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112 lines
3.6 KiB
112 lines
3.6 KiB
/**************************************************************************** |
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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 0x2700 |
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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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