Moved last libs, drivers and headers, cleaned up IO build

2026-10-30 05:23:36 +08:00 · 2013-04-28 09:54:11 +02:00
parent f57439b90e
commit 13fc670386
423 changed files with 89 additions and 1024 deletions
@@ -0,0 +1,110 @@
+/****************************************************************************
+ *
+ *   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. S.Bus has up to 18 channels.
+ */
+#define RC_INPUT_MAX_CHANNELS	18
+
+/**
+ * Input signal type, value is a control position from zero to 100
+ * percent.
+ */
+typedef uint16_t		rc_input_t;
+
+enum RC_INPUT_SOURCE {
+	RC_INPUT_SOURCE_UNKNOWN = 0,
+	RC_INPUT_SOURCE_PX4FMU_PPM,
+	RC_INPUT_SOURCE_PX4IO_PPM,
+	RC_INPUT_SOURCE_PX4IO_SPEKTRUM,
+	RC_INPUT_SOURCE_PX4IO_SBUS
+};
+
+/**
+ * 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 {
+	/** decoding time */
+	uint64_t		timestamp;
+
+	/** number of channels actually being seen */
+	uint32_t		channel_count;
+
+	/** Input source */
+	enum RC_INPUT_SOURCE 	input_source;
+
+	/** measured 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);
+
+#define _RC_INPUT_BASE		0x2b00
+
+/** Fetch R/C input values into (rc_input_values *)arg */
+
+#define RC_INPUT_GET			_IOC(_RC_INPUT_BASE, 0)
+
+
+#endif /* _DRV_RC_INPUT_H */