Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-06 14:56:51 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

added PWM_SERVO_SET_UPDATE_RATE ioctl

Browse Source 
this allows apps to set the PWM update rate. APM needs this to honor
the user configurable PWM rate setting for copters.
This commit is contained in:
Andrew Tridgell
2013-01-06 06:29:28 +11:00
parent 920608bf36
commit 219ab05a70
3 changed files with 11 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/drivers/drv_pwm_output.h
+3
View File
@@ -103,6 +103,9 @@ ORB_DECLARE(output_pwm);
/** disarm all servo outputs (stop generating pulses) */
#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1)
/** set update rate in Hz */
#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)
/** set a single servo to a specific value */
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
apps/drivers/hil/hil.cpp
+4
View File
@@ -503,6 +503,10 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
// up_pwm_servo_arm(false);
break;
case PWM_SERVO_SET_UPDATE_RATE:
g_hil->set_pwm_rate(arg);
break;
case PWM_SERVO_SET(2):
case PWM_SERVO_SET(3):
if (_mode != MODE_4PWM) {
apps/drivers/px4fmu/fmu.cpp
+4
View File
@@ -470,6 +470,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
up_pwm_servo_arm(false);
break;
case PWM_SERVO_SET_UPDATE_RATE:
set_pwm_rate(arg);
break;
case PWM_SERVO_SET(2):
case PWM_SERVO_SET(3):
if (_mode != MODE_4PWM) {