drv_pwm_output.h

/****************************************************************************
 *
 *   Copyright (c) 2012-2015, 2017 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.
 *
 ****************************************************************************/

#pragma once

#include <px4_defines.h>

#include <stdint.h>
#include <sys/ioctl.h>
#include <board_config.h>

#include "drv_orb_dev.h"

__BEGIN_DECLS

#define PWM_OUTPUT_BASE_DEVICE_PATH "/dev/pwm_output"
#define PWM_OUTPUT0_DEVICE_PATH "/dev/pwm_output0"

#define PWM_OUTPUT_MAX_CHANNELS 16

struct pwm_output_values {
    uint32_t channel_count;
    uint16_t values[16];
};

//#define PWM_OUTPUT_MAX_CHANNELS   16

/* Use defaults unless the board override the defaults by providing
 * PX4_PWM_ALTERNATE_RANGES and a replacement set of
 * constants
 */
#if !defined(PX4_PWM_ALTERNATE_RANGES)

#define PWM_LOWEST_MIN 90

#define PWM_MOTOR_OFF   900

#define PWM_DEFAULT_MIN 1000

#define PWM_HIGHEST_MIN 1600

#define PWM_HIGHEST_MAX 2150

#define PWM_DEFAULT_MAX 2000

#define PWM_DEFAULT_TRIM 0

#define PWM_LOWEST_MAX 200

#endif // not PX4_PWM_ALTERNATE_RANGES

#define PWM_IGNORE_THIS_CHANNEL UINT16_MAX

typedef uint16_t    servo_position_t;

struct pwm_output_rc_config {
    uint8_t channel;
    uint16_t rc_min;
    uint16_t rc_trim;
    uint16_t rc_max;
    uint16_t rc_dz;
    uint16_t rc_assignment;
    bool     rc_reverse;
};

/*
 * 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 _PWM_SERVO_BASE     0x2a00

#define PWM_SERVO_ARM       _PX4_IOC(_PWM_SERVO_BASE, 0)

#define PWM_SERVO_DISARM    _PX4_IOC(_PWM_SERVO_BASE, 1)

#define PWM_SERVO_GET_DEFAULT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 2)

#define PWM_SERVO_SET_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 3)

#define PWM_SERVO_GET_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 4)

#define PWM_SERVO_GET_COUNT _PX4_IOC(_PWM_SERVO_BASE, 5)

#define PWM_SERVO_SET_SELECT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 6)

#define PWM_SERVO_GET_SELECT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 7)

#define PWM_SERVO_SET_ARM_OK    _PX4_IOC(_PWM_SERVO_BASE, 8)

#define PWM_SERVO_CLEAR_ARM_OK  _PX4_IOC(_PWM_SERVO_BASE, 9)

#define DSM_BIND_START  _PX4_IOC(_PWM_SERVO_BASE, 10)

#define DSM_BIND_POWER_UP _PX4_IOC(_PWM_SERVO_BASE, 11)

#define PWM_SERVO_SET_FAILSAFE_PWM  _PX4_IOC(_PWM_SERVO_BASE, 12)

#define PWM_SERVO_GET_FAILSAFE_PWM  _PX4_IOC(_PWM_SERVO_BASE, 13)

#define PWM_SERVO_SET_DISARMED_PWM  _PX4_IOC(_PWM_SERVO_BASE, 14)

#define PWM_SERVO_GET_DISARMED_PWM  _PX4_IOC(_PWM_SERVO_BASE, 15)

#define PWM_SERVO_SET_MIN_PWM   _PX4_IOC(_PWM_SERVO_BASE, 16)

#define PWM_SERVO_GET_MIN_PWM   _PX4_IOC(_PWM_SERVO_BASE, 17)

#define PWM_SERVO_SET_MAX_PWM   _PX4_IOC(_PWM_SERVO_BASE, 18)

#define PWM_SERVO_GET_MAX_PWM   _PX4_IOC(_PWM_SERVO_BASE, 19)

