From 22ff84d6b0d7a0c8021dc5dfa38406765d63f35b Mon Sep 17 00:00:00 2001
From: mgreiff <marcusgreiff.93@hotmail.com>
Date: Fri, 25 Aug 2017 03:02:11 +0200
Subject: [PATCH] Include PWM manipulation
TODO: Write better tests (currently just experiments)
TODO: Test a combinatino of universaln and universala
TODO: Test after merge..
---
src/BeagleBone/BeagleBone.jl | 3 +-
src/BeagleBone/BeagleBone.jl~ | 86 +++++++++++++++++++++++++++++++++
src/BeagleBone/PWM.jl | 91 +++++++++++++++++++++++++++++++++++
src/BeagleBone/PWM.jl~ | 91 +++++++++++++++++++++++++++++++++++
test/BeagleBone/PWM_test.jl | 40 +++++++++++++++
test/BeagleBone/PWM_test.jl~ | 40 +++++++++++++++
6 files changed, 350 insertions(+), 1 deletion(-)
create mode 100644 src/BeagleBone/BeagleBone.jl~
create mode 100644 src/BeagleBone/PWM.jl
create mode 100644 src/BeagleBone/PWM.jl~
create mode 100644 test/BeagleBone/PWM_test.jl
create mode 100644 test/BeagleBone/PWM_test.jl~
diff --git a/src/BeagleBone/BeagleBone.jl b/src/BeagleBone/BeagleBone.jl
index 934bf47..0799a05 100644
--- a/src/BeagleBone/BeagleBone.jl
+++ b/src/BeagleBone/BeagleBone.jl
@@ -5,9 +5,10 @@
include("Debug.jl")
include("SysLED.jl")
include("GPIO.jl")
+include("PWM.jl")
#List of available devices and their constructors
-const DEVICES = Dict("debug" => Debug(), "sysled" => SysLED(), "gpio" => GPIO())
+const DEVICES = Dict("debug" => Debug(), "sysled" => SysLED(), "gpio" => GPIO(), "pwm" => PWM())
"""
dev = getdev(devname)
diff --git a/src/BeagleBone/BeagleBone.jl~ b/src/BeagleBone/BeagleBone.jl~
new file mode 100644
index 0000000..934bf47
--- /dev/null
+++ b/src/BeagleBone/BeagleBone.jl~
@@ -0,0 +1,86 @@
+# Devices should define a type `T` with methods:
+# write!(::T, identifier, val)
+# read(::T, identifier)
+
+include("Debug.jl")
+include("SysLED.jl")
+include("GPIO.jl")
+
+#List of available devices and their constructors
+const DEVICES = Dict("debug" => Debug(), "sysled" => SysLED(), "gpio" => GPIO())
+
+"""
+ dev = getdev(devname)
+ Gets the device corresponding to the name `devname`
+"""
+function getdev(devname)
+ dev = try
+ DEVICES[devname]
+ catch
+ error("Device $devname does not exist")
+ end
+ return dev
+end
+
+"""
+ bbparse(cmd)
+Parse and execute the command `cmd`
+"""
+bbparse(any) = error("Unexpected input: $any")
+
+"""
+ bbparse(l::Tuple)
+Parse input on the form `l=(iswrite, ndev, cmd1, cmd2, ..., cmdn)``
+where if `iswrite`
+ `cmdi = (devname, id, val)`
+ and if not `iswrite`
+ `cmdi = (devname, id)`
+"""
+function bbparse(l::Tuple)
+ iswrite = l[1]::Bool #True if write command, false if read
+ ndev = l[2]::Int32 #Number of devices/commands
+ for i = 1:ndev
+ command = l[2+i]::Tuple
+ dev = getdev(command[1])
+ if iswrite
+ write!(dev, command[2], command[3])
+ else
+ val = read(dev, command[2])
+ println("$val")
+ #TODO return somewhere
+ end
+ end
+end
+
+"""
+ run_server(port=2001)
+Run a server on `port` that listens for commands from computer
+"""
+function run_server(port=2001)
+ server = listen(port)
+ @async while isopen(server)
+ try
+ sock = accept(server)
+ @async while isopen(sock)
+ try
+ l = deserialize(sock);
+ println("deserialize: $l")
+ bbparse(l)
+ catch err
+ if !isopen(sock) && isa(err, Base.EOFError)
+ println("Connection to server closed")
+ else
+ throw(err)
+ end
+ end
+ end
+ catch err
+ if isa(err,Base.UVError) && err.prefix == "accept"
+ println("Server closed successfully")
+ else
+ throw(err)
+ end
+ end
+ end
+ return server
+end
diff --git a/src/BeagleBone/PWM.jl b/src/BeagleBone/PWM.jl
new file mode 100644
index 0000000..54a0bdc
--- /dev/null
+++ b/src/BeagleBone/PWM.jl
@@ -0,0 +1,91 @@
+"""
+This script allows for low level PWM control of selected pins
