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Adds softpwm files

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This commit is contained in:
Brady L. Hurlburt
2016-04-07 20:19:38 +00:00
parent 777fda06a3
commit 9ac22c32cd
7 changed files with 640 additions and 8 deletions
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2
source/c_pwm.c
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@ -147,7 +147,7 @@ int pwm_set_polarity(const char *key, int polarity) {
else
{
len = snprintf(buffer, sizeof(buffer), "%s", "inverted");
}
}
write(pwm->polarity_fd, buffer, len);
return 0;

344
source/c_softpwm.c Normal file
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@ -0,0 +1,344 @@
/*
Copyright (c) 2016 Robert Wolterman
Original BBIO Author Justin Cooper
Modified for CHIP_IO Author Robert Wolterman
This file incorporates work covered by the following copyright and
permission notice, all modified code adopts the original license:
Copyright (c) 2013 Adafruit
Author: Justin Cooper
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#include <stdio.h>
#include <stdlib.h>
#include <sys/types.h>
#include <string.h>
#include <fcntl.h>
#include <unistd.h>
#include "c_pwm.h"
#include "common.h"
#define KEYLEN 7
#define PERIOD 0
#define DUTY 1
int pwm_initialized = 0;
// pwm exports
struct pwm_exp
{
char key[KEYLEN+1]; /* leave room for terminating NUL byte */
int period_fd;
int duty_fd;
int polarity_fd;
int enable_fd;
int enable;
unsigned long duty;
unsigned long period_ns;
struct pwm_exp *next;
};
struct pwm_exp *exported_pwms = NULL;
struct pwm_exp *lookup_exported_pwm(const char *key)
{
struct pwm_exp *pwm = exported_pwms;
while (pwm != NULL)
{
if (strcmp(pwm->key, key) == 0) {
return pwm;
}
pwm = pwm->next;
}
return NULL; /* standard for pointers */
}
int initialize_pwm(void)
{
if (!pwm_initialized) {
int fd, len;
char str_gpio[2];
// Per https://github.com/NextThingCo/CHIP-linux/pull/4
// we need to export 0 here to enable pwm0
int gpio = 0;
if ((fd = open("/sys/class/pwm/pwmchip0/export", O_WRONLY)) < 0)
{
return -1;
}
len = snprintf(str_gpio, sizeof(str_gpio), "%d", gpio);
write(fd, str_gpio, len);
close(fd);
pwm_initialized = 1;
return 1;
}
return 0;
}
int softpwm_set_frequency(const char *key, float freq) {
int len;
char buffer[20];
unsigned long period_ns;
struct pwm_exp *pwm;
if (freq <= 0.0)
return -1;
pwm = lookup_exported_pwm(key);
if (pwm == NULL) {
return -1;
}
period_ns = (unsigned long)(1e9 / freq);
if (period_ns != pwm->period_ns) {
pwm->period_ns = period_ns;
len = snprintf(buffer, sizeof(buffer), "%lu", period_ns);
write(pwm->period_fd, buffer, len);
}
return 1;
}
int softpwm_set_polarity(const char *key, int polarity) {
int len;
char buffer[9]; /* allow room for trailing NUL byte */
struct pwm_exp *pwm;
pwm = lookup_exported_pwm(key);
if (pwm == NULL) {
return -1;
}
if (polarity < 0 || polarity > 1) {
return -1;
}
if (polarity == 0) {
len = snprintf(buffer, sizeof(buffer), "%s", "normal");
}
else
{
len = snprintf(buffer, sizeof(buffer), "%s", "inverted");
}
write(pwm->polarity_fd, buffer, len);
return 0;
}
int softpwm_set_duty_cycle(const char *key, float duty) {
int len;
char buffer[20];
struct pwm_exp *pwm;
if (duty < 0.0 || duty > 100.0)
return -1;
pwm = lookup_exported_pwm(key);
if (pwm == NULL) {
return -1;
}
pwm->duty = (unsigned long)(pwm->period_ns * (duty / 100.0));
len = snprintf(buffer, sizeof(buffer), "%lu", pwm->duty);
write(pwm->duty_fd, buffer, len);
return 0;
}
int softpwm_set_enable(const char *key, int enable)
{
int len;
char buffer[20];
struct pwm_exp *pwm;
if (enable != 0 || enable != 1)
return -1;
pwm = lookup_exported_pwm(key);
if (pwm == NULL) {
return -1;
}
pwm->enable = enable;
len = snprintf(buffer, sizeof(buffer), "%d", pwm->enable);
write(pwm->enable_fd, buffer, len);
return 0;
}
