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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_rc_input.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_rc_input.h')
-rw-r--r-- | apps/drivers/drv_rc_input.h | 89 |
1 files changed, 89 insertions, 0 deletions
diff --git a/apps/drivers/drv_rc_input.h b/apps/drivers/drv_rc_input.h new file mode 100644 index 000000000..532e95fb5 --- /dev/null +++ b/apps/drivers/drv_rc_input.h @@ -0,0 +1,89 @@ +/**************************************************************************** + * + * 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. + */ +#define RC_INPUT_MAX_CHANNELS 16 + +/** + * Input signal type, value is a control position from zero to 100 + * percent. + */ +typedef uint8_t rc_input_t; + +/** + * 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 { + /** number of channels actually being seen */ + uint32_t channel_count; + + /** desired 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); + +#endif /* _DRV_RC_INPUT_H */ |