/**************************************************************************** * * 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 #include #include #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