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Merge pull request #2732 from PX4/uorb_topics3

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uORB topics: Moved all to auto-generated
This commit is contained in:
Lorenz Meier
2015-08-23 16:34:36 +02:00
parent ef3374b0c2 d08f4c747e
commit 9965ad2ccf
37 changed files with 174 additions and 353 deletions
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src/drivers/drv_accel.h
+2 -24
View File
@@ -51,25 +51,8 @@
#define ACCEL1_DEVICE_PATH "/dev/accel1"
#define ACCEL2_DEVICE_PATH "/dev/accel2"
/**
* accel report structure. Reads from the device must be in multiples of this
* structure.
*/
struct accel_report {
uint64_t timestamp;
uint64_t error_count;
float x; /**< acceleration in the NED X board axis in m/s^2 */
float y; /**< acceleration in the NED Y board axis in m/s^2 */
float z; /**< acceleration in the NED Z board axis in m/s^2 */
float temperature; /**< temperature in degrees celsius */
float range_m_s2; /**< range in m/s^2 (+- this value) */
float scaling;
int16_t x_raw;
int16_t y_raw;
int16_t z_raw;
int16_t temperature_raw;
};
#include <uORB/topics/sensor_accel.h>
#define accel_report sensor_accel_s
/** accel scaling factors; Vout = Vscale * (Vin + Voffset) */
struct accel_scale {
@@ -81,11 +64,6 @@ struct accel_scale {
float z_scale;
};
/*
* ObjDev tag for raw accelerometer data.
*/
ORB_DECLARE(sensor_accel);
/*
* ioctl() definitions
*
src/drivers/drv_baro.h
+2 -16
View File
@@ -50,22 +50,8 @@
#define BARO_BASE_DEVICE_PATH "/dev/baro"
#define BARO0_DEVICE_PATH "/dev/baro0"
/**
* baro report structure. Reads from the device must be in multiples of this
* structure.
*/
struct baro_report {
float pressure;
float altitude;
float temperature;
uint64_t timestamp;
uint64_t error_count;
};
/*
* ObjDev tag for raw barometer data.
*/
ORB_DECLARE(sensor_baro);
#include <uORB/topics/sensor_baro.h>
#define baro_report sensor_baro_s
/*
* ioctl() definitions
src/drivers/drv_gyro.h
+2 -24
View File
@@ -51,25 +51,8 @@
#define GYRO1_DEVICE_PATH "/dev/gyro1"
#define GYRO2_DEVICE_PATH "/dev/gyro2"
/**
* gyro report structure. Reads from the device must be in multiples of this
* structure.
*/
struct gyro_report {
uint64_t timestamp;
uint64_t error_count;
float x; /**< angular velocity in the NED X board axis in rad/s */
float y; /**< angular velocity in the NED Y board axis in rad/s */
float z; /**< angular velocity in the NED Z board axis in rad/s */
float temperature; /**< temperature in degrees celcius */
float range_rad_s;
float scaling;
int16_t x_raw;
int16_t y_raw;
int16_t z_raw;
int16_t temperature_raw;
};
#include <uORB/topics/sensor_gyro.h>
#define gyro_report sensor_gyro_s
/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
struct gyro_scale {
@@ -81,11 +64,6 @@ struct gyro_scale {
float z_scale;
};
/*
* ObjDev tag for raw gyro data.
*/
ORB_DECLARE(sensor_gyro);
/*
* ioctl() definitions
*/
src/drivers/drv_mag.h
+2 -26
View File
@@ -49,26 +49,8 @@
#define MAG1_DEVICE_PATH "/dev/mag1"
#define MAG2_DEVICE_PATH "/dev/mag2"
/**
* mag report structure. Reads from the device must be in multiples of this
* structure.
*
* Output values are in gauss.
*/
struct mag_report {
uint64_t timestamp;
uint64_t error_count;
float x;
float y;
float z;
float range_ga;
float scaling;
float temperature;
int16_t x_raw;
int16_t y_raw;
int16_t z_raw;
};
#include <uORB/topics/sensor_mag.h>
#define mag_report sensor_mag_s
/** mag scaling factors; Vout = (Vin * Vscale) + Voffset */
struct mag_scale {
@@ -80,12 +62,6 @@ struct mag_scale {
float z_scale;
};
/*
* ObjDev tag for raw magnetometer data.