int softpwm_start(const char *key, float duty, float freq, int polarity)
{
char pwm_base_path[45];
char period_path[50];
char duty_path[50];
char enable_path[50];
char polarity_path[55];
int period_fd, duty_fd, polarity_fd, enable_fd;
struct pwm_exp *new_pwm, *pwm;
if(!pwm_initialized) {
initialize_pwm();
}
//setup the pwm base path, the chip only has one pwm
snprintf(pwm_base_path, sizeof(pwm_base_path), "/sys/class/pwm/pwmchip0/%d", "pwm0");
//create the path for the period and duty
snprintf(enable_path, sizeof(enable_path), "%s/enable", pwm_base_path);
snprintf(period_path, sizeof(period_path), "%s/period", pwm_base_path);
snprintf(duty_path, sizeof(duty_path), "%s/duty_cycle", pwm_base_path);
snprintf(polarity_path, sizeof(polarity_path), "%s/polarity", pwm_base_path);
//add period and duty fd to pwm list
if ((enable_fd = open(enable_path, O_RDWR)) < 0)
return -1;
if ((period_fd = open(period_path, O_RDWR)) < 0) {
close(enable_fd);
return -1;
}
if ((duty_fd = open(duty_path, O_RDWR)) < 0) {
//error, close already opened period_fd.
close(enable_fd);
close(period_fd);
return -1;
}
if ((polarity_fd = open(polarity_path, O_RDWR)) < 0) {
//error, close already opened period_fd and duty_fd.
close(enable_fd);
close(period_fd);
close(duty_fd);
return -1;
}
// add to list
new_pwm = malloc(sizeof(struct pwm_exp));
if (new_pwm == 0) {
return -1; // out of memory
}
strncpy(new_pwm->key, key, KEYLEN); /* can leave string unterminated */
new_pwm->key[KEYLEN] = '\0'; /* terminate string */
new_pwm->period_fd = period_fd;
new_pwm->duty_fd = duty_fd;
new_pwm->polarity_fd = polarity_fd;
new_pwm->enable_fd = enable_fd;
new_pwm->next = NULL;
if (exported_pwms == NULL)
{
// create new list
exported_pwms = new_pwm;
} else {
// add to end of existing list
pwm = exported_pwms;
while (pwm->next != NULL)
pwm = pwm->next;
pwm->next = new_pwm;
}
softpwm_set_frequency(key, freq);
softpwm_set_polarity(key, polarity);
softpwm_set_enable(key, 1);
softpwm_set_duty_cycle(key, duty);
return 1;
}
int softpwm_disable(const char *key)
{
struct pwm_exp *pwm, *temp, *prev_pwm = NULL;
char fragment[18];
int fd, len;
char str_gpio[2];
// Per https://github.com/NextThingCo/CHIP-linux/pull/4
// we need to export 0 here to enable pwm0
int gpio = 0;
// Disable the PWM
softpwm_set_frequency(key, 0);
softpwm_set_polarity(key, 0);
softpwm_set_enable(key, 0);
softpwm_set_duty_cycle(key, 0);
if ((fd = open("/sys/class/pwm/pwmchip0/unexport", O_WRONLY)) < 0)
{
return -1;
}
len = snprintf(str_gpio, sizeof(str_gpio), "%d", gpio);
write(fd, str_gpio, len);
close(fd);
// remove from list
pwm = exported_pwms;
while (pwm != NULL)
{
if (strcmp(pwm->key, key) == 0)
{
//close the fd
close(pwm->enable_fd);
close(pwm->period_fd);
close(pwm->duty_fd);
close(pwm->polarity_fd);
if (prev_pwm == NULL)
{
exported_pwms = pwm->next;
prev_pwm = pwm;
} else {
prev_pwm->next = pwm->next;
}
temp = pwm;
pwm = pwm->next;
free(temp);
} else {
prev_pwm = pwm;
pwm = pwm->next;
}
}
return 0;
}
void softpwm_cleanup(void)
{
while (exported_pwms != NULL) {
softpwm_disable(exported_pwms->key);
}
}

37
source/c_softpwm.h Normal file
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@ -0,0 +1,37 @@
/*
Copyright (c) 2016 Robert Wolterman
Original BBIO Author Justin Cooper
Modified for CHIP_IO Author Robert Wolterman
This file incorporates work covered by the following copyright and
permission notice, all modified code adopts the original license:
Copyright (c) 2013 Adafruit
Author: Justin Cooper
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
int softpwm_start(const char *key, float duty, float freq, int polarity);
int softpwm_disable(const char *key);
int softpwm_set_frequency(const char *key, float freq);
int softpwm_set_duty_cycle(const char *key, float duty);
int softpwm_set_enable(const char *key, int enable);
void softpwm_cleanup(void);

