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/****************************************************************************
*
* 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 */
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