diff options
| author | Andrew Tridgell <tridge@samba.org> | 2013-01-06 06:29:28 +1100 |
|---|---|---|
| committer | Andrew Tridgell <tridge@samba.org> | 2013-01-06 06:29:28 +1100 |
| commit | 219ab05a707d8f2795dc91f5884a42f20dd6a640 (patch) | |
| tree | 06cbc29edd9196a9e0dacea77884a38d5fe83a38 /apps/drivers | |
| parent | 920608bf3671662f94b4939ffdaf6fde2b08edff (diff) | |
| download | px4-firmware-219ab05a707d8f2795dc91f5884a42f20dd6a640.tar.gz px4-firmware-219ab05a707d8f2795dc91f5884a42f20dd6a640.tar.bz2 px4-firmware-219ab05a707d8f2795dc91f5884a42f20dd6a640.zip | |
added PWM_SERVO_SET_UPDATE_RATE ioctl
this allows apps to set the PWM update rate. APM needs this to honor
the user configurable PWM rate setting for copters.
Diffstat (limited to 'apps/drivers')
| -rw-r--r-- | apps/drivers/drv_pwm_output.h | 3 | ||||
| -rw-r--r-- | apps/drivers/hil/hil.cpp | 4 | ||||
| -rw-r--r-- | apps/drivers/px4fmu/fmu.cpp | 4 |
3 files changed, 11 insertions, 0 deletions
diff --git a/apps/drivers/drv_pwm_output.h b/apps/drivers/drv_pwm_output.h index b2fee65ac..c110cd5cb 100644 --- a/apps/drivers/drv_pwm_output.h +++ b/apps/drivers/drv_pwm_output.h @@ -103,6 +103,9 @@ ORB_DECLARE(output_pwm); /** disarm all servo outputs (stop generating pulses) */ #define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1) +/** set update rate in Hz */ +#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2) + /** set a single servo to a specific value */ #define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) diff --git a/apps/drivers/hil/hil.cpp b/apps/drivers/hil/hil.cpp index 67b16aa42..32bdb0776 100644 --- a/apps/drivers/hil/hil.cpp +++ b/apps/drivers/hil/hil.cpp @@ -503,6 +503,10 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg) // up_pwm_servo_arm(false); break; + case PWM_SERVO_SET_UPDATE_RATE: + g_hil->set_pwm_rate(arg); + break; + case PWM_SERVO_SET(2): case PWM_SERVO_SET(3): if (_mode != MODE_4PWM) { diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp index a995f6214..d5f4123c2 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/apps/drivers/px4fmu/fmu.cpp @@ -470,6 +470,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) up_pwm_servo_arm(false); break; + case PWM_SERVO_SET_UPDATE_RATE: + set_pwm_rate(arg); + break; + case PWM_SERVO_SET(2): case PWM_SERVO_SET(3): if (_mode != MODE_4PWM) { |