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author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /apps/drivers/drv_pwm_output.h | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'apps/drivers/drv_pwm_output.h')
-rw-r--r-- | apps/drivers/drv_pwm_output.h | 112 |
1 files changed, 112 insertions, 0 deletions
diff --git a/apps/drivers/drv_pwm_output.h b/apps/drivers/drv_pwm_output.h new file mode 100644 index 000000000..551f9b1a6 --- /dev/null +++ b/apps/drivers/drv_pwm_output.h @@ -0,0 +1,112 @@ +/**************************************************************************** + * + * 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 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 ObjDev. + * Writing a value of 0 to a channel suppresses any output for that + * channel. + */ + +#ifndef _DRV_PWM_OUTPUT_H +#define _DRV_PWM_OUTPUT_H + +#include <stdint.h> +#include <sys/ioctl.h> + +#include "drv_orb_dev.h" + +/** + * 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_DEVICE_PATH "/dev/pwm_output" + +/** + * Maximum number of PWM output channels in the system. + */ +#define PWM_OUTPUT_MAX_CHANNELS 16 + +/** + * 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 servo update rate in Hz */ + uint32_t update_rate; + + /** desired pulse widths for each of the supported channels */ + servo_position_t values[PWM_OUTPUT_MAX_CHANNELS]; +}; + +/* + * ObjDev tag for PWM outputs. + */ +ORB_DECLARE(output_pwm); + +/* + * ioctl() definitions + * + * Note that ioctls and ObjDev updates should not be mixed, as the + * behaviour of the system in this case is not defined. + */ +#define _PWM_SERVO_BASE 0x7500 + +/** 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) + +/** 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) + + +#endif /* _DRV_PWM_OUTPUT_H */ |