mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-11 23:41:35 +08:00
Adding input capture driver
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
f3c22d3334
commit
0397537cf0
@@ -0,0 +1,189 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2016 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 Input capture interface.
|
||||
*
|
||||
* Input capture interface utilizes the FMU_AUX_PINS to time stamp
|
||||
* an edge.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_defines.h>
|
||||
#include <stdint.h>
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#include "drv_hrt.h"
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/**
|
||||
* Path for the default capture input device.
|
||||
*
|
||||
*
|
||||
*/
|
||||
#define INPUT_CAPTURE_BASE_DEVICE_PATH "/dev/capture"
|
||||
#define INPUT_CAPTURE0_DEVICE_PATH "/dev/capture0"
|
||||
|
||||
typedef void (*capture_callback_t)(void *context, uint32_t chan_index,
|
||||
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
|
||||
|
||||
/**
|
||||
* Maximum number of PWM output channels supported by the device.
|
||||
*/
|
||||
#ifndef INPUT_CAPTURE_MAX_CHANNELS
|
||||
#define INPUT_CAPTURE_MAX_CHANNELS 6
|
||||
#endif
|
||||
|
||||
typedef uint16_t capture_filter_t;
|
||||
typedef uint16_t capture_t;
|
||||
|
||||
typedef enum input_capture_edge {
|
||||
Disabled = 0,
|
||||
Rising = 1,
|
||||
Falling = 2,
|
||||
Both = 3
|
||||
} input_capture_edge;
|
||||
|
||||
typedef struct input_capture_element_t {
|
||||
hrt_abstime time_stamp;
|
||||
input_capture_edge edge;
|
||||
bool overrun;
|
||||
} input_capture_element_t;
|
||||
|
||||
typedef struct input_capture_stats_t {
|
||||
uint32_t chan_in_edges_out;
|
||||
uint32_t overflows;
|
||||
uint32_t last_edge;
|
||||
hrt_abstime last_time;
|
||||
uint16_t latnecy;
|
||||
} input_capture_stats_t;
|
||||
|
||||
/**
|
||||
* input capture values for a channel
|
||||
*
|
||||
* This allows for Capture input driver values to be set without a
|
||||
* param_get() dependency
|
||||
*/
|
||||
typedef struct input_capture_config_t {
|
||||
uint8_t channel;
|
||||
capture_filter_t filter;
|
||||
input_capture_edge edge;
|
||||
capture_callback_t callback;
|
||||
void *context;
|
||||
|
||||
} input_capture_config_t;
|
||||
|
||||
/*
|
||||
* 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 _INPUT_CAP_BASE 0x2d00
|
||||
|
||||
/** Set Enable a channel arg is pointer to input_capture_config
|
||||
* with all parameters set.
|
||||
* edge controls the mode: Disable will free the capture channel.
|
||||
* (When edge is Disabled call back and context are ignored)
|
||||
* context may be null. If callback and context are null the
|
||||
* callback will be disabled.
|
||||
* */
|
||||
|
||||
#define INPUT_CAP_SET _PX4_IOC(_INPUT_CAP_BASE, 0)
|
||||
|
||||
/** Set the call back on a capture channel - arg is pointer to
|
||||
* input_capture_config with channel call back and context set
|
||||
* context may be null. If both ate null the call back will be
|
||||
* disabled */
|
||||
#define INPUT_CAP_SET_CALLBACK _PX4_IOC(_INPUT_CAP_BASE, 1)
|
||||
|
||||
/** Get the call back on a capture channel - arg is pointer to
|
||||
* input_capture_config with channel set.
|
||||
*/
|
||||
#define INPUT_CAP_GET_CALLBACK _PX4_IOC(_INPUT_CAP_BASE, 2)
|
||||
|
||||
/** Set Edge a channel arg is pointer to input_capture_config
|
||||
* with channel and edge set */
|
||||
#define INPUT_CAP_SET_EDGE _PX4_IOC(_INPUT_CAP_BASE, 3)
|
||||
|
||||
/** Get Edge for a channel arg is pointer to input_capture_config
|
||||
* with channel set */
|
||||
#define INPUT_CAP_GET_EDGE _PX4_IOC(_INPUT_CAP_BASE, 4)
|
||||
|
||||
/** Set Filter input filter channel arg is pointer to input_capture_config
|
||||
* with channel and filter set */
|
||||
#define INPUT_CAP_SET_FILTER _PX4_IOC(_INPUT_CAP_BASE, 5)
|
||||
|
||||
/** Set Filter input filter channel arg is pointer to input_capture_config
|
||||
* with channel set */
|
||||
#define INPUT_CAP_GET_FILTER _PX4_IOC(_INPUT_CAP_BASE, 6)
|
||||
|
||||
/** Get the number of capture in *(unsigned *)arg */
|
||||
#define INPUT_CAP_GET_COUNT _PX4_IOC(_INPUT_CAP_BASE, 7)
|
||||
|
||||
/** Set the number of capture in (unsigned)arg - allows change of
|
||||
* split between servos and capture */
|
||||
#define INPUT_CAP_SET_COUNT _PX4_IOC(_INPUT_CAP_BASE, 8)
|
||||
|
||||
/** Get channel stats - arg is pointer to input_capture_config
|
||||
* with channel set.
|
||||
*/
|
||||
#define INPUT_CAP_GET_STATS _PX4_IOC(_INPUT_CAP_BASE, 9)
|
||||
|
||||
/** Get channel stats - arg is pointer to input_capture_config
|
||||
* with channel set.
|
||||
*/
|
||||
#define INPUT_CAP_GET_CLR_STATS _PX4_IOC(_INPUT_CAP_BASE, 10)
|
||||
|
||||
/*
|
||||
*
|
||||
*
|
||||
* WARNING WARNING WARNING! DO NOT EXCEED 31 IN IOC INDICES HERE!
|
||||
*
|
||||
*
|
||||
*/
|
||||
|
||||
__EXPORT int up_input_capture_set(unsigned channel, input_capture_edge edge, capture_filter_t filter,
|
||||
capture_callback_t callback, void *context);
|
||||
|
||||
__EXPORT int up_input_capture_get_filter(unsigned channel, capture_filter_t *filter);
|
||||
__EXPORT int up_input_capture_set_filter(unsigned channel, capture_filter_t filter);
|
||||
|
||||
__EXPORT int up_input_capture_get_trigger(unsigned channel, input_capture_edge *edge);
|
||||
__EXPORT int up_input_capture_set_trigger(unsigned channel, input_capture_edge edge);
|
||||
__EXPORT int up_input_capture_get_callback(unsigned channel, capture_callback_t *callback, void **context);
|
||||
__EXPORT int up_input_capture_set_callback(unsigned channel, capture_callback_t callback, void *context);
|
||||
__EXPORT int up_input_capture_get_stats(unsigned channel, input_capture_stats_t *stats, bool clear);
|
||||
__END_DECLS
|
||||
Reference in New Issue
Block a user