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94 lines
3.3 KiB
94 lines
3.3 KiB
/**************************************************************************** |
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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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* @file PWM servo driver. |
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* |
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* The pwm_servo driver supports servos connected to STM32 timer |
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* blocks. |
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* |
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* Servo values can be set either with the PWM_SERVO_SET ioctl, or |
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* by writing an array of servo_position_t values to the device. |
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* Writing a value of 0 to a channel suppresses any output for that |
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* channel. |
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* |
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* Servo values can be read back either with the PWM_SERVO_GET |
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* ioctl, or by reading an array of servo_position_t values |
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* from the device. |
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* |
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* Attempts to set a channel that is not configured are ignored, |
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* and unconfigured channels always read zero. |
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* |
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* The PWM_SERVO_ARM / PWM_SERVO_DISARM calls globally arm |
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* (enable) and disarm (disable) all servo outputs. |
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*/ |
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#include <sys/ioctl.h> |
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#define _PWM_SERVO_BASE 0x7500 |
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#define PWM_SERVO_ARM _IOC(_PWM_SERVO_BASE, 0) |
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#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1) |
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#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) |
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#define PWM_SERVO_GET(_servo) _IOC(_PWM_SERVO_BASE, 0x40 + _servo) |
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typedef uint16_t servo_position_t; |
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/* configuration limits */ |
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#define PWM_SERVO_MAX_TIMERS 3 |
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#define PWM_SERVO_MAX_CHANNELS 8 |
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struct pwm_servo_config { |
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/* rate (in Hz) of PWM updates */ |
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uint32_t update_rate; |
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/* array of timers dedicated to PWM servo use */ |
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struct pwm_servo_timer { |
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uint32_t base; |
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uint32_t clock_register; |
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uint32_t clock_bit; |
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uint32_t clock_freq; |
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} timers[PWM_SERVO_MAX_TIMERS]; |
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/* array of channels in logical order */ |
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struct pwm_servo_channel { |
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uint32_t gpio; |
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uint8_t timer_index; |
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uint8_t timer_channel; |
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servo_position_t default_value; |
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} channels[PWM_SERVO_MAX_CHANNELS]; |
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}; |
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extern int pwm_servo_init(const struct pwm_servo_config *config); |
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