diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-24 07:41:26 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-11-24 07:41:26 +0100 |
| commit | c37ff71e625310cdc777719a04c3702d9afa1f7f (patch) | |
| tree | 714ecb7b510e7ff53080ce3f0caebe8b128a26f5 /src/drivers/drv_pwm_output.h | |
| parent | f36f54c621cb5b36d345c5a26f72e89fc948fa65 (diff) | |
| parent | 512779907e06f059a15d54c88d71b73aad9aced0 (diff) | |
| download | px4-firmware-c37ff71e625310cdc777719a04c3702d9afa1f7f.tar.gz px4-firmware-c37ff71e625310cdc777719a04c3702d9afa1f7f.tar.bz2 px4-firmware-c37ff71e625310cdc777719a04c3702d9afa1f7f.zip | |
Merge remote-tracking branch 'upstream/master' into ros
Conflicts:
makefiles/config_px4fmu-v2_test.mk
Diffstat (limited to 'src/drivers/drv_pwm_output.h')
| -rw-r--r-- | src/drivers/drv_pwm_output.h | 31 |
1 files changed, 30 insertions, 1 deletions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 6873f24b6..b10c3e18a 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -117,6 +117,23 @@ struct pwm_output_values { unsigned channel_count; }; + +/** + * RC config values for a channel + * + * This allows for PX4IO_PAGE_RC_CONFIG values to be set without a + * param_get() dependency + */ +struct pwm_output_rc_config { + uint8_t channel; + uint16_t rc_min; + uint16_t rc_trim; + uint16_t rc_max; + uint16_t rc_dz; + uint16_t rc_assignment; + bool rc_reverse; +}; + /* * ORB tag for PWM outputs. */ @@ -214,7 +231,19 @@ ORB_DECLARE(output_pwm); #define PWM_SERVO_SET_TERMINATION_FAILSAFE _IOC(_PWM_SERVO_BASE, 25) /** force safety switch on (to enable use of safety switch) */ -#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26) +#define PWM_SERVO_SET_FORCE_SAFETY_ON _IOC(_PWM_SERVO_BASE, 26) + +/** set RC config for a channel. This takes a pointer to pwm_output_rc_config */ +#define PWM_SERVO_SET_RC_CONFIG _IOC(_PWM_SERVO_BASE, 27) + +/** set the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */ +#define PWM_SERVO_SET_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 28) + +/** clear the 'OVERRIDE OK' bit, which allows for RC control on FMU loss */ +#define PWM_SERVO_CLEAR_OVERRIDE_OK _IOC(_PWM_SERVO_BASE, 29) + +/** setup OVERRIDE_IMMEDIATE behaviour on FMU fail */ +#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _IOC(_PWM_SERVO_BASE, 30) /* * |