Pi_Wieg_t * Pi_Wieg(
int gpio_0,
int gpio_1,
Pi_Wieg_CB_t callback,
int timeout)
{
/*
Instantiate with the gpio for 0 (green wire), the gpio for 1
(white wire), the callback function, and the timeout in
milliseconds which indicates the end of a code.
The callback is passed the code length in bits and the value.
*/
Pi_Wieg_t *wieg;
wieg = malloc(sizeof(Pi_Wieg_t));
wieg->mygpio_0 = gpio_0;
wieg->mygpio_1 = gpio_1;
wieg->mycallback = callback;
wieg->mytimeout = timeout;
wieg->in_code = 0;
gpioSetMode(gpio_0, PI_INPUT);
gpioSetMode(gpio_1, PI_INPUT);
gpioSetPullUpDown(gpio_0, PI_PUD_UP);
gpioSetPullUpDown(gpio_1, PI_PUD_UP);
gpioSetAlertFuncEx(gpio_0, _cb, wieg);
gpioSetAlertFuncEx(gpio_1, _cb, wieg);
return wieg;
}
Hasher::Hasher(int gpio, HasherCB_t callback, int timeout)
{
/*
Initialises an IR remote hasher on a gpio. A gap of timeout
milliseconds indicates the end of the remote key press.
*/
mygpio = gpio;
mycallback = callback;
mytimeout = timeout;
in_code = 0;
gpioSetMode(gpio, PI_INPUT);
gpioSetAlertFuncEx(gpio, _callbackExt, (void *)this);
}
RaspberryPiController::RaspberryPiController(const Setting &cfg)
: StageController(cfg),
motor_cw_gpio(unsigned(cfg.lookup("motor_cw_gpio"))),
motor_ccw_gpio(unsigned(cfg.lookup("motor_ccw_gpio"))),
encoder_gpios(config_get_encoder_gpios(cfg))
{
gpioSetMode(motor_cw_gpio, PI_OUTPUT);
gpioSetMode(motor_ccw_gpio, PI_OUTPUT);
for (auto& g: encoder_gpios)
{
gpioSetMode(g.first, PI_INPUT);
gpioSetAlertFuncEx(g.first, static_encoder_callback, this);
}
}
Pi_Hasher_t *Pi_Hasher(int gpio, Pi_Hasher_CB_t callback, int timeout)
{
Pi_Hasher_t *hasher;
hasher = malloc(sizeof(Pi_Hasher_t));
hasher->gpio = gpio;
hasher->callback = callback;
hasher->timeout = 5;
hasher->in_code = 0;
gpioSetMode(gpio, PI_INPUT);
gpioSetAlertFuncEx(gpio, _cb, hasher);
return 0;
}