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110 lines
3.3 KiB
110 lines
3.3 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 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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