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| author | px4dev <px4@purgatory.org> | 2013-01-26 12:27:42 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-01-26 12:27:42 -0800 |
| commit | 984e68d76e6e199608aded66ed3c032a3db2fe32 (patch) | |
| tree | c6fddf204a2149732e07d89356e85d4d418e8418 | |
| parent | b20c050402dfe11e1f0d0002020205872b96172d (diff) | |
| download | px4-firmware-984e68d76e6e199608aded66ed3c032a3db2fe32.tar.gz px4-firmware-984e68d76e6e199608aded66ed3c032a3db2fe32.tar.bz2 px4-firmware-984e68d76e6e199608aded66ed3c032a3db2fe32.zip | |
Add an ioctl for fetching the number of PWM outputs
| -rw-r--r-- | apps/drivers/drv_pwm_output.h | 3 | ||||
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 4 |
2 files changed, 7 insertions, 0 deletions
diff --git a/apps/drivers/drv_pwm_output.h b/apps/drivers/drv_pwm_output.h index fe08d3fe5..23883323e 100644 --- a/apps/drivers/drv_pwm_output.h +++ b/apps/drivers/drv_pwm_output.h @@ -103,6 +103,9 @@ ORB_DECLARE(output_pwm); /** set update rate in Hz */ #define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2) +/** get the number of servos in *(unsigned *)arg */ +#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 3) + /** set a single servo to a specific value */ #define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 1678ed0de..61c9a793d 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -974,6 +974,10 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) } break; + case PWM_SERVO_GET_COUNT: + *(unsigned *)arg = _max_actuators; + break; + case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS): { unsigned channel = cmd - PWM_SERVO_SET(0); |