+The valid pins dictionary relates to memory adresses in of the
+AM3359 chip, see p.182 in
+
+ www.ti.com/product/AM3359/technicaldocuments
+"""
+
+struct PWM
+end
+
+# These pins are exported with the Device Tree Overlay cape-universaln (default)
+validPins = Dict(
+ "P9.22" => ("PWM0A", "pwmchip0", "0"),
+ "P9.21" => ("PWM0B", "pwmchip0", "1"),
+ "P9.14" => ("PWM1A", "pwmchip2", "0"),
+ "P9.16" => ("PWM1B", "pwmchip2", "1"),
+ "P8.19" => ("PWM2A", "pwmchip4", "0"),
+ "P8.13" => ("PWM2B", "pwmchip4", "1"),
+)
+
+# These pins are exported with the Device Tree Overlay cape-universala
+# "P8.36" => ("PWM1A", "pwmchip1", "0"),
+# "P9.29" => ("PWM0B", "pwmchip0", "1"),
+# "P8.46" => ("PWM2B", "pwmchip2", "1")
+# "P8.45" => ("PWM2A", "pwmchip2", "0"),
+# "P8.34" => ("PWM1B", "pwmchip1", "1"),
+# "P9.31" => ("PWM0A", "pwmchip0", "0"),
+
+function setup(::PWM, pin::String)
+ if pin in keys(validPins)
+
+ # Configure the pin to run PWM if possible
+ Base.run(`config-pin $(pin) pwm`)
+
+ # Find chip and export number
+ chip = validPins[pin][2]
+ filename = "/sys/class/pwm/$(chip)/export"
+ exportNumber = validPins[pin][3]
+
+ # Export the filestructure of the corresponding chip
+ write(filename, exportNumber)
+ else
+ error("The pin write $(pin) does not support PWM")
+ end
+ return
+end
+
+function teardown(::PWM, pin::String)
+ if pin in keys(validPins)
+ # Find chip and export number
+ chip = validPins[pin][2]
+ filename = "/sys/class/pwm/$(chip)/unexport"
+ exportNumber = validPins[pin][3]
+
+ # Export the filestructure of the corresponding chip
+ write(filename, exportNumber)
+ else
+ error("The pin write $(pin) does not support PWM")
+ end
+ return
+end
+
+function write!(::PWM, pin::String, operation::Int32, entry::String)
+ !(pin in keys(validPins)) && error("Invalid PWM pin: $(pin))")
+ (operation <= 0 || operation > 4) && error("Invalid GPIO operation: $operation")
+
+ # TODO: Error checks
+ if operation == 1
+ directory = "enable"
+
+ end
+ if operation == 2
+ directory = "period"
+
+ end
+ if operation == 3
+ directory = "duty_cycle"
+
+ end
+ if operation == 4
+ directory = "polarity"
+
+ end
+
+ filename = "/sys/class/pwm/$(validPins[pin][2])/pwm$(validPins[pin][3])/$(directory)"
+ file = open(filename, "r+")
+ write(file, "$(entry)")
+ close(file)
+ return
+end
diff --git a/src/BeagleBone/PWM.jl~ b/src/BeagleBone/PWM.jl~
new file mode 100644
index 0000000..54a0bdc
--- /dev/null
+++ b/src/BeagleBone/PWM.jl~
@@ -0,0 +1,91 @@
+"""
+This script allows for low level PWM control of selected pins
+The valid pins dictionary relates to memory adresses in of the
+AM3359 chip, see p.182 in
+
+ www.ti.com/product/AM3359/technicaldocuments
+"""
+
+struct PWM
+end
+
+# These pins are exported with the Device Tree Overlay cape-universaln (default)
+validPins = Dict(
+ "P9.22" => ("PWM0A", "pwmchip0", "0"),
+ "P9.21" => ("PWM0B", "pwmchip0", "1"),
+ "P9.14" => ("PWM1A", "pwmchip2", "0"),
+ "P9.16" => ("PWM1B", "pwmchip2", "1"),
+ "P8.19" => ("PWM2A", "pwmchip4", "0"),
+ "P8.13" => ("PWM2B", "pwmchip4", "1"),
+)
+
+# These pins are exported with the Device Tree Overlay cape-universala
+# "P8.36" => ("PWM1A", "pwmchip1", "0"),
+# "P9.29" => ("PWM0B", "pwmchip0", "1"),
+# "P8.46" => ("PWM2B", "pwmchip2", "1")
+# "P8.45" => ("PWM2A", "pwmchip2", "0"),
+# "P8.34" => ("PWM1B", "pwmchip1", "1"),
+# "P9.31" => ("PWM0A", "pwmchip0", "0"),
+
+function setup(::PWM, pin::String)
+ if pin in keys(validPins)
+
+ # Configure the pin to run PWM if possible
+ Base.run(`config-pin $(pin) pwm`)
+
+ # Find chip and export number
+ chip = validPins[pin][2]
+ filename = "/sys/class/pwm/$(chip)/export"
+ exportNumber = validPins[pin][3]
