From 8a365179eafdf3aea98e60ab9f5882b200d4c759 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Sat, 4 Aug 2012 15:12:36 -0700
Subject: Fresh import of the PX4 firmware sources.

---
 apps/uORB/topics/rc_channels.h | 116 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 116 insertions(+)
 create mode 100644 apps/uORB/topics/rc_channels.h

(limited to 'apps/uORB/topics/rc_channels.h')

diff --git a/apps/uORB/topics/rc_channels.h b/apps/uORB/topics/rc_channels.h
new file mode 100644
index 000000000..5bd2adeec
--- /dev/null
+++ b/apps/uORB/topics/rc_channels.h
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Nils Wenzler <wenzlern@student.ethz.ch>
+ *           @author Ivan Ovinnikov <oivan@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 rc_channels.h
+ * Definition of the rc_channels uORB topic.
+ */
+
+#ifndef RC_CHANNELS_H_
+#define RC_CHANNELS_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+enum RC_CHANNELS_STATUS
+{
+	UNKNOWN = 0,
+	KNOWN = 1,
+	SIGNAL = 2,
+	TIMEOUT = 3
+};
+
+/** 
+ * This defines the mapping of the RC functions.
+ * The value assigned to the specific function corresponds to the entry of
+ * the channel array chan[].
+ * Ex. To read out the scaled Pitch value:
+ * pitch = global_data_rc_channels->chan[PITCH].scale;
+ * The override is on channel 8, since we don't usually have a 12 channel RC
+ * and channel 5/6 (GRAUPNER/FUTABA) are mapped to the second ROLL servo, which
+ * can only be disabled on more advanced RC sets.
+ */
+enum RC_CHANNELS_FUNCTION
+{
+  THROTTLE = 0,
+  ROLL     = 1,
+  PITCH    = 2,
+  YAW      = 3,
+  OVERRIDE = 4,
+  FUNC_0   = 5,
+  FUNC_1   = 6,
+  FUNC_2   = 7,
+  FUNC_3   = 8,
+  FUNC_4   = 9,
+  FUNC_5   = 10,
+  FUNC_6   = 11,
+  RC_CHANNELS_FUNCTION_MAX = 12
+};
+
+struct rc_channels_s {
+
+	uint64_t timestamp;                 /**< In microseconds since boot time. */
+  uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
+  struct {
+    uint16_t mid;                     /**< midpoint (0). */
+    float scaling_factor;             /**< scaling factor from raw counts to 0..1 */
+    uint16_t raw;                     /**< current raw value */
+    int16_t scale;
+    float scaled;                     /**< Scaled  */
+    uint16_t override;
+    enum RC_CHANNELS_STATUS status;   /**< status of the channel */
+  } chan[RC_CHANNELS_FUNCTION_MAX];
+  uint8_t chan_count;                    /**< maximum number of valid channels */
+
+  /*String array to store the names of the functions*/
+  const char function_name[RC_CHANNELS_FUNCTION_MAX][20];
+  uint8_t function[RC_CHANNELS_FUNCTION_MAX];
+  uint8_t rssi;                       /**< Overall receive signal strength */
+}; /**< radio control channels. */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(rc_channels);
+
+#endif
-- 
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