*/
ORB_DECLARE(sensor_mag);
/*
* ioctl() definitions
*/
src/drivers/drv_pwm_output.h
+8 -19
View File
@@ -61,10 +61,17 @@ __BEGIN_DECLS
#define PWM_OUTPUT_BASE_DEVICE_PATH "/dev/pwm_output"
#define PWM_OUTPUT0_DEVICE_PATH "/dev/pwm_output0"
#include <uORB/topics/output_pwm.h>
#define pwm_output_values output_pwm_s
#ifndef PWM_OUTPUT_MAX_CHANNELS
#define PWM_OUTPUT_MAX_CHANNELS output_pwm_s::PWM_OUTPUT_MAX_CHANNELS
#endif
/**
* Maximum number of PWM output channels supported by the device.
*/
#define PWM_OUTPUT_MAX_CHANNELS 16
//#define PWM_OUTPUT_MAX_CHANNELS 16
/**
* Lowest minimum PWM in us
@@ -107,19 +114,6 @@ __BEGIN_DECLS
*/
typedef uint16_t servo_position_t;
/**
* Servo output status structure.
*
* May be published to output_pwm, or written to a PWM output
* device.
*/
struct pwm_output_values {
/** desired pulse widths for each of the supported channels */
servo_position_t values[PWM_OUTPUT_MAX_CHANNELS];
unsigned channel_count;
};
/**
* RC config values for a channel
*
@@ -136,11 +130,6 @@ struct pwm_output_rc_config {
bool rc_reverse;
};
/*
* ORB tag for PWM outputs.
*/
ORB_DECLARE(output_pwm);
/*
* ioctl() definitions
*
src/drivers/drv_px4flow.h
-5
View File
@@ -46,11 +46,6 @@
#define PX4FLOW0_DEVICE_PATH "/dev/px4flow0"
/*
* ObjDev tag for px4flow data.
*/
ORB_DECLARE(optical_flow);
/*
* ioctl() definitions
*
src/drivers/drv_range_finder.h
-5
View File
@@ -48,11 +48,6 @@
#define RANGE_FINDER0_DEVICE_PATH "/dev/range_finder0"
#define MB12XX_MAX_RANGEFINDERS 12 // Maximum number of Maxbotix sensors on bus
/*
* ObjDev tag for distance sensor data.
*/
ORB_DECLARE(distance_sensor);
/*
* ioctl() definitions
*
src/drivers/drv_rc_input.h
+3 -88
View File
@@ -57,11 +57,6 @@
*/
#define RC_INPUT0_DEVICE_PATH "/dev/input_rc0"
/**
* Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
*/
#define RC_INPUT_MAX_CHANNELS 18
/**
* Maximum RSSI value
*/
@@ -82,10 +77,9 @@
*/
#define RC_INPUT_MAX_DEADZONE_US 500
/**
* @addtogroup topics
* @{
*/
#include <uORB/topics/input_rc.h>
#define pwm_output_values output_pwm_s
#define rc_input_values input_rc_s
/**
* Input signal type, value is a control position from zero to 100
@@ -93,85 +87,6 @@
*/
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,
RC_INPUT_SOURCE_PX4IO_ST24,
RC_INPUT_SOURCE_MAVLINK
};
/**
* 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 {
/** publication time */
uint64_t timestamp_publication;
/** last valid reception time */
uint64_t timestamp_last_signal;
/** number of channels actually being seen */
uint32_t channel_count;
/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception */
int32_t rssi;
/**
* explicit failsafe flag: true on TX failure or TX out of range , false otherwise.
* Only the true state is reliable, as there are some (PPM) receivers on the market going
* into failsafe without telling us explicitly.
* */
bool rc_failsafe;
/**
* RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise.
* True usally means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems.
* Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
* */
bool rc_lost;
/**
* Number of lost RC frames.
* Note: intended purpose: observe the radio link quality if RSSI is not available
* This value must not be used to trigger any failsafe-alike funtionality.
* */
uint16_t rc_lost_frame_count;
/**
* Number of total RC frames.
* Note: intended purpose: observe the radio link quality if RSSI is not available
* This value must not be used to trigger any failsafe-alike funtionality.
* */
uint16_t rc_total_frame_count;
/**
* Length of a single PPM frame.
