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px4fmu: added PWM_SERVO_SET_COUNT API 

this allows the balance between PWM channels and GPIOs to be changed
after the main flight code has started, which makes it possible to
change the balance with a parameter in APM
This commit is contained in:
Andrew Tridgell 2014-01-20 16:20:43 +11:00 committed by Lorenz Meier
parent dda50c62bf
commit 4524fe3e48
2 changed files with 38 additions and 1 deletions
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4
src/drivers/drv_pwm_output.h
View File

@ -189,6 +189,10 @@ ORB_DECLARE(output_pwm);
/** get the maximum PWM value the output will send */
#define PWM_SERVO_GET_MAX_PWM _IOC(_PWM_SERVO_BASE, 19)
/** set the number of servos in (unsigned)arg - allows change of
* split between servos and GPIO */
#define PWM_SERVO_SET_COUNT _IOC(_PWM_SERVO_BASE, 20)
/** set a single servo to a specific value */
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)

35
src/drivers/px4fmu/fmu.cpp
View File

@ -1006,6 +1006,40 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET_COUNT: {
/* change the number of outputs that are enabled for
* PWM. This is used to change the split between GPIO
* and PWM under control of the flight config
* parameters. Note that this does not allow for
* changing a set of pins to be used for serial on
* FMUv1
*/
switch (arg) {
case 0:
set_mode(MODE_NONE);
break;
case 2:
set_mode(MODE_2PWM);
break;
case 4:
set_mode(MODE_4PWM);
break;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
case 6:
set_mode(MODE_6PWM);
break;
#