Get BBB pin control working

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

diff --git a/server/actuator.c b/server/actuator.c
index af69c7f..50a27de 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 "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] = {        
-       "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);
        }
+
+       // Initialise pins used
+       GPIO_Export(GPIO1_16);
+       PWM_Export(EHRPWM0A);
+       
 }
 
 /**
@@ -164,10 +172,40 @@ void Actuator_SetValue(Actuator * a, double value)
        //TODO: Set actuator
        switch (a->id)
        {
-               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];
+                               bool turn_on = value;
+
+                               for (int i = 0; i < 4; i++) 
+                               {
+                                       snprintf(buf, 50, led_format, i);
+                                       if ((led_handle = fopen(buf, "w")) != NULL)
+                                       {
+                                               if (turn_on)
+                                                       fwrite("1", sizeof(char), 1, led_handle);
+                                               else
+                                                       fwrite("0", sizeof(char), 1, led_handle);
+                                               fclose(led_handle);
+                                       }
+                                       else
+                                               Log(LOGDEBUG, "LED fopen failed: %s", strerror(errno)); 
+                               }
+                       }
                        break;
                case ACTUATOR_TEST1:
+                       GPIO_Set(GPIO1_16, (bool)(value));
                        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);
@@ -190,6 +228,7 @@ void Actuator_BeginResponse(FCGIContext * context, ActuatorId id, DataFormat for
                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");