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Diffstat (limited to 'src/drivers/drv_pwm_output.h')
| -rw-r--r-- | src/drivers/drv_pwm_output.h | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 07831f20c..56af71059 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -109,6 +109,12 @@ ORB_DECLARE(output_pwm); /** selects servo update rates, one bit per servo. 0 = default (50Hz), 1 = alternate */ #define PWM_SERVO_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4) +/** set the 'ARM ok' bit, which activates the safety switch */ +#define PWM_SERVO_SET_ARM_OK _IOC(_PWM_SERVO_BASE, 5) + +/** clear the 'ARM ok' bit, which deactivates the safety switch */ +#define PWM_SERVO_CLEAR_ARM_OK _IOC(_PWM_SERVO_BASE, 6) + /** set a single servo to a specific value */ #define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) |