+
+ # Export the filestructure of the corresponding chip
+ write(filename, exportNumber)
+ else
+ error("The pin write $(pin) does not support PWM")
+ end
+ return
+end
+
+function teardown(::PWM, pin::String)
+ if pin in keys(validPins)
+ # Find chip and export number
+ chip = validPins[pin][2]
+ filename = "/sys/class/pwm/$(chip)/unexport"
+ exportNumber = validPins[pin][3]
+
+ # Export the filestructure of the corresponding chip
+ write(filename, exportNumber)
+ else
+ error("The pin write $(pin) does not support PWM")
+ end
+ return
+end
+
+function write!(::PWM, pin::String, operation::Int32, entry::String)
+ !(pin in keys(validPins)) && error("Invalid PWM pin: $(pin))")
+ (operation <= 0 || operation > 4) && error("Invalid GPIO operation: $operation")
+
+ # TODO: Error checks
+ if operation == 1
+ directory = "enable"
+
+ end
+ if operation == 2
+ directory = "period"
+
+ end
+ if operation == 3
+ directory = "duty_cycle"
+
+ end
+ if operation == 4
+ directory = "polarity"
+
+ end
+
+ filename = "/sys/class/pwm/$(validPins[pin][2])/pwm$(validPins[pin][3])/$(directory)"
+ file = open(filename, "r+")
+ write(file, "$(entry)")
+ close(file)
+ return
+end
diff --git a/test/BeagleBone/PWM_test.jl b/test/BeagleBone/PWM_test.jl
new file mode 100644
index 0000000..2f9a2b1
--- /dev/null
+++ b/test/BeagleBone/PWM_test.jl
@@ -0,0 +1,40 @@
+include("../../src/LabConnection.jl")
+using LabConnection.BeagleBone
+import LabConnection.BeagleBone: getdev, write!, setup, teardown
+
+pins = Dict(
+ "P9.22" => ("PWM0A", "pwmchip0", "0"),
+ "P9.21" => ("PWM0B", "pwmchip0", "1"),
+ "P9.14" => ("PWM1A", "pwmchip0", "0"),
+ "P9.16" => ("PWM1B", "pwmchip0", "1"),
+ "P8.19" => ("PWM2A", "pwmchip0", "0"),
+ "P8.13" => ("PWM2B", "pwmchip0", "1"),
+)
+
+dev = getdev("pwm")
+
+println("Running first experiment on selected pins...")
+for pin in keys(pins)
+ println("Testing pin $(pin)")
+ setup(dev, pin)
+ write!(dev, pin, 2, "100000000")
+ write!(dev, pin, 3, "50000000")
+ write!(dev, pin, 1, "1")
+ sleep(1)
+ write!(dev, pin, 1, "0")
+ teardown(dev, pin)
+end
+
+
+println("Running second experiment on pin $(pin)...")
+pin = "P9.22"
+setup(dev, pin)
+write!(dev, pin, 2, "1000000000")
+write!(dev, pin, 3, "250000000")
+write!(dev, pin, 1, "1")
+sleep(5.0)
+write!(dev, pin, 3, "500000000")
+sleep(5.0)
+write!(dev, pin, 3, "750000000")
+write!(dev, pin, 1, "0")
+teardown(dev, pin)
diff --git a/test/BeagleBone/PWM_test.jl~ b/test/BeagleBone/PWM_test.jl~
new file mode 100644
index 0000000..2f9a2b1
--- /dev/null
+++ b/test/BeagleBone/PWM_test.jl~
@@ -0,0 +1,40 @@
+include("../../src/LabConnection.jl")
+using LabConnection.BeagleBone
+import LabConnection.BeagleBone: getdev, write!, setup, teardown
+
+pins = Dict(
+ "P9.22" => ("PWM0A", "pwmchip0", "0"),
+ "P9.21" => ("PWM0B", "pwmchip0", "1"),
+ "P9.14" => ("PWM1A", "pwmchip0", "0"),
+ "P9.16" => ("PWM1B", "pwmchip0", "1"),
+ "P8.19" => ("PWM2A", "pwmchip0", "0"),
+ "P8.13" => ("PWM2B", "pwmchip0", "1"),
+)
+
+dev = getdev("pwm")
+
+println("Running first experiment on selected pins...")
+for pin in keys(pins)
+ println("Testing pin $(pin)")
+ setup(dev, pin)
+ write!(dev, pin, 2, "100000000")
+ write!(dev, pin, 3, "50000000")
+ write!(dev, pin, 1, "1")
+ sleep(1)
+ write!(dev, pin, 1, "0")
+ teardown(dev, pin)
+end
+
+
+println("Running second experiment on pin $(pin)...")
+pin = "P9.22"
+setup(dev, pin)
+write!(dev, pin, 2, "1000000000")
+write!(dev, pin, 3, "250000000")
+write!(dev, pin, 1, "1")
+sleep(5.0)
+write!(dev, pin, 3, "500000000")
+sleep(5.0)
+write!(dev, pin, 3, "750000000")
+write!(dev, pin, 1, "0")
+teardown(dev, pin)
--
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