diff options
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 94e923d71..fc916b522 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; }; /* @@ -121,9 +122,18 @@ ORB_DECLARE(output_pwm); #define DSM2_BIND_PULSES 3 /* DSM_BIND_START ioctl parameter, pulses required to start dsm2 pairing */ #define DSMX_BIND_PULSES 7 /* DSM_BIND_START ioctl parameter, pulses required to start dsmx pairing */ -/** 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) |