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pwm_out, dshot: remove mode_* handling and capture ioctl's

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They now use all unused pins, whereas camera_capture, camera_trigger and
pwm_input modules start before to reserve their pins.
This commit is contained in:
Beat Küng
2021-09-08 16:10:24 -04:00
committed by Daniel Agar
parent 062dd28f4d
commit 1ee423e3c8
10 changed files with 71 additions and 2263 deletions
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src/drivers/drv_input_capture.h
-106
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@@ -48,26 +48,10 @@
__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 input 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,
@@ -76,12 +60,6 @@ typedef enum input_capture_edge {
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 edges;
uint32_t overflows;
@@ -90,90 +68,6 @@ typedef struct input_capture_stats_t {
uint16_t latency;
} 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);