121 lines
4.0 KiB
C++
121 lines
4.0 KiB
C++
/*
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Example code is placed under the BSD license.
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Written by Team Dark Water (team@darkwater.io) - based on original by Emlid
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Copyright (c) 2014, Emlid Limited. All rights reserved.
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Written by Mikhail Avkhimenia (mikhail.avkhimenia@emlid.com)
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twitter.com/emlidtech || www.emlid.com || info@emlid.com
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Emlid Limited nor the names of its contributors
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may be used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL EMLID LIMITED BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <pigpio.h>
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#include <stdio.h>
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#include <unistd.h>
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#include "darkwater/DWESCAPE.h"
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#include "darkwater/Util.h"
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#include <stdlib.h>
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//================================ Options =====================================
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unsigned int samplingRate = 1; // 1 microsecond (can be 1,2,4,5,10)
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unsigned int ppmInputGpio = 4; // PPM input on Navio's 2.54 header
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unsigned int ppmSyncLength = 4000; // Length of PPM sync pause
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unsigned int ppmChannelsNumber = 8; // Number of channels packed in PPM
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unsigned int servoFrequency = 50; // Servo control frequency
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bool verboseOutputEnabled = true; // Output channels values to console
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//============================ Objects & data ==================================
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using namespace DarkWater;
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DWESCAPE *dw;
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DW_Servo *servos[6];
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float channels[8];
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//============================== PPM decoder ===================================
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unsigned int currentChannel = 0;
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unsigned int previousTick;
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unsigned int deltaTime;
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void ppmOnEdge(int gpio, int level, uint32_t tick)
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{
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if (level == 0) {
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deltaTime = tick - previousTick;
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previousTick = tick;
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if (deltaTime >= ppmSyncLength) { // Sync
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currentChannel = 0;
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// RC output
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for (int i = 0; i < ppmChannelsNumber; i++)
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servos[i]->setPWMuS( channels[i] );
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// Console output
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if (verboseOutputEnabled) {
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printf("\n");
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for (int i = 0; i < ppmChannelsNumber; i++)
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printf("%4.f ", channels[i]);
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}
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}
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else
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if (currentChannel < ppmChannelsNumber)
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channels[currentChannel++] = deltaTime;
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}
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}
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//================================== Main ======================================
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int main(int argc, char *argv[])
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{
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if (check_apm()) {
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return 1;
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}
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dw = new DWESCAPE();
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dw->initialize();
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dw->setFrequency(servoFrequency);
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servos[0] = dw->getServo(1);
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servos[1] = dw->getServo(2);
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servos[2] = dw->getServo(3);
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servos[3] = dw->getServo(4);
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servos[4] = dw->getServo(5);
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servos[5] = dw->getServo(6);
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// GPIO setup
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gpioCfgClock(samplingRate, PI_DEFAULT_CLK_PERIPHERAL, 0); /* last parameter is deprecated now */
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gpioInitialise();
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previousTick = gpioTick();
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gpioSetAlertFunc(ppmInputGpio, ppmOnEdge);
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// Infinite sleep - all action is now happening in ppmOnEdge() function
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while(1)
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sleep(10);
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return 0;
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}
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