mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
102 lines
3.1 KiB
C
102 lines
3.1 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2012-2014 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 drv_rc_input.h
|
|
*
|
|
* R/C input interface.
|
|
*/
|
|
|
|
#ifndef _DRV_RC_INPUT_H
|
|
#define _DRV_RC_INPUT_H
|
|
|
|
#include <stdint.h>
|
|
#include <sys/ioctl.h>
|
|
|
|
#include "drv_orb_dev.h"
|
|
|
|
/**
|
|
* Path for the default R/C input device.
|
|
*
|
|
* Note that on systems with more than one R/C input path (e.g.
|
|
* PX4FMU with PX4IO connected) there may be other devices that
|
|
* respond to this protocol.
|
|
*
|
|
* Input data may be obtained by subscribing to the input_rc
|
|
* object, or by poll/reading from the device.
|
|
*/
|
|
#define RC_INPUT0_DEVICE_PATH "/dev/input_rc0"
|
|
|
|
/**
|
|
* Maximum RSSI value
|
|
*/
|
|
#define RC_INPUT_RSSI_MAX 100
|
|
|
|
/**
|
|
* Minimum value
|
|
*/
|
|
#define RC_INPUT_LOWEST_MIN_US 500
|
|
|
|
/**
|
|
* Maximum value
|
|
*/
|
|
#define RC_INPUT_HIGHEST_MAX_US 2500
|
|
|
|
/**
|
|
* Maximum deadzone value
|
|
*/
|
|
#define RC_INPUT_MAX_DEADZONE_US 500
|
|
|
|
#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
|
|
* percent.
|
|
*/
|
|
typedef uint16_t rc_input_t;
|
|
|
|
#define _RC_INPUT_BASE 0x2b00
|
|
|
|
/** Fetch R/C input values into (rc_input_values *)arg */
|
|
#define RC_INPUT_GET _IOC(_RC_INPUT_BASE, 0)
|
|
|
|
/** Enable RSSI input via ADC */
|
|
#define RC_INPUT_ENABLE_RSSI_ANALOG _IOC(_RC_INPUT_BASE, 1)
|
|
|
|
/** Enable RSSI input via PWM signal */
|
|
#define RC_INPUT_ENABLE_RSSI_PWM _IOC(_RC_INPUT_BASE, 2)
|
|
|
|
#endif /* _DRV_RC_INPUT_H */
|