#define PWM_SERVO_SET_TRIM_PWM  _PX4_IOC(_PWM_SERVO_BASE, 20)

#define PWM_SERVO_GET_TRIM_PWM  _PX4_IOC(_PWM_SERVO_BASE, 21)

#define PWM_SERVO_SET_COUNT _PX4_IOC(_PWM_SERVO_BASE, 22)

#define PWM_SERVO_SET_DISABLE_LOCKDOWN      _PX4_IOC(_PWM_SERVO_BASE, 23)

#define PWM_SERVO_GET_DISABLE_LOCKDOWN      _PX4_IOC(_PWM_SERVO_BASE, 24)

#define PWM_SERVO_SET_FORCE_SAFETY_OFF      _PX4_IOC(_PWM_SERVO_BASE, 25)

#define PWM_SERVO_SET_FORCE_FAILSAFE        _PX4_IOC(_PWM_SERVO_BASE, 26)

#define PWM_SERVO_SET_TERMINATION_FAILSAFE  _PX4_IOC(_PWM_SERVO_BASE, 27)

#define PWM_SERVO_SET_FORCE_SAFETY_ON       _PX4_IOC(_PWM_SERVO_BASE, 28)

#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE    _PX4_IOC(_PWM_SERVO_BASE, 32)

#define PWM_SERVO_SET_SBUS_RATE         _PX4_IOC(_PWM_SERVO_BASE, 33)

#define PWM_SERVO_MODE_NONE         0
#define PWM_SERVO_MODE_1PWM         1
#define PWM_SERVO_MODE_2PWM         2
#define PWM_SERVO_MODE_2PWM2CAP     3
#define PWM_SERVO_MODE_3PWM         4
#define PWM_SERVO_MODE_3PWM1CAP     5
#define PWM_SERVO_MODE_4PWM         6
#define PWM_SERVO_MODE_4PWM1CAP     7
#define PWM_SERVO_MODE_4PWM2CAP     8
#define PWM_SERVO_MODE_5PWM         9
#define PWM_SERVO_MODE_5PWM1CAP    10
#define PWM_SERVO_MODE_6PWM        11
#define PWM_SERVO_MODE_8PWM        12
#define PWM_SERVO_MODE_14PWM       13
#define PWM_SERVO_MODE_4CAP        14
#define PWM_SERVO_MODE_5CAP        15
#define PWM_SERVO_MODE_6CAP        16
#define PWM_SERVO_ENTER_TEST_MODE  17
#define PWM_SERVO_EXIT_TEST_MODE   18
#define PWM_SERVO_SET_MODE         _PX4_IOC(_PWM_SERVO_BASE, 34)

/*
 *
 *
 * WARNING WARNING WARNING! DO NOT EXCEED 47 IN IOC INDICES HERE!
 *
 *
 */

#define PWM_SERVO_SET(_servo)   _PX4_IOC(_PWM_SERVO_BASE, 0x30 + _servo)

#define PWM_SERVO_GET(_servo)   _PX4_IOC(_PWM_SERVO_BASE, 0x50 + _servo)

#define PWM_SERVO_GET_RATEGROUP(_n) _PX4_IOC(_PWM_SERVO_BASE, 0x70 + _n)

/*
 * Low-level PWM output interface.
 *
 * This is the low-level API to the platform-specific PWM driver.
 */

__EXPORT extern int up_pwm_servo_init(uint32_t channel_mask);

__EXPORT extern void    up_pwm_servo_deinit(void);

__EXPORT extern void    up_pwm_servo_arm(bool armed);

__EXPORT extern int up_pwm_servo_set_rate(unsigned rate);

__EXPORT extern uint32_t up_pwm_servo_get_rate_group(unsigned group);

__EXPORT extern int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate);

__EXPORT extern void up_pwm_update(void);

__EXPORT extern int up_pwm_servo_set(unsigned channel, servo_position_t value);

__EXPORT extern servo_position_t up_pwm_servo_get(unsigned channel);

__END_DECLS