1 files changed, 117 insertions, 0 deletions
diff --git a/nuttx/configs/px4fmu/include/up_pwm_servo.h b/nuttx/configs/px4fmu/include/up_pwm_servo.h
new file mode 100644
index 000000000..0b35035d5
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+++ b/nuttx/configs/px4fmu/include/up_pwm_servo.h
@@ -0,0 +1,117 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * Low-level PWM servo control.
+ *
+ * The pwm_servo module supports servos connected to STM32 timer
+ * blocks.
+ *
+ * On PX4FMU, the outputs are:
+ *
+ * 0 : USART2/multi CTS
+ * 1 : USART2/multi RTS
+ * 2 : USART2/multi TX
+ * 3 : USART2/multi RX
+ * 4 : CAN2 TX
+ * 5 : CAN2 RX
+ */
+
+#ifndef UP_PWM_SERVO_H
+#define UP_PWM_SERVO_H
+
+typedef uint16_t	servo_position_t;
+
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+/**
+ * Intialise the PWM servo outputs using the specified configuration.
+ *
+ * @param channel_mask	Bitmask of channels (LSB = channel 0) to enable.
+ *			This allows some of the channels to remain configured
+ *			as GPIOs or as another function.
+ * @return		OK on success.
+ */
+extern int		up_pwm_servo_init(uint32_t channel_mask);
+
+/**
+ * De-initialise the PWM servo outputs.
+ */
+extern void		up_pwm_servo_deinit(void);
+
+/**
+ * Arm or disarm servo outputs.
+ *
+ * When disarmed, servos output no pulse.
+ *
+ * @bug This function should, but does not, guarantee that any pulse 
+ *      currently in progress is cleanly completed.
+ *
+ * @param armed		If true, outputs are armed; if false they
+ *			are disarmed.
+ */
+extern void		up_pwm_servo_arm(bool armed);
+
+/**
+ * Set the servo update rate
+ *
+ * @param rate		The update rate in Hz to set.
+ * @return		OK on success, -ERANGE if an unsupported update rate is set.
+ */
+extern int		up_pwm_servo_set_rate(unsigned rate);
+
+/**
+ * Set the current output value for a channel.
+ *
+ * @param channel	The channel to set.
+ * @param value		The output pulse width in microseconds.
+ */
+extern int		up_pwm_servo_set(unsigned channel, servo_position_t value);
+
+/**
+ * Get the current output value for a channel.
+ *
+ * @param channel	The channel to read.
+ * @return		The output pulse width in microseconds, or zero if
+ *			outputs are not armed or not configured.
+ */
+extern servo_position_t	up_pwm_servo_get(unsigned channel);
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* UP_PWM_SERVO_H */