81 lines
1.8 KiB
C
81 lines
1.8 KiB
C
#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <errno.h>
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#include <unistd.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <libsoc_pwm.h>
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/*
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* libsoc PWM API Documentation: https://jackmitch.github.io/libsoc/c/pwm/
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*/
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#define SERVO_PERIOD 20000000
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#define DMIN 150000
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#define DMAX 2000000
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#define STEP_SIZE 5
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int main(void)
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{
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pwm* vf_pwm = NULL;
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uint32_t ret = EXIT_SUCCESS;
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uint32_t pwm_number = 0;
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uint32_t pwm_chip_number = 0;
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uint32_t count = 2;
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uint32_t ms;
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printf("Enter PWM chip number:\t");
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scanf("%d", &pwm_chip_number);
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printf("Enter PWM number:\t");
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scanf("%d", &pwm_number);
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vf_pwm = libsoc_pwm_request(pwm_chip_number, pwm_number, LS_GREEDY);
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if (vf_pwm == NULL) {
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perror("PWM request failed");
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return EXIT_FAILURE;
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}
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/* As required for Tower Pro Micro Servo 9g SG90 */
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ret = libsoc_pwm_set_period(vf_pwm, SERVO_PERIOD);
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if (ret == EXIT_FAILURE) {
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perror("PWM set period failed");
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goto exit_failure;
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}
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ret = libsoc_pwm_set_enabled(vf_pwm, ENABLED);
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if (ret == EXIT_FAILURE) {
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perror("PWM enable failed");
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goto exit_failure;
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}
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while (count > 0) {
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for (ms = DMIN; ms <= DMAX;) {
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ret = libsoc_pwm_set_duty_cycle(vf_pwm, ms);
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if (ret == EXIT_FAILURE) {
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perror("PWM set duty cycle failed");
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goto exit_failure;
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}
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ms = ms + STEP_SIZE;
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}
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for (ms = DMAX; ms >= DMIN;) {
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ret = libsoc_pwm_set_duty_cycle(vf_pwm, ms);
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if (ret == EXIT_FAILURE) {
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perror("PWM set duty cycle failed");
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goto exit_failure;
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}
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ms = ms - STEP_SIZE;
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}
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count--;
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}
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printf("Disabling PWM\n");
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ret = libsoc_pwm_set_enabled(vf_pwm, DISABLED);
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if (ret == EXIT_FAILURE)
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perror("PWM disable failed");
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exit_failure:
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libsoc_pwm_free(vf_pwm);
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return ret;
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}
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