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PWM in / RC in driver: Move to generated uORB topic

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This commit is contained in:
Lorenz Meier 2015-08-20 10:47:24 +02:00
parent b0a9679fca
commit b9face9766
2 changed files with 24 additions and 88 deletions
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21
msg/input_rc.msg Normal file
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@ -0,0 +1,21 @@
uint8 RC_INPUT_SOURCE_UNKNOWN = 0
uint8 RC_INPUT_SOURCE_PX4FMU_PPM = 1
uint8 RC_INPUT_SOURCE_PX4IO_PPM = 2
uint8 RC_INPUT_SOURCE_PX4IO_SPEKTRUM = 3
uint8 RC_INPUT_SOURCE_PX4IO_SBUS = 4
uint8 RC_INPUT_SOURCE_PX4IO_ST24 = 5
uint8 RC_INPUT_SOURCE_MAVLINK = 6
uint8 RC_INPUT_MAX_CHANNELS = 18 # Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
uint64 timestamp_publication # publication time
uint64 timestamp_last_signal # last valid reception time
uint32 channel_count # number of channels actually being seen
int32 rssi # receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception
bool rc_failsafe # 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_lost # 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.
uint16 rc_lost_frame_count # 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 rc_total_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 rc_ppm_frame_length # Length of a single PPM frame. Zero for non-PPM systems
uint8 input_source # Input source
uint16[18] values # measured pulse widths for each of the supported channels

91
src/drivers/drv_rc_input.h
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@ -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 */