Don't build joystick code on BSD.

Add 't_off' parameter to am335 pwm block.
t_off will be the minimum time the bridge is switched low per pwm period.
(To allow boost C to recharge)

common/command/build.mk

 
 COMMAND_TARGETS += $(LIBDIR)/libcommand.la
 
-COMMAND_TARGETS += $(DIR)/command_list $(DIR)/command_send $(DIR)/command_joystick
+COMMAND_TARGETS += $(DIR)/command_list $(DIR)/command_send
+
+ifneq ($(OS), FreeBSD)
+COMMAND_TARGETS += $(DIR)/command_joystick
+endif
 
 
 ARCHSRCS := $(DIR)/command.c $(DIR)/command_tcp.c

controller/am335x/block_am335x_pwm.c

@@ -28,6 +28,7 @@ struct controller_block_private {
 
 	float tbprd;	// period
 	double freq;
+	double t_off;
 	bool sym;
 	
 	void *base;
@@ -63,16 +64,19 @@ static void set_freq(struct controller_block *pwm)
 	int clkdiv = 0;
 	int div = 1;
 	double period, freq;
+	double t_off;
 	uint16_t tbprd;
 	uint16_t aqctl;
 	
 	/* double divider for symmetric use */
 	period = AM335X_SYSCLK / (priv->freq * ( priv->sym ? 2.0 : 1.0));
+	t_off = AM335X_SYSCLK * priv->t_off / (priv->sym ? 2.0 : 1.0);
 
 	while (period > AM335X_PWMSS_EPWM_TBPRD_MAX) {
 		clkdiv++;
 		div *= 2;
 		period /= 2.0;
+		t_off /= 2.0;
 		if (clkdiv == AM335X_PWMSS_EPWM_TBCTL_CLKDIV_MAX)
 			break;
 	}
@@ -126,13 +130,14 @@ static void set_freq(struct controller_block *pwm)
 	am335x_write16(base, AM335X_PWMSS_REG_EPWM_CMPA, 0);
 	am335x_write16(base, AM335X_PWMSS_REG_EPWM_CMPB, 0);
 
-	priv->tbprd = tbprd;
+	t_off = ceil(t_off);
+	priv->tbprd = fmax(tbprd - (priv->t_off != 0.0 ? t_off : 0.0), 0.0);
 	
 	freq = AM335X_SYSCLK / (tbprd * div * ( priv->sym ? 2.0 : 1.0));
 	
 	log_send(LOG_T_DEBUG, 
-	    "%s: Frequency: %gHz, period: %d ticks, divider: %d",
-	    pwm->name, freq, tbprd, div);
+	    "%s: Frequency: %gHz, period: %d ticks (%d available), divider: %d",
+	    pwm->name, freq, tbprd, (int)priv->tbprd, div);
 	priv->freq = freq;
 }
 
@@ -152,9 +157,19 @@ static int param_set_sym(struct controller_block *pwm, char *param, int argc,
 	return 0;
 }
 
+static int param_set_t_off(struct controller_block *pwm, char *param, int argc,
+   va_list val)
+{
+	pwm->private->t_off = va_arg(val, double);
+	set_freq(pwm);
+	return 0;
+}
+
+
 static struct controller_block_param_list params[] = {
 	{ "frequency",   false, param_set_freq, .args = { "double", NULL } },
 	{ "symmetrical", false, param_set_sym, .args = { "int", NULL } },
+	{ "t_off", false, param_set_t_off, .args = { "double", NULL } },
 	{ NULL },
 };