forked from Archive/PX4-Autopilot
113 lines
3.6 KiB
C
113 lines
3.6 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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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
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* are met:
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*
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* 1. 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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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file PWM servo output interface.
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*
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* Servo values can be set with the PWM_SERVO_SET ioctl, by writing a
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* pwm_output_values structure to the device, or by publishing to the
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* output_pwm ObjDev.
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* Writing a value of 0 to a channel suppresses any output for that
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* channel.
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*/
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#ifndef _DRV_PWM_OUTPUT_H
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#define _DRV_PWM_OUTPUT_H
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#include <stdint.h>
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#include <sys/ioctl.h>
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#include "drv_orb_dev.h"
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/**
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* Path for the default PWM output device.
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*
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* Note that on systems with more than one PWM output path (e.g.
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* PX4FMU with PX4IO connected) there may be other devices that
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* respond to this protocol.
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*/
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#define PWM_OUTPUT_DEVICE_PATH "/dev/pwm_output"
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/**
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* Maximum number of PWM output channels in the system.
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*/
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#define PWM_OUTPUT_MAX_CHANNELS 16
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/**
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* Servo output signal type, value is actual servo output pulse
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* width in microseconds.
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*/
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typedef uint16_t servo_position_t;
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/**
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* Servo output status structure.
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*
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* May be published to output_pwm, or written to a PWM output
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* device.
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*/
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struct pwm_output_values {
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/** desired servo update rate in Hz */
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uint32_t update_rate;
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/** desired pulse widths for each of the supported channels */
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servo_position_t values[PWM_OUTPUT_MAX_CHANNELS];
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};
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/*
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* ObjDev tag for PWM outputs.
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*/
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ORB_DECLARE(output_pwm);
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/*
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* ioctl() definitions
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*
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* Note that ioctls and ObjDev updates should not be mixed, as the
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* behaviour of the system in this case is not defined.
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*/
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#define _PWM_SERVO_BASE 0x7500
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/** arm all servo outputs handle by this driver */
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#define PWM_SERVO_ARM _IOC(_PWM_SERVO_BASE, 0)
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/** disarm all servo outputs (stop generating pulses) */
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#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1)
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/** set a single servo to a specific value */
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#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
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/** get a single specific servo value */
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#define PWM_SERVO_GET(_servo) _IOC(_PWM_SERVO_BASE, 0x40 + _servo)
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#endif /* _DRV_PWM_OUTPUT_H */
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