/****************************************************************************
*
* Copyright (c) 2012-2015 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 PWM servo output interface.
*
* Servo values can be set with the PWM_SERVO_SET ioctl, by writing a
* pwm_output_values structure to the device, or by publishing to the
* output_pwm ORB topic.
* Writing a value of 0 to a channel suppresses any output for that
* channel.
*/
#pragma once
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_orb_dev.h"
__BEGIN_DECLS
/**
* Path for the default PWM output device.
*
* Note that on systems with more than one PWM output path (e.g.
* PX4FMU with PX4IO connected) there may be other devices that
* respond to this protocol.
*/
#define PWM_OUTPUT_BASE_DEVICE_PATH "/dev/pwm_output"
#define PWM_OUTPUT0_DEVICE_PATH "/dev/pwm_output0"
/**
* Maximum number of PWM output channels supported by the device.
*/
#define PWM_OUTPUT_MAX_CHANNELS 16
/**
* Lowest minimum PWM in us
*/
#define PWM_LOWEST_MIN 900
/**
* Default minimum PWM in us
*/
#define PWM_DEFAULT_MIN 1000
/**
* Highest PWM allowed as the minimum PWM
*/
#define PWM_HIGHEST_MIN 1600
/**
* Highest maximum PWM in us
*/
#define PWM_HIGHEST_MAX 2100
/**
* Default maximum PWM in us
*/
#define PWM_DEFAULT_MAX 2000
/**
* Lowest PWM allowed as the maximum PWM
*/
#define PWM_LOWEST_MAX 1400
/**
* Do not output a channel with this value
*/
#define PWM_IGNORE_THIS_CHANNEL UINT16_MAX
/**
* Servo output signal type, value is actual servo output pulse
* width in microseconds.
*/
typedef uint16_t servo_position_t;
/**
* Servo output status structure.
*
* May be published to output_pwm, or written to a PWM output
* device.
*/
struct pwm_output_values {
/** desired pulse widths for each of the supported channels */
servo_position_t values[PWM_OUTPUT_MAX_CHANNELS];
unsigned channel_count;
};
/**
* RC config values for a channel
*
* This allows for PX4IO_PAGE_RC_CONFIG values to be set without a
* param_get() dependency
*/
struct pwm_output_rc_config {
uint8_t channel;
uint16_t rc_min;
uint16_t rc_trim;
uint16_t rc_max;
uint16_t rc_dz;
uint16_t rc_assignment;
bool rc_reverse;
};
/*
* ORB tag for PWM outputs.
*/
ORB_DECLARE(output_pwm);
/*
* ioctl() definitions
*
* Note that ioctls and ORB updates should not be mixed, as the
* behaviour of the system in this case is not defined.
*/
#define _PWM_SERVO_BASE 0x2a00
/** arm all servo outputs handle by this driver */
#define PWM_SERVO_ARM _IOC(_PWM_SERVO_BASE, 0)
/** disarm all servo outputs (stop generating pulses) */
#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1)
/** get default servo update rate */
#define PWM_SERVO_GET_DEFAULT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)
/** set alternate servo update rate */
#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 3)
/** get alternate servo update rate */
#define PWM_SERVO_GET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4)
/** get the number of servos in *(unsigned *)arg */
#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 5)
/** selects servo update rates, one bit per servo. 0 = default (50Hz), 1 = alternate */
#define PWM_SERVO_SET_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 6)
/** check the selected update rates */
#define PWM_SERVO_GET_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 7)
/** set the 'ARM ok' bit, which activates the safety switch */
#define PWM_SERVO_SET_ARM_OK _IOC(_PWM_SERVO_BASE, 8)
/** clear the 'ARM ok' bit, which deactivates the safety switch */
#define PWM_SERVO_CLEAR_ARM_OK _IOC(_PWM_SERVO_BASE, 9)
/** start DSM bind */
#define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 10)
#define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */
#define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */
#define DSMX8_BIND_PULSES 9 /* DSM_BIND_START ioctl parameter, pulses required to start 8 or more channel dsmx pairing */
/** power up DSM receiver */
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 11)
/** set the PWM value for failsafe */
#define PWM_SERVO_SET_FAILSAFE_PWM _IOC(_PWM_SERVO_BASE, 12)
/** get the PWM value for failsafe */
#define PWM_SERVO_GET_FAILSAFE_PWM _IOC(_PWM_SERVO_BASE, 13)
/** set the PWM value when disarmed - should be no PWM (zero) by default */
#define PWM_SERVO_SET_DISARMED_PWM _IOC(_PWM_SERVO_BASE, 14)
/** get the PWM value when disarmed */
#define PWM_SERVO_GET_DISARMED_PWM _IOC(_PWM_SERVO_BASE, 15)
/** set the minimum PWM value the output will send */
