
@@ -188,6 +192,33 @@ void Actuator_SetValue(Actuator * a, double value)
                        }
                        break;
                case ACTUATOR_TEST1:
+                       // GPIO pin digital actuator
+                       {
+                               // Quick actuator function for testing pins
+                               // GPIOPin can be passed as argument, but is just defined here for testing purposes
+                               int GPIOPin = 13;
+                               // Modify this to only export on first run, only unexport on shutdown
+                               pinExport(setValue, GPIOString);
+                               pinDirection(GPIODirection, setValue);
+                               pinSet(value, GPIOValue, setValue);
+                               pinUnexport(setValue, GPIOString);
+                       }
+                       break;
+               case ACTUATOR_TEST2:
+                       // PWM analogue actuator (currently generates one PWM signal with first PWM module)
+                       {
+                               if (pwminit == 0) {                                             // If inactive, start the pwm module
+                                       pwm_init();
+                               }
+                               if (pwmstart == 0) {
+                                       pwm_start();
+                                       pwm_set_period(FREQ);                           // Frequency is 50Hz defined in pwm header file
+                               }
+                               if(value >= 0 && value <= 1000) {
+                                       double duty = value/1000 * 100;         // Convert pressure to duty percentage
+                                       pwm_set_duty((int)duty);                        // Set duty percentage for actuator (0-100%)
+                               }
+                       }
                        break;
        }