static int
servo_motor_open(struct sol_flow_node *node, void *data, const struct sol_flow_node_options *options)
{
const struct sol_flow_node_type_servo_motor_controller_options *opts;
struct servo_motor_data *mdata = data;
struct sol_pwm_config pwm_config = { 0 };
opts = (const struct sol_flow_node_type_servo_motor_controller_options *)options;
mdata->duty_cycle_range = opts->duty_cycle_range;
if (mdata->duty_cycle_range.min > mdata->duty_cycle_range.max) {
SOL_WRN("Max pulse width shouldn't be less than min. Swapping values.");
mdata->duty_cycle_range.max = opts->duty_cycle_range.min;
mdata->duty_cycle_range.min = opts->duty_cycle_range.max;
}
mdata->duty_cycle_diff = mdata->duty_cycle_range.max -
mdata->duty_cycle_range.min;
pwm_config.api_version = SOL_PWM_CONFIG_API_VERSION;
pwm_config.period_ns = opts->period.val * 1000;
pwm_config.duty_cycle_ns = 0;
mdata->pwm = sol_pwm_open(opts->chip.val, opts->pin.val, &pwm_config);
SOL_NULL_CHECK(mdata->pwm, -ENOMEM);
return 0;
}
SOL_API struct sol_pwm *
sol_pwm_open_by_label(const char *label, const struct sol_pwm_config *config)
{
int device, channel;
_log_init();
#ifdef USE_PIN_MUX
if (!sol_pin_mux_map(label, SOL_IO_PWM, &device, &channel))
return sol_pwm_open(device, channel, config);
SOL_WRN("Label '%s' couldn't be mapped or can't be used as PWM", label);
#else
SOL_INF("Pin Multiplexer support is necessary to open a 'board pin'.");
(void)device;
(void)channel;
#endif
return NULL;
}