diff options
Diffstat (limited to 'nuttx/configs/px4io/include/drv_pwm_servo.h')
| -rw-r--r-- | nuttx/configs/px4io/include/drv_pwm_servo.h | 94 |
1 files changed, 0 insertions, 94 deletions
diff --git a/nuttx/configs/px4io/include/drv_pwm_servo.h b/nuttx/configs/px4io/include/drv_pwm_servo.h deleted file mode 100644 index 663468404..000000000 --- a/nuttx/configs/px4io/include/drv_pwm_servo.h +++ /dev/null @@ -1,94 +0,0 @@ -/**************************************************************************** - * - * 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. - * - ****************************************************************************/ - -/** - * @file PWM servo driver. - * - * The pwm_servo driver supports servos connected to STM32 timer - * blocks. - * - * Servo values can be set either with the PWM_SERVO_SET ioctl, or - * by writing an array of servo_position_t values to the device. - * Writing a value of 0 to a channel suppresses any output for that - * channel. - * - * Servo values can be read back either with the PWM_SERVO_GET - * ioctl, or by reading an array of servo_position_t values - * from the device. - * - * Attempts to set a channel that is not configured are ignored, - * and unconfigured channels always read zero. - * - * The PWM_SERVO_ARM / PWM_SERVO_DISARM calls globally arm - * (enable) and disarm (disable) all servo outputs. - */ - -#include <sys/ioctl.h> - -#define _PWM_SERVO_BASE 0x7500 -#define PWM_SERVO_ARM _IOC(_PWM_SERVO_BASE, 0) -#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1) - -#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) -#define PWM_SERVO_GET(_servo) _IOC(_PWM_SERVO_BASE, 0x40 + _servo) - -typedef uint16_t servo_position_t; - -/* configuration limits */ -#define PWM_SERVO_MAX_TIMERS 3 -#define PWM_SERVO_MAX_CHANNELS 8 - -struct pwm_servo_config { - /* rate (in Hz) of PWM updates */ - uint32_t update_rate; - - /* array of timers dedicated to PWM servo use */ - struct pwm_servo_timer { - uint32_t base; - uint32_t clock_register; - uint32_t clock_bit; - uint32_t clock_freq; - } timers[PWM_SERVO_MAX_TIMERS]; - - /* array of channels in logical order */ - struct pwm_servo_channel { - uint32_t gpio; - uint8_t timer_index; - uint8_t timer_channel; - servo_position_t default_value; - } channels[PWM_SERVO_MAX_CHANNELS]; -}; - -extern int pwm_servo_init(const struct pwm_servo_config *config); - - |