You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
117 lines
3.6 KiB
117 lines
3.6 KiB
/**************************************************************************** |
|
* |
|
* 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 */
|
|
|