Merge branch 'master' of https://github.com/szmoore/MCTX3420.git

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

diff --git a/server/actuator.c b/server/actuator.c
index c71b05a..f5d7cd6 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);
+       
 }
 
 /**
@@ -172,6 +180,7 @@ 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];
@@ -194,7 +203,15 @@ void Actuator_SetValue(Actuator * a, double value)
                        }
                        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);
@@ -217,6 +234,7 @@ 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");