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The replicape servo pins (P9_14/P9_16) are muxed to the SOCs hardware PWM unit driven by a 13MHz GP timer. They have to be driven by the linux host mcu. This commits adds hardware PWM support using the linux sysfs user space interface. Signed-off-by: Janne Grunau <janne-3d@jannau.net> Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
39 lines
1019 B
C
39 lines
1019 B
C
#ifndef __LINUX_GPIO_H
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#define __LINUX_GPIO_H
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#include <stdint.h> // uint8_t
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struct gpio_out {
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uint32_t pin;
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};
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struct gpio_out gpio_out_setup(uint8_t pin, uint8_t val);
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void gpio_out_toggle_noirq(struct gpio_out g);
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void gpio_out_toggle(struct gpio_out g);
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void gpio_out_write(struct gpio_out g, uint8_t val);
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struct gpio_adc {
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int fd;
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};
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struct gpio_adc gpio_adc_setup(uint8_t pin);
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uint32_t gpio_adc_sample(struct gpio_adc g);
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uint16_t gpio_adc_read(struct gpio_adc g);
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void gpio_adc_cancel_sample(struct gpio_adc g);
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struct spi_config {
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int fd;
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int rate;
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};
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struct spi_config spi_setup(uint32_t bus, uint8_t mode, uint32_t rate);
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void spi_prepare(struct spi_config config);
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void spi_transfer(struct spi_config config, uint8_t receive_data
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, uint8_t len, uint8_t *data);
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struct gpio_pwm {
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int fd;
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uint32_t period;
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};
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struct gpio_pwm gpio_pwm_setup(uint8_t pin, uint32_t cycle_time, uint16_t val);
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void gpio_pwm_write(struct gpio_pwm g, uint16_t val);
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#endif // gpio.h
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