47
source/common.c
View File

@ -187,7 +187,20 @@ int lookup_ain_by_name(const char *name)
}
}
return -1;
}
}
int copy_key_by_key(const char *input_key, char *key)
{
pins_t *p;
for (p = table; p->key != NULL; ++p) {
if (strcmp(p->key, input_key) == 0) {
strncpy(key, p->key, 7);
key[7] = '\0';
return 1;
}
}
return 0;
}
int copy_pwm_key_by_key(const char *input_key, char *key)
{
@ -204,9 +217,22 @@ int copy_pwm_key_by_key(const char *input_key, char *key)
}
}
return 0;
}
}
int get_key_by_name(const char *name, char *key)
{
pins_t *p;
for (p = table; p->name != NULL; ++p) {
if (strcmp(p->name, name) == 0) {
strncpy(key, p->key, 7);
key[7] = '\0';
return 1;
}
}
return 0;
}
int get_pwm_key_by_name(const char *name, char *key)
int get_pwm_key_by_name(const char *name, char *key)
{
pins_t *p;
for (p = table; p->name != NULL; ++p) {
@ -232,7 +258,16 @@ int get_gpio_number(const char *key, unsigned int *gpio)
}
return 0;
}
}
int get_key(const char *input, char *key)
{
if (!copy_key_by_key(input, key)) {
return get_key_by_name(input, key);
}
return 1;
}
int get_pwm_key(const char *input, char *key)
{
@ -241,8 +276,8 @@ int get_pwm_key(const char *input, char *key)
}
return 1;
}
}
int get_adc_ain(const char *key, unsigned int *ain)
{
*ain = lookup_ain_by_key(key);

1
source/common.h
View File

@ -52,6 +52,7 @@ char ocp_dir[25];
int get_gpio_number(const char *key, unsigned int *gpio);
int get_pwm_key(const char *input, char *key);
int get_key(const char *input, char *key);
int get_adc_ain(const char *key, unsigned int *ain);
int build_path(const char *partial_path, const char *prefix, char *full_path, size_t full_path_len);
int get_spi_bus_path_number(unsigned int spi);

