diff options
| author | Julian Oes <julian@oes.ch> | 2013-10-07 16:24:49 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-10-07 16:24:49 +0200 |
| commit | ea0aa49b546476ef9ca9904b32dc507d66f0ab44 (patch) | |
| tree | d881fb2714978efea6d1b0da827a8ecd438ba0d4 /src/drivers/drv_pwm_output.h | |
| parent | 9ff521711861fce857b6c17c2ec87eaa2073376e (diff) | |
| download | px4-firmware-ea0aa49b546476ef9ca9904b32dc507d66f0ab44.tar.gz px4-firmware-ea0aa49b546476ef9ca9904b32dc507d66f0ab44.tar.bz2 px4-firmware-ea0aa49b546476ef9ca9904b32dc507d66f0ab44.zip | |
pwm info provides more information, some fixes for setting rate/min/max/disarmed
Diffstat (limited to 'src/drivers/drv_pwm_output.h')
| -rw-r--r-- | src/drivers/drv_pwm_output.h | 38 |
1 files changed, 28 insertions, 10 deletions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index fc916b522..76e98597a 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -101,38 +101,56 @@ ORB_DECLARE(output_pwm); /** disarm all servo outputs (stop generating pulses) */ #define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1) +/** get default servo update rate */ +#define PWM_SERVO_GET_DEFAULT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2) + /** set alternate servo update rate */ -#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2) +#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 3) + +/** get alternate servo update rate */ +#define PWM_SERVO_GET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4) /** get the number of servos in *(unsigned *)arg */ -#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 3) +#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 5) /** selects servo update rates, one bit per servo. 0 = default (50Hz), 1 = alternate */ -#define PWM_SERVO_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4) +#define PWM_SERVO_SET_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 6) + +/** check the selected update rates */ +#define PWM_SERVO_GET_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 7) /** set the 'ARM ok' bit, which activates the safety switch */ -#define PWM_SERVO_SET_ARM_OK _IOC(_PWM_SERVO_BASE, 5) +#define PWM_SERVO_SET_ARM_OK _IOC(_PWM_SERVO_BASE, 8) /** clear the 'ARM ok' bit, which deactivates the safety switch */ -#define PWM_SERVO_CLEAR_ARM_OK _IOC(_PWM_SERVO_BASE, 6) +#define PWM_SERVO_CLEAR_ARM_OK _IOC(_PWM_SERVO_BASE, 9) /** start DSM bind */ -#define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 7) +#define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 10) #define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */ #define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */ /** power up DSM receiver */ -#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 8) +#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 11) /** set the PWM value when disarmed - should be no PWM (zero) by default */ -#define PWM_SERVO_SET_DISARMED_PWM _IOC(_PWM_SERVO_BASE, 9) +#define PWM_SERVO_SET_DISARMED_PWM _IOC(_PWM_SERVO_BASE, 12) + +/** get the PWM value when disarmed */ +#define PWM_SERVO_GET_DISARMED_PWM _IOC(_PWM_SERVO_BASE, 13) /** set the minimum PWM value the output will send */ -#define PWM_SERVO_SET_MIN_PWM _IOC(_PWM_SERVO_BASE, 10) +#define PWM_SERVO_SET_MIN_PWM _IOC(_PWM_SERVO_BASE, 14) + +/** get the minimum PWM value the output will send */ +#define PWM_SERVO_GET_MIN_PWM _IOC(_PWM_SERVO_BASE, 15) /** set the maximum PWM value the output will send */ -#define PWM_SERVO_SET_MAX_PWM _IOC(_PWM_SERVO_BASE, 11) +#define PWM_SERVO_SET_MAX_PWM _IOC(_PWM_SERVO_BASE, 16) + +/** get the maximum PWM value the output will send */ +#define PWM_SERVO_GET_MAX_PWM _IOC(_PWM_SERVO_BASE, 17) /** set a single servo to a specific value */ #define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) |