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118 lines
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118 lines
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13 years ago
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* Low-level PWM servo control.
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*
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* The pwm_servo module supports servos connected to STM32 timer
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* blocks.
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*
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* On PX4FMU, the outputs are:
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*
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* 0 : USART2/multi CTS
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* 1 : USART2/multi RTS
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* 2 : USART2/multi TX
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* 3 : USART2/multi RX
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* 4 : CAN2 TX
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* 5 : CAN2 RX
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*/
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#ifndef UP_PWM_SERVO_H
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#define UP_PWM_SERVO_H
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typedef uint16_t servo_position_t;
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#if defined(__cplusplus)
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extern "C" {
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#endif
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/**
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* Intialise the PWM servo outputs using the specified configuration.
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*
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* @param channel_mask Bitmask of channels (LSB = channel 0) to enable.
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* This allows some of the channels to remain configured
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* as GPIOs or as another function.
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* @return OK on success.
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*/
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extern int up_pwm_servo_init(uint32_t channel_mask);
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/**
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* De-initialise the PWM servo outputs.
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*/
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extern void up_pwm_servo_deinit(void);
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/**
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* Arm or disarm servo outputs.
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*
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* When disarmed, servos output no pulse.
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*
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* @bug This function should, but does not, guarantee that any pulse
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* currently in progress is cleanly completed.
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*
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* @param armed If true, outputs are armed; if false they
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* are disarmed.
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*/
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extern void up_pwm_servo_arm(bool armed);
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/**
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* Set the servo update rate
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*
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* @param rate The update rate in Hz to set.
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* @return OK on success, -ERANGE if an unsupported update rate is set.
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*/
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extern int up_pwm_servo_set_rate(unsigned rate);
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/**
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* Set the current output value for a channel.
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*
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* @param channel The channel to set.
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* @param value The output pulse width in microseconds.
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*/
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extern int up_pwm_servo_set(unsigned channel, servo_position_t value);
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/**
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* Get the current output value for a channel.
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*
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* @param channel The channel to read.
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* @return The output pulse width in microseconds, or zero if
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* outputs are not armed or not configured.
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*/
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extern servo_position_t up_pwm_servo_get(unsigned channel);
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#if defined(__cplusplus)
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}
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#endif
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#endif /* UP_PWM_SERVO_H */
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