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| author | Andrew Tridgell <tridge@samba.org> | 2014-01-20 16:20:43 +1100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-23 21:41:07 +0100 |
| commit | 4524fe3e4888d569f855d1e7a82c8d5116636a0a (patch) | |
| tree | 6500cec71a627e078a769ca34b491e8a3c1fde83 /src/drivers/drv_pwm_output.h | |
| parent | dda50c62bfd26463718f50d2f9c1cdbecc7de4ac (diff) | |
| download | px4-firmware-4524fe3e4888d569f855d1e7a82c8d5116636a0a.tar.gz px4-firmware-4524fe3e4888d569f855d1e7a82c8d5116636a0a.tar.bz2 px4-firmware-4524fe3e4888d569f855d1e7a82c8d5116636a0a.zip | |
px4fmu: added PWM_SERVO_SET_COUNT API
this allows the balance between PWM channels and GPIOs to be changed
after the main flight code has started, which makes it possible to
change the balance with a parameter in APM
Diffstat (limited to 'src/drivers/drv_pwm_output.h')
| -rw-r--r-- | src/drivers/drv_pwm_output.h | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 51f916f37..88da94b1e 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -189,6 +189,10 @@ ORB_DECLARE(output_pwm); /** get the maximum PWM value the output will send */ #define PWM_SERVO_GET_MAX_PWM _IOC(_PWM_SERVO_BASE, 19) +/** set the number of servos in (unsigned)arg - allows change of + * split between servos and GPIO */ +#define PWM_SERVO_SET_COUNT _IOC(_PWM_SERVO_BASE, 20) + /** set a single servo to a specific value */ #define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) |