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linux: add support for Linux hardware PWM

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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>
This commit is contained in:
Janne Grunau 2019-03-24 10:25:56 +01:00 • committed by Kevin O'Connor
parent e6c3eeafd7
commit aab89e7f85
6 changed files with 110 additions and 4 deletions
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3
src/linux/timer.c
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@ -21,9 +21,6 @@ static uint32_t last_read_time_counter;
static struct timespec last_read_time, next_wake_time;
static time_t start_sec;
#define NSECS 1000000000
#define NSECS_PER_TICK (NSECS / CONFIG_CLOCK_FREQ)
// Compare two 'struct timespec' times
static inline uint8_t
timespec_is_before(struct timespec ts1, struct timespec ts2)