src/resource/resource_servo_motor.c

   1 /*
   2  * Copyright (c) 2018 Samsung Electronics Co., Ltd.
   3  *
   4  * Licensed under the Apache License, Version 2.0 (the "License");
   5  * you may not use this file except in compliance with the License.
   6  * You may obtain a copy of the License at
   7  *
   8  * http://www.apache.org/licenses/LICENSE-2.0
   9  *
  10  * Unless required by applicable law or agreed to in writing, software
  11  * distributed under the License is distributed on an AS IS BASIS,
  12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  13  * See the License for the specific language governing permissions and
  14  * limitations under the License.
  15  */
  16
  17 #include "log.h"
  18 #include "resource/resource_servo_motor.h"
  19
  20 #define ARTIK_PWM_CHIPID        0
  21 #define ARTIK_PWM_PIN           2
  22
  23 #define MILLI_SECOND    (1000000)
  24
  25 peripheral_pwm_h g_pwm_h = NULL;
  26
  27 static int _get_duty_cycle(door_state_e mode, int *duty_cycle)
  28 {
  29         if ((mode == DOOR_STATE_OPENED) || (mode == DOOR_STATE_OPENING))
  30                 *duty_cycle = 2 * MILLI_SECOND;         // CLOCKWISE
  31         else if ((mode == DOOR_STATE_CLOSE) || (mode == DOOR_STATE_CLOSING))
  32                 *duty_cycle = 1 * MILLI_SECOND;         // COUNTER-CLOCKWISE
  33         else {
  34                 _E("get_duty_cycle unknown mode=[%d]", mode);
  35                 return -1;
  36         }
  37
  38         _I("get_duty_cycle mode=[%d:%s] : duty_cycle [%d] ms",
  39                                                         mode,
  40                                                         mode == DOOR_STATE_OPENED ? "OPENED " :
  41                                                         (mode == DOOR_STATE_CLOSE ? "CLOSE  " :
  42                                                         (mode == DOOR_STATE_CLOSING ? "CLOSING" : "OPENING")),
  43                                                         *duty_cycle/(1000));
  44
  45         return 0;
  46 }
  47 peripheral_error_e resource_motor_driving(door_state_e mode)
  48 {
  49         peripheral_error_e ret = PERIPHERAL_ERROR_NONE;
  50
  51         int chip = ARTIK_PWM_CHIPID;    // Chip 0
  52         int pin  = ARTIK_PWM_PIN;               // Pin 2
  53
  54         int period = 20 * MILLI_SECOND;
  55         int duty_cycle = 0;
  56         bool enable = true;
  57
  58         ret = _get_duty_cycle(mode, &duty_cycle);
  59         if (ret != 0) {
  60                 _E("_get_duty_cycle unknown mode=[%d]", mode);
  61                 return PERIPHERAL_ERROR_INVALID_PARAMETER;
  62         }
  63
  64         if (g_pwm_h == NULL){
  65                 // Opening a PWM Handle : The chip and pin parameters required for this function must be set
  66                 if ((ret = peripheral_pwm_open(chip, pin, &g_pwm_h)) != PERIPHERAL_ERROR_NONE ) {
  67                         _E("peripheral_pwm_open() failed!![%d]", ret);
  68                         return ret;
  69                 }
  70         }
  71
  72         // Setting the Period : sets the period to 20 milliseconds. The unit is nanoseconds
  73         if ((ret = peripheral_pwm_set_period(g_pwm_h, period)) != PERIPHERAL_ERROR_NONE) {
  74                 _E("peripheral_pwm_set_period() failed!![%d]", ret);
  75                 return ret;
  76         }
  77
  78         // Setting the Duty Cycle : sets the duty cycle to 1~2 milliseconds. The unit is nanoseconds
  79         if ((ret = peripheral_pwm_set_duty_cycle(g_pwm_h, duty_cycle)) != PERIPHERAL_ERROR_NONE) {
  80                 _E("peripheral_pwm_set_duty_cycle() failed!![%d]", ret);
  81                 return ret;
  82         }
  83
  84         // Enabling Repetition
  85         if ((ret = peripheral_pwm_set_enabled(g_pwm_h, enable)) != PERIPHERAL_ERROR_NONE) {
  86                 _E("peripheral_pwm_set_enabled() failed!![%d]", ret);
  87                 return ret;
  88         }
  89
  90         if (g_pwm_h != NULL) {
  91                 // Closing a PWM Handle : close a PWM handle that is no longer used,
  92                 if ((ret = peripheral_pwm_close(g_pwm_h)) != PERIPHERAL_ERROR_NONE ) {
  93                         _E("peripheral_pwm_close() failed!![%d]", ret);
  94                         return ret;
  95                 }
  96                 g_pwm_h = NULL;
  97         }
  98
  99         return ret;
 100 }