bool HAL_SERVO_INPUT_INIT(uint32_t inputCount, const uint32_t* gpioInputList)
{
int32_t rtnVal;
// Connect to the daemon (localhost) if not already started
if(!isDaemonStarted)
{
rtnVal = pigpio_start(NULL, NULL);
if(rtnVal < 0)
{
printf("spnServoInit: pigpio_start - %s\n", pigpio_error(rtnVal));
return EXIT_FAILURE;
}
isDaemonStarted = true;
}
// register for exit callback to disconnect from the daemon
atexit(&servoInOnExit);
if(gpioInputList != NULL)
{
// set each gpio to an input with pull-down resistor
for (uint32_t index = 0; index < inputCount; index++)
{
rtnVal = set_mode(gpioInputList[index], PI_INPUT);
if(rtnVal != 0)
{
printf("spnServoInit: set_mode - %s\n", pigpio_error(rtnVal));
return EXIT_FAILURE;
}
else
{
// Set pull-down
set_pull_up_down(gpioInputList[index], PI_PUD_DOWN);
// register callback
inputCallbackIds[index] = callback_ex(gpioInputList[index], EITHER_EDGE, &servoInputCbEx, (void*)index);
}
gpioInputs[index] = gpioInputList[index];
gpioInputCount++;
}
}
return EXIT_SUCCESS;
}
int wait_for_edge(unsigned user_gpio, unsigned edge, double timeout)
{
int triggered = 0;
int id;
double due;
if (timeout <= 0.0) return 0;
due = time_time() + timeout;
id = callback_ex(user_gpio, edge, _wfe, &triggered);
while (!triggered && (time_time() < due)) time_sleep(0.1);
callback_cancel(id);
return triggered;
}
int wait_for_edge(int pi, unsigned user_gpio, unsigned edge, double timeout)
{
int triggered = 0;
int id;
double due;
if ((pi < 0) || (pi >= MAX_PI) || !gPiInUse[pi])
return pigif_unconnected_pi;
if (timeout <= 0.0) return 0;
due = time_time() + timeout;
id = callback_ex(pi, user_gpio, edge, _wfe, &triggered);
while (!triggered && (time_time() < due)) time_sleep(0.05);
callback_cancel(id);
return triggered;
}