px4-firmware/apps/drivers/drv_rc_input.h

111 lines
3.3 KiB
C

/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file R/C input interface.
*
*/
#ifndef _DRV_RC_INPUT_H
#define _DRV_RC_INPUT_H
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_orb_dev.h"
/**
* Path for the default R/C input device.
*
* Note that on systems with more than one R/C input path (e.g.
* PX4FMU with PX4IO connected) there may be other devices that
* respond to this protocol.
*
* Input data may be obtained by subscribing to the input_rc
* object, or by poll/reading from the device.
*/
#define RC_INPUT_DEVICE_PATH "/dev/input_rc"
/**
* Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
*/
#define RC_INPUT_MAX_CHANNELS 18
/**
* Input signal type, value is a control position from zero to 100
* percent.
*/
typedef uint16_t rc_input_t;
enum RC_INPUT_SOURCE {
RC_INPUT_SOURCE_UNKNOWN = 0,
RC_INPUT_SOURCE_PX4FMU_PPM,
RC_INPUT_SOURCE_PX4IO_PPM,
RC_INPUT_SOURCE_PX4IO_SPEKTRUM,
RC_INPUT_SOURCE_PX4IO_SBUS
};
/**
* R/C input status structure.
*
* Published to input_rc, may also be published to other names depending
* on the board involved.
*/
struct rc_input_values {
/** decoding time */
uint64_t timestamp;
/** number of channels actually being seen */
uint32_t channel_count;
/** Input source */
enum RC_INPUT_SOURCE input_source;
/** measured pulse widths for each of the supported channels */
rc_input_t values[RC_INPUT_MAX_CHANNELS];
};
/*
* ObjDev tag for R/C inputs.
*/
ORB_DECLARE(input_rc);
#define _RC_INPUT_BASE 0x2b00
/** Fetch R/C input values into (rc_input_values *)arg */
#define RC_INPUT_GET _IOC(_RC_INPUT_BASE, 0)
#endif /* _DRV_RC_INPUT_H */