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 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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/**
 * @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 */