* Zero for non-PPM systems
*/
uint16_t rc_ppm_frame_length;
/** 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 */
src/drivers/px4fmu/fmu.cpp
+3 -3
View File
@@ -607,7 +607,7 @@ PX4FMU::task_main()
orb_advert_t to_input_rc = 0;
memset(&rc_in, 0, sizeof(rc_in));
rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM;
rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
#endif
/* initialize PWM limit lib */
@@ -772,8 +772,8 @@ PX4FMU::task_main()
// we have a new PPM frame. Publish it.
rc_in.channel_count = ppm_decoded_channels;
if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) {
rc_in.channel_count = RC_INPUT_MAX_CHANNELS;
if (rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
rc_in.channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
for (uint8_t i = 0; i < rc_in.channel_count; i++) {
src/drivers/px4io/px4io.cpp
+18 -18
View File
@@ -672,8 +672,8 @@ PX4IO::init()
return -1;
}
if (_max_rc_input > RC_INPUT_MAX_CHANNELS)
_max_rc_input = RC_INPUT_MAX_CHANNELS;
if (_max_rc_input > input_rc_s::RC_INPUT_MAX_CHANNELS)
_max_rc_input = input_rc_s::RC_INPUT_MAX_CHANNELS;
param_get(param_find("RC_RSSI_PWM_CHAN"), &_rssi_pwm_chan);
param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
@@ -1675,10 +1675,10 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
int ret;
/* we don't have the status bits, so input_source has to be set elsewhere */
input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN;
input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
const unsigned prolog = (PX4IO_P_RAW_RC_BASE - PX4IO_P_RAW_RC_COUNT);
uint16_t regs[RC_INPUT_MAX_CHANNELS + prolog];
uint16_t regs[input_rc_s::RC_INPUT_MAX_CHANNELS + prolog];
/*
* Read the channel count and the first 9 channels.
@@ -1697,8 +1697,8 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
channel_count = regs[PX4IO_P_RAW_RC_COUNT];
/* limit the channel count */
if (channel_count > RC_INPUT_MAX_CHANNELS) {
channel_count = RC_INPUT_MAX_CHANNELS;
if (channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
channel_count = input_rc_s::RC_INPUT_MAX_CHANNELS;
}
_rc_chan_count = channel_count;
@@ -1736,7 +1736,7 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
}
/* get RSSI from input channel */
if (_rssi_pwm_chan > 0 && _rssi_pwm_chan <= RC_INPUT_MAX_CHANNELS && _rssi_pwm_max - _rssi_pwm_min != 0) {
if (_rssi_pwm_chan > 0 && _rssi_pwm_chan <= input_rc_s::RC_INPUT_MAX_CHANNELS && _rssi_pwm_max - _rssi_pwm_min != 0) {
int rssi = (input_rc.values[_rssi_pwm_chan - 1] - _rssi_pwm_min) /
((_rssi_pwm_max - _rssi_pwm_min) / 100);
rssi = rssi > 100 ? 100 : rssi;
@@ -1764,19 +1764,19 @@ PX4IO::io_publish_raw_rc()
/* sort out the source of the values */
if (_status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_PPM;
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
} else if (_status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
rc_val.input_source = RC_INPUT_SOURCE_PX4IO_ST24;
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24;
} else {
rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN;
rc_val.input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
/* only keep publishing RC input if we ever got a valid input */
if (_rc_last_valid == 0) {
@@ -2660,19 +2660,19 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
/* sort out the source of the values */
if (status & PX4IO_P_STATUS_FLAGS_RC_PPM) {
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_PPM;
rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM;
} else if (status & PX4IO_P_STATUS_FLAGS_RC_DSM) {
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SPEKTRUM;
} else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) {
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS;
rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS;
} else if (status & PX4IO_P_STATUS_FLAGS_RC_ST24) {
rc_val->input_source = RC_INPUT_SOURCE_PX4IO_ST24;
rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24;
} else {
rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN;
rc_val->input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
}
/* read raw R/C input values */
@@ -2757,7 +2757,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
on param_get()
*/
struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
if (config->channel >= RC_INPUT_MAX_CHANNELS) {
if (config->channel >= input_rc_s::RC_INPUT_MAX_CHANNELS) {
/* fail with error */
return -E2BIG;
}