forked from Archive/PX4-Autopilot
111 lines
3.3 KiB
C
111 lines
3.3 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 R/C input interface.
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*
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*/
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#ifndef _DRV_RC_INPUT_H
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#define _DRV_RC_INPUT_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 R/C input device.
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*
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* Note that on systems with more than one R/C input 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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* Input data may be obtained by subscribing to the input_rc
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* object, or by poll/reading from the device.
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*/
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#define RC_INPUT_DEVICE_PATH "/dev/input_rc"
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/**
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* Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
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*/
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#define RC_INPUT_MAX_CHANNELS 18
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/**
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* Input signal type, value is a control position from zero to 100
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* percent.
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*/
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typedef uint16_t rc_input_t;
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enum RC_INPUT_SOURCE {
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RC_INPUT_SOURCE_UNKNOWN = 0,
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RC_INPUT_SOURCE_PX4FMU_PPM,
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RC_INPUT_SOURCE_PX4IO_PPM,
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RC_INPUT_SOURCE_PX4IO_SPEKTRUM,
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RC_INPUT_SOURCE_PX4IO_SBUS
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};
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/**
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* R/C input status structure.
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*
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* Published to input_rc, may also be published to other names depending
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* on the board involved.
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*/
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struct rc_input_values {
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/** decoding time */
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uint64_t timestamp;
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/** number of channels actually being seen */
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uint32_t channel_count;
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/** Input source */
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enum RC_INPUT_SOURCE input_source;
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/** measured pulse widths for each of the supported channels */
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rc_input_t values[RC_INPUT_MAX_CHANNELS];
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};
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/*
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* ObjDev tag for R/C inputs.
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*/
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ORB_DECLARE(input_rc);
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#define _RC_INPUT_BASE 0x2b00
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/** Fetch R/C input values into (rc_input_values *)arg */
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#define RC_INPUT_GET _IOC(_RC_INPUT_BASE, 0)
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#endif /* _DRV_RC_INPUT_H */
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