#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"
};
/**
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);
+
}
/**
{
char filename[BUFSIZ];
const char *experiment_name = (const char*) arg;
- int ret;
if (snprintf(filename, BUFSIZ, "%s_a%d", experiment_name, a->id) >= BUFSIZ)
{
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->allow_actuation = true;
-
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);
}
+
+ Log(LOGDEBUG, "Resuming actuator %d", a->id);
}
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;
- case CONTROL_RESUME:
- a->allow_actuation = true;
+
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
+
+ Log(LOGDEBUG, "Stopped actuator %d", a->id);
break;
default:
Fatal("Unknown control mode: %d", mode);
pthread_mutex_unlock(&(a->mutex));
if (!a->activated)
break;
- else if (!a->allow_actuation)
- continue;
Actuator_SetValue(a, a->control.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];
}
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);
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");
}
-
-
/**
* Handle a request for an Actuator
* @param context - FCGI context