214
source/py_softpwm.c Normal file
View File

@ -0,0 +1,214 @@
/*
Copyright (c) 2016 Robert Wolterman
Original BBIO Author Justin Cooper
Modified for CHIP_IO Author Robert Wolterman
This file incorporates work covered by the following copyright and
permission notice, all modified code adopts the original license:
Copyright (c) 2013 Adafruit
Author: Justin Cooper
Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to
use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is furnished to do
so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
*/
#include "Python.h"
#include "constants.h"
#include "common.h"
#include "c_softpwm.h"
// python function cleanup()
static PyObject *py_cleanup(PyObject *self, PyObject *args)
{
// unexport the PWM
softpwm_cleanup();
Py_RETURN_NONE;
}
// python function start(channel, duty_cycle, freq)
static PyObject *py_start_channel(PyObject *self, PyObject *args, PyObject *kwargs)
{
char key[8];
char *channel;
float frequency = 2000.0;
float duty_cycle = 0.0;
int polarity = 0;
static char *kwlist[] = {"channel", "duty_cycle", "frequency", "polarity", NULL};
if (!PyArg_ParseTupleAndKeywords(args, kwargs, "s|ffi", kwlist, &channel, &duty_cycle, &frequency, &polarity)) {
return NULL;
}
if (!get_key(channel, key)) {
PyErr_SetString(PyExc_ValueError, "Invalid PWM key or name.");
return NULL;
}
if (duty_cycle < 0.0 || duty_cycle > 100.0)
{
PyErr_SetString(PyExc_ValueError, "duty_cycle must have a value from 0.0 to 100.0");
return NULL;
}
if (frequency <= 0.0)
{
PyErr_SetString(PyExc_ValueError, "frequency must be greater than 0.0");
return NULL;
}
if (polarity < 0 || polarity > 1) {
PyErr_SetString(PyExc_ValueError, "polarity must be either 0 or 1");
return NULL;
}
if (!softpwm_start(key, duty_cycle, frequency, polarity))
return NULL;
Py_RETURN_NONE;
}
// python function stop(channel)
static PyObject *py_stop_channel(PyObject *self, PyObject *args, PyObject *kwargs)
{
char key[8];
char *channel;
if (!PyArg_ParseTuple(args, "s", &channel))
return NULL;
if (!get_key(channel, key)) {
PyErr_SetString(PyExc_ValueError, "Invalid PWM key or name.");
return NULL;
}
softpwm_disable(key);
Py_RETURN_NONE;
}
// python method PWM.set_duty_cycle(channel, duty_cycle)
static PyObject *py_set_duty_cycle(PyObject *self, PyObject *args, PyObject *kwargs)
{
char key[8];
char *channel;
float duty_cycle = 0.0;
static char *kwlist[] = {"channel", "duty_cycle", NULL};
if (!PyArg_ParseTupleAndKeywords(args, kwargs, "s|f", kwlist, &channel, &duty_cycle))
return NULL;
if (duty_cycle < 0.0 || duty_cycle > 100.0)
{
PyErr_SetString(PyExc_ValueError, "duty_cycle must have a value from 0.0 to 100.0");
return NULL;
}
if (!get_key(channel, key)) {
PyErr_SetString(PyExc_ValueError, "Invalid PWM key or name.");
return NULL;
}
if (softpwm_set_duty_cycle(key, duty_cycle) == -1) {
PyErr_SetString(PyExc_RuntimeError, "You must start() the PWM channel first");
return NULL;
}
Py_RETURN_NONE;
}
// python method PWM.set_frequency(channel, frequency)
static PyObject *py_set_frequency(PyObject *self, PyObject *args, PyObject *kwargs)
{
char key[8];
char *channel;
float frequency = 1.0;
static char *kwlist[] = {"channel", "frequency", NULL};
if (!PyArg_ParseTupleAndKeywords(args, kwargs, "s|f", kwlist, &channel, &frequency))
return NULL;
if ((frequency <= 0.0) || (frequency > 10000.0))
{
PyErr_SetString(PyExc_ValueError, "frequency must be greater than 0.0 and less than 10000.0");
return NULL;
}
if (!get_key(channel, key)) {
PyErr_SetString(PyExc_ValueError, "Invalid PWM key or name.");
return NULL;
}
if (pwm_set_frequency(key, frequency) == -1) {
PyErr_SetString(PyExc_RuntimeError, "You must start() the PWM channel first");
return NULL;
}
Py_RETURN_NONE;
}
static const char moduledocstring[] = "Software PWM functionality of a CHIP using Python";
PyMethodDef pwm_methods[] = {
{"start", (PyCFunction)py_start_channel, METH_VARARGS | METH_KEYWORDS, "Set up and start the PWM channel. channel can be in the form of 'XIO-P0', or 'U14_13'"},
{"stop", (PyCFunction)py_stop_channel, METH_VARARGS | METH_KEYWORDS, "Stop the PWM channel. channel can be in the form of 'XIO-P0', or 'U14_13'"},
{ "set_duty_cycle", (PyCFunction)py_set_duty_cycle, METH_VARARGS, "Change the duty cycle\ndutycycle - between 0.0 and 100.0" },
{ "set_frequency", (PyCFunction)py_set_frequency, METH_VARARGS, "Change the frequency\nfrequency - frequency in Hz (freq > 0.0)" },
{"cleanup", py_cleanup, METH_VARARGS, "Clean up by resetting all GPIO channels that have been used by this program to INPUT with no pullup/pulldown and no event detection"},
//{"setwarnings", py_setwarnings, METH_VARARGS, "Enable or disable warning messages"},
{NULL, NULL, 0, NULL}
};
#if PY_MAJOR_VERSION > 2
static struct PyModuleDef chippwmmodule = {
PyModuleDef_HEAD_INIT,
"SOFTPWM", // name of module
moduledocstring, // module documentation, may be NULL
-1, // size of per-interpreter state of the module, or -1 if the module keeps state in global variables.
pwm_methods
};
#endif
#if PY_MAJOR_VERSION > 2
PyMODINIT_FUNC PyInit_SOFTPWM(void)
#else
PyMODINIT_FUNC initSOFTPWM(void)
#endif
{
PyObject *module = NULL;
#if PY_MAJOR_VERSION > 2
if ((module = PyModule_Create(&chippwmmodule)) == NULL)
return NULL;
#else
if ((module = Py_InitModule3("SOFTPWM", pwm_methods, moduledocstring)) == NULL)
return;
#endif
define_constants(module);
#if PY_MAJOR_VERSION > 2
return module;
#else
return;
#endif
}