#define PWM_SERVO_SET_MIN_PWM _IOC(_PWM_SERVO_BASE, 16)
/** get the minimum PWM value the output will send */
#define PWM_SERVO_GET_MIN_PWM _IOC(_PWM_SERVO_BASE, 17)
/** set the maximum PWM value the output will send */
#define PWM_SERVO_SET_MAX_PWM _IOC(_PWM_SERVO_BASE, 18)
/** get the maximum PWM value the output will send */
#define PWM_SERVO_GET_MAX_PWM _IOC(_PWM_SERVO_BASE, 19)
/** set the number of servos in (unsigned)arg - allows change of
* split between servos and GPIO */
#define PWM_SERVO_SET_COUNT _IOC(_PWM_SERVO_BASE, 20)
/** set the lockdown override flag to enable outputs in HIL */
#define PWM_SERVO_SET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 21)
/** get the lockdown override flag to enable outputs in HIL */
#define PWM_SERVO_GET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 22)
/** force safety switch off (to disable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23)
/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24)
/** make failsafe non-recoverable (termination) if it occurs */
#define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25)
/** force safety switch on (to enable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26)
/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */
#define PWM_SERVO_SET_RC_CONFIG _IOC(_PWM_SERVO_BASE, 27)
/** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
#define PWM_SERVO_SET_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 28)
/** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */
#define PWM_SERVO_CLEAR_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 29)
/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */
#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _IOC(_PWM_SERVO_BASE, 30)
/*
*
*
* WARNING WARNING WARNING! DO NOT EXCEED 31 IN IOC INDICES HERE!
*
*
*/
/** set a single servo to a specific value */
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
/** get a single specific servo value */
#define PWM_SERVO_GET(_servo) _IOC(_PWM_SERVO_BASE, 0x40 + _servo)
/** get the _n'th rate group's channels; *(uint32_t *)arg returns a bitmap of channels
* whose update rates must be the same.
*/
#define PWM_SERVO_GET_RATEGROUP(_n) _IOC(_PWM_SERVO_BASE, 0x60 + _n)
/*
* Low-level PWM output interface.
*
* This is the low-level API to the platform-specific PWM driver.
*/
/**
* Intialise the PWM servo outputs using the specified configuration.
*
* @param channel_mask Bitmask of channels (LSB = channel 0) to enable.
* This allows some of the channels to remain configured
* as GPIOs or as another function.
* @return OK on success.
*/
__EXPORT extern int up_pwm_servo_init(uint32_t channel_mask);
/**
* De-initialise the PWM servo outputs.
*/
__EXPORT extern void up_pwm_servo_deinit(void);
/**
* Arm or disarm servo outputs.
*
* When disarmed, servos output no pulse.
*
* @bug This function should, but does not, guarantee that any pulse
* currently in progress is cleanly completed.
*
* @param armed If true, outputs are armed; if false they
* are disarmed.
*/
__EXPORT extern void up_pwm_servo_arm(bool armed);
/**
* Set the servo update rate for all rate groups.
*
* @param rate The update rate in Hz to set.
* @return OK on success, -ERANGE if an unsupported update rate is set.
*/
__EXPORT extern int up_pwm_servo_set_rate(unsigned rate);
/**
* Get a bitmap of output channels assigned to a given rate group.
*
* @param group The rate group to query. Rate groups are assigned contiguously
* starting from zero.
* @return A bitmap of channels assigned to the rate group, or zero if
* the group number has no channels.
*/
__EXPORT extern uint32_t up_pwm_servo_get_rate_group(unsigned group);
/**
* Set the update rate for a given rate group.
*
* @param group The rate group whose update rate will be changed.
* @param rate The update rate in Hz.
* @return OK if the group was adjusted, -ERANGE if an unsupported update rate is set.
*/
__EXPORT extern int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate);
/**
* Set the current output value for a channel.
*
* @param channel The channel to set.
* @param value The output pulse width in microseconds.
*/
__EXPORT extern int up_pwm_servo_set(unsigned channel, servo_position_t value);
/**
* Get the current output value for a channel.
*
* @param channel The channel to read.
* @return The output pulse width in microseconds, or zero if
* outputs are not armed or not configured.
*/
__EXPORT extern servo_position_t up_pwm_servo_get(unsigned channel);
__END_DECLS
