BBB code/Actuator_SetValue_real2.c

   1 #include "gpio.h"
   2 #include "pwm.h"
   3
   4 void Actuator_SetValue(Actuator * a, double value)
   5 {
   6         // Set time stamp
   7         struct timeval t;
   8         gettimeofday(&t, NULL);
   9
  10         DataPoint d = {TIMEVAL_DIFF(t, g_options.start_time), value};
  11         switch (a->id)
  12         {
  13                 case ACTUATOR_TEST0:                    //LED actuator test code, should blink onboard LED next to Ethernet port
  14                         FILE *LEDHandle = NULL;         //code reference: http://learnbuildshare.wordpress.com/2013/05/19/beaglebone-black-controlling-user-leds-using-c/
  15                         char *LEDBrightness = "/sys/class/leds/beaglebone\:green\:usr0/brightness";
  16                         if(value == 1) {
  17                                 if((LEDHandle = fopen(LEDBrightness, "r+")) != NULL) {
  18                                         fwrite("1", sizeof(char), 1, LEDHandle);
  19                                         fclose(LEDHandle);
  20                                 }
  21                         else if(value == 0) {
  22                                 if((LEDHandle = fopen(LEDBrightness, "r+")) != NULL) {
  23                                         fwrite("0", sizeof(char), 1, LEDHandle);
  24                                         fclose(LEDHandle);
  25                         }
  26                         else perror("Pin value should be 1 or 0");
  27                         break;
  28                 case ACTUATOR_TEST1:
  29                         // Quick actuator function for testing pins
  30                         // GPIOPin can be either passed as an argument, or defined here (as pins won't change)
  31                         // First way is better and more generalised
  32                         int GPIOPin = 13;
  33                         // Modify this to only export on first run, unexport on shutdown
  34                         pinExport(setValue, GPIOString);
  35                         pinDirection(GPIODirection, setValue);
  36                         pinSet(value, GPIOValue, setValue);
  37                         pinUnexport(setValue, GPIOString);
  38                         break;
  39                 case ACTUATOR_TEST2:
  40                         if (pwminit == 0) {                                     //if inactive, start the pwm module
  41                                 pwm_init();
  42                         }
  43                         if (pwmstart == 0) {
  44                                 pwm_start();
  45                                 pwm_set_period(FREQ);                           //50Hz defined in pwm header file
  46                         }
  47                         if(value >= 0 && value <= 1000) {
  48                                 double duty = value/1000 * 100;         //convert pressure to duty percentage
  49                                 pwm_set_duty((int)duty);                        //set duty percentage for actuator
  50                         }
  51         }
  52         Log(LOGDEBUG, "Actuator %s set to %f", g_actuator_names[a->id], value);
  53         // Record the value
  54         Data_Save(&(a->data_file), &d, 1);
  55 }