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190 lines
6.3 KiB
C
190 lines
6.3 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Input capture interface.
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*
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* Input capture interface utilizes the FMU_AUX_PINS to time stamp
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* an edge.
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*/
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#pragma once
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#include <px4_defines.h>
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#include <stdint.h>
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#include <sys/ioctl.h>
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#include "drv_hrt.h"
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__BEGIN_DECLS
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/**
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* Path for the default capture input device.
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*
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*
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*/
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#define INPUT_CAPTURE_BASE_DEVICE_PATH "/dev/capture"
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#define INPUT_CAPTURE0_DEVICE_PATH "/dev/capture0"
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typedef void (*capture_callback_t)(void *context, uint32_t chan_index,
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hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
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/**
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* Maximum number of PWM input channels supported by the device.
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*/
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#ifndef INPUT_CAPTURE_MAX_CHANNELS
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#define INPUT_CAPTURE_MAX_CHANNELS 6
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#endif
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typedef uint16_t capture_filter_t;
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typedef uint16_t capture_t;
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typedef enum input_capture_edge {
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Disabled = 0,
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Rising = 1,
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Falling = 2,
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Both = 3
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} input_capture_edge;
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typedef struct input_capture_element_t {
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hrt_abstime time_stamp;
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input_capture_edge edge;
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bool overrun;
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} input_capture_element_t;
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typedef struct input_capture_stats_t {
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uint32_t chan_in_edges_out;
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uint32_t overflows;
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uint32_t last_edge;
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hrt_abstime last_time;
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uint16_t latnecy;
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} input_capture_stats_t;
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/**
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* input capture values for a channel
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*
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* This allows for Capture input driver values to be set without a
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* param_get() dependency
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*/
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typedef struct input_capture_config_t {
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uint8_t channel;
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capture_filter_t filter;
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input_capture_edge edge;
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capture_callback_t callback;
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void *context;
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} input_capture_config_t;
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/*
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* ioctl() definitions
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*
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* Note that ioctls and ORB updates should not be mixed, as the
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* behaviour of the system in this case is not defined.
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*/
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#define _INPUT_CAP_BASE 0x2d00
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/** Set Enable a channel arg is pointer to input_capture_config
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* with all parameters set.
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* edge controls the mode: Disable will free the capture channel.
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* (When edge is Disabled call back and context are ignored)
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* context may be null. If callback and context are null the
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* callback will be disabled.
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* */
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#define INPUT_CAP_SET _PX4_IOC(_INPUT_CAP_BASE, 0)
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/** Set the call back on a capture channel - arg is pointer to
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* input_capture_config with channel call back and context set
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* context may be null. If both ate null the call back will be
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* disabled */
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#define INPUT_CAP_SET_CALLBACK _PX4_IOC(_INPUT_CAP_BASE, 1)
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/** Get the call back on a capture channel - arg is pointer to
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* input_capture_config with channel set.
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*/
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#define INPUT_CAP_GET_CALLBACK _PX4_IOC(_INPUT_CAP_BASE, 2)
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/** Set Edge a channel arg is pointer to input_capture_config
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* with channel and edge set */
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#define INPUT_CAP_SET_EDGE _PX4_IOC(_INPUT_CAP_BASE, 3)
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/** Get Edge for a channel arg is pointer to input_capture_config
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* with channel set */
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#define INPUT_CAP_GET_EDGE _PX4_IOC(_INPUT_CAP_BASE, 4)
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/** Set Filter input filter channel arg is pointer to input_capture_config
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* with channel and filter set */
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#define INPUT_CAP_SET_FILTER _PX4_IOC(_INPUT_CAP_BASE, 5)
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/** Set Filter input filter channel arg is pointer to input_capture_config
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* with channel set */
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#define INPUT_CAP_GET_FILTER _PX4_IOC(_INPUT_CAP_BASE, 6)
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/** Get the number of capture in *(unsigned *)arg */
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#define INPUT_CAP_GET_COUNT _PX4_IOC(_INPUT_CAP_BASE, 7)
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/** Set the number of capture in (unsigned)arg - allows change of
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* split between servos and capture */
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#define INPUT_CAP_SET_COUNT _PX4_IOC(_INPUT_CAP_BASE, 8)
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/** Get channel stats - arg is pointer to input_capture_config
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* with channel set.
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*/
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#define INPUT_CAP_GET_STATS _PX4_IOC(_INPUT_CAP_BASE, 9)
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/** Get channel stats - arg is pointer to input_capture_config
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* with channel set.
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*/
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#define INPUT_CAP_GET_CLR_STATS _PX4_IOC(_INPUT_CAP_BASE, 10)
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/*
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*
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*
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* WARNING WARNING WARNING! DO NOT EXCEED 31 IN IOC INDICES HERE!
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*
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*
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*/
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__EXPORT int up_input_capture_set(unsigned channel, input_capture_edge edge, capture_filter_t filter,
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capture_callback_t callback, void *context);
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__EXPORT int up_input_capture_get_filter(unsigned channel, capture_filter_t *filter);
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__EXPORT int up_input_capture_set_filter(unsigned channel, capture_filter_t filter);
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__EXPORT int up_input_capture_get_trigger(unsigned channel, input_capture_edge *edge);
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__EXPORT int up_input_capture_set_trigger(unsigned channel, input_capture_edge edge);
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__EXPORT int up_input_capture_get_callback(unsigned channel, capture_callback_t *callback, void **context);
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__EXPORT int up_input_capture_set_callback(unsigned channel, capture_callback_t callback, void *context);
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__EXPORT int up_input_capture_get_stats(unsigned channel, input_capture_stats_t *stats, bool clear);
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__END_DECLS
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