r2maeh2/kosmos
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This commit is contained in:
tkl
2016-08-10 11:31:49 +02:00
parent 4d556a6235
commit 0e891d545e
2 changed files with 278 additions and 166 deletions
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70
source/test/pwm/main.c
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@@ -16,6 +16,45 @@
#include "list.h"
#include "shell.h"
struct engine_ctrl {
const struct driver *pwm;
const struct driver *enable;
};
struct drive_ctrl {
struct engine_ctrl *left_forward;
struct engine_ctrl *left_backward;
struct engine_ctrl *right_forward;
struct engine_ctrl *right_backward;
};
static struct engine_ctrl right_forward = {
.pwm = &pwm_1,
.enable = &gpio_c1,
};
static struct engine_ctrl right_backward = {
.pwm = &pwm_2,
.enable = &gpio_c0,
};
static struct engine_ctrl left_forward = {
.pwm = &pwm_3,
.enable = &gpio_c3,
};
static struct engine_ctrl left_backward = {
.pwm = &pwm_4,
.enable = &gpio_c2,
};
static struct drive_ctrl drive_ctrl = {
.left_forward = &left_forward,
.left_backward = &left_backward,
.right_forward = &right_forward,
.right_backward = &right_backward,
};
#define TH_STACK_SIZE 256
stack_t th_stack[TH_STACK_SIZE];
@@ -23,19 +62,30 @@ struct thread_context th_ctx;
static void th_func(void *arg)
{
unsigned int duty = 0;
open(&pwm_4);
open(drive_ctrl.left_forward->enable);
write(drive_ctrl.left_forward->enable, "0", 1);
open(drive_ctrl.left_forward->pwm);
open(drive_ctrl.left_backward->enable);
write(drive_ctrl.left_backward->enable, "0", 1);
open(drive_ctrl.left_backward->pwm);
write(drive_ctrl.left_forward->enable, "1", 1);
write(drive_ctrl.left_backward->enable, "1", 1);
while(1) {
while(duty < 100) {
ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
pwm_set_duty_cycle(&pwm_ch4, duty);
sleep_ms(10);
duty++;
duty = 0;
ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
for(duty = 0; duty < 100; duty++) {
ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
sleep_ms(100);
}
while(duty > 0) {
ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
sleep_ms(10);
duty--;
duty = 0;
ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
sleep_ms(100);
for(duty = 0; duty < 100; duty++) {
ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
sleep_ms(100);
}
sleep_ms(100);
}
}