rename directory

examples/PPM/Makefile

@@ -0,0 +1,14 @@
+CC = g++
+DW = ../../darkwater
+
+PIGPIO_PATH := $(PIGPIO_PATH)
+
+LIB = -L$(PIGPIO_PATH)
+INCLUDES = -I ../.. -I$(PIGPIO_PATH)
+
+
+all:
+	$(CC) $(INCLUDES) $(LIB)  PPM.cpp $(DW)/DWESCAPE.cpp $(DW)/PCA9685.cpp $(DW)/I2Cdev.cpp $(DW)/gpio.cpp $(DW)/Util.cpp -o PPM -lrt -lpthread -lpigpio
+
+clean:
+	rm PPM

examples/PPM/PPM.cpp

@@ -0,0 +1,126 @@
+/*
+Example code is placed under the BSD license.
+Written by Team Dark Water (team@darkwater.io) - based on original by Emlid
+Copyright (c) 2014, Emlid Limited. All rights reserved.
+Written by Mikhail Avkhimenia (mikhail.avkhimenia@emlid.com)
+twitter.com/emlidtech || www.emlid.com || info@emlid.com
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Emlid Limited nor the names of its contributors
+      may be used to endorse or promote products derived from this software
+      without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <pigpio.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include "darkwater/DWESCAPE.h"
+#include "darkwater/Util.h"
+#include <stdlib.h>
+
+//================================ Options =====================================
+
+unsigned int samplingRate      = 1;      // 1 microsecond (can be 1,2,4,5,10)
+unsigned int ppmInputGpio      = 4;      // PPM input on Navio's 2.54 header
+unsigned int ppmSyncLength     = 4000;   // Length of PPM sync pause
+unsigned int ppmChannelsNumber = 6;      // Number of channels packed in PPM
+unsigned int servoFrequency    = 50;     // Servo control frequency
+bool verboseOutputEnabled      = true;   // Output channels values to console
+
+//============================ Objects & data ==================================
+
+using namespace DarkWater;
+
+DWESCAPE *dw;
+DW_Servo *servos[6];
+
+float channels[6];
+
+//============================== PPM decoder ===================================
+
+unsigned int currentChannel = 0;
+unsigned int previousTick;
+unsigned int deltaTime;
+
+void ppmOnEdge(int gpio, int level, uint32_t tick)
+{
+	if (level == 0) {	
+		deltaTime = tick - previousTick;
+		previousTick = tick;
+	
+		if (deltaTime >= ppmSyncLength) { // Sync
+			currentChannel = 0;
+
+			// RC output
+			for (int i = 0; i < ppmChannelsNumber; i++) {
+				// Because we aren't going to get exact readings as this may not be running with a RT kernel
+				// We need to add some sanity checks for values
+				if( channels[i] > 2000 ) channels[i] = 2000; // Set top value
+				if( channels[i] < 1000 ) channels[i] = 1000; // Set bottom value
+				//if( channels[i] < 1550 && channels[i] > 1450 ) channels[i] = 1500; // Add a dead band around center
+				servos[i]->setPWMuS( channels[i] );
+			}
+
+			// Console output
+			if (verboseOutputEnabled) {
+				printf("\n");
+				for (int i = 0; i < ppmChannelsNumber; i++)
+					printf("%4.f ", channels[i]);
+			}
+		}
+		else
+			if (currentChannel < ppmChannelsNumber)
+				channels[currentChannel++] = deltaTime;
+	}
+}
+
+//================================== Main ======================================
+
+int main(int argc, char *argv[])
+{
+    if (check_apm()) {
+        return 1;
+    }
+    
+    dw = new DWESCAPE();
+    dw->initialize();
+    dw->setFrequency(servoFrequency);
+
+    servos[0] = dw->getServo(1);
+    servos[1] = dw->getServo(2);
+    servos[2] = dw->getServo(3);
+    servos[3] = dw->getServo(4);
+    servos[4] = dw->getServo(5);
+    servos[5] = dw->getServo(6);
+
+	// GPIO setup
+	gpioCfgClock(samplingRate, PI_DEFAULT_CLK_PERIPHERAL, 0); /* last parameter is deprecated now */
+	gpioInitialise();
+	previousTick = gpioTick();
+	gpioSetAlertFunc(ppmInputGpio, ppmOnEdge);
+
+	// Infinite sleep - all action is now happening in ppmOnEdge() function
+
+	while(1)
+		sleep(10);
+	return 0;
+}