int hpg_pwmgen_init(hal_pru_generic_t *hpg){
int r,i;
if (hpg->config.num_pwmgens <= 0)
return 0;
rtapi_print("hpg_pwm_init\n");
// FIXME: Support multiple PWMs like so: num_pwmgens=3,4,2,5
// hpg->pwmgen.num_instances = hpg->config.num_pwmgens;
hpg->pwmgen.num_instances = 1;
// Allocate HAL shared memory for instance state data
hpg->pwmgen.instance = (hpg_pwmgen_instance_t *) hal_malloc(sizeof(hpg_pwmgen_instance_t) * hpg->pwmgen.num_instances);
if (hpg->pwmgen.instance == 0) {
HPG_ERR("ERROR: hal_malloc() failed\n");
return -1;
}
// Clear memory
memset(hpg->pwmgen.instance, 0, (sizeof(hpg_pwmgen_instance_t) * hpg->pwmgen.num_instances) );
for (i=0; i < hpg->pwmgen.num_instances; i++) {
// FIXME: Support multiple PWMs like so: num_pwmgens=3,4,2,5
hpg->pwmgen.instance[i].num_outputs = hpg->config.num_pwmgens;
// Allocate HAL shared memory for output state data
hpg->pwmgen.instance[i].out = (hpg_pwmgen_output_instance_t *) hal_malloc(sizeof(hpg_pwmgen_output_instance_t) * hpg->pwmgen.instance[i].num_outputs);
if (hpg->pwmgen.instance[i].out == 0) {
HPG_ERR("ERROR: hal_malloc() failed\n");
return -1;
}
int len = sizeof(hpg->pwmgen.instance[i].pru) + (sizeof(PRU_pwm_output_t) * hpg->pwmgen.instance[i].num_outputs);
hpg->pwmgen.instance[i].task.addr = pru_malloc(hpg, len);
hpg->pwmgen.instance[i].pru.task.hdr.mode = eMODE_PWM;
pru_task_add(hpg, &(hpg->pwmgen.instance[i].task));
if ((r = export_pwmgen(hpg,i)) != 0){
HPG_ERR("ERROR: failed to export pwmgen %i: %i\n",i,r);
return -1;
}
}
return 0;
}
int rtapi_app_main(void)
{
int n, retval;
for (n = 0; n < MAX_CHAN && output_type[n] != -1 ; n++) {
if ((output_type[n] > MAX_OUTPUT_TYPE) || (output_type[n] < 0)) {
rtapi_print_msg(RTAPI_MSG_ERR,
"PWMGEN: ERROR: bad output type '%i', channel %i\n",
output_type[n], n);
return -1;
} else {
num_chan++;
}
}
if (num_chan == 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"PWMGEN: ERROR: no channels configured\n");
return -1;
}
/* periodns will be set to the proper value when 'make_pulses()' runs for
the first time. We load a default value here to avoid glitches at
startup */
periodns = 50000;
/* have good config info, connect to the HAL */
comp_id = hal_init("pwmgen");
if (comp_id < 0) {
rtapi_print_msg(RTAPI_MSG_ERR, "PWMGEN: ERROR: hal_init() failed\n");
return -1;
}
/* allocate shared memory for generator data */
pwmgen_array = hal_malloc(num_chan * sizeof(pwmgen_t));
if (pwmgen_array == 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"PWMGEN: ERROR: hal_malloc() failed\n");
hal_exit(comp_id);
return -1;
}
/* export all the variables for each PWM generator */
for (n = 0; n < num_chan; n++) {
/* export all vars */
retval = export_pwmgen(n, &(pwmgen_array[n]), output_type[n]);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"PWMGEN: ERROR: pwmgen %d var export failed\n", n);
hal_exit(comp_id);
return -1;
}
}
/* export functions */
retval = hal_export_funct("pwmgen.make-pulses", make_pulses,
pwmgen_array, 0, 0, comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"PWMGEN: ERROR: makepulses funct export failed\n");
hal_exit(comp_id);
return -1;
}
retval = hal_export_funct("pwmgen.update", update,
pwmgen_array, 1, 0, comp_id);
if (retval != 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"PWMGEN: ERROR: update funct export failed\n");
hal_exit(comp_id);
return -1;
}
rtapi_print_msg(RTAPI_MSG_INFO,
"PWMGEN: installed %d PWM/PDM generators\n", num_chan);
hal_ready(comp_id);
return 0;
}