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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-10 21:35:50 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-10 21:38:32 +0200 |
| commit | 8131d28a0faf7d33060cf067f5bd8dee41666fed (patch) | |
| tree | 95b5c87f4925234e540f756840ff0dfe063b12de /src/drivers/drv_pwm_output.h | |
| parent | 373a74adb9abc218ca8084fc3f59c0e50daf9bf4 (diff) | |
| download | px4-firmware-8131d28a0faf7d33060cf067f5bd8dee41666fed.tar.gz px4-firmware-8131d28a0faf7d33060cf067f5bd8dee41666fed.tar.bz2 px4-firmware-8131d28a0faf7d33060cf067f5bd8dee41666fed.zip | |
Exported disarmed PWM values as IOCTLs
Diffstat (limited to 'src/drivers/drv_pwm_output.h')
| -rw-r--r-- | src/drivers/drv_pwm_output.h | 12 |
1 files changed, 11 insertions, 1 deletions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index ec9d4ca09..6ed9320cb 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -79,6 +79,7 @@ typedef uint16_t servo_position_t; struct pwm_output_values { /** desired pulse widths for each of the supported channels */ servo_position_t values[PWM_OUTPUT_MAX_CHANNELS]; + int channel_count; }; /* @@ -118,9 +119,18 @@ ORB_DECLARE(output_pwm); /** start DSM bind */ #define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 7) -/** Power up DSM receiver */ +/** power up DSM receiver */ #define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 8) +/** set the PWM value when disarmed - should be no PWM (zero) by default */ +#define PWM_SERVO_SET_DISARMED_PWM _IOC(_PWM_SERVO_BASE, 9) + +/** set the minimum PWM value the output will send */ +#define PWM_SERVO_SET_MIN_PWM _IOC(_PWM_SERVO_BASE, 10) + +/** set the maximum PWM value the output will send */ +#define PWM_SERVO_SET_MAX_PWM _IOC(_PWM_SERVO_BASE, 11) + /** set a single servo to a specific value */ #define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) |