#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);
+
}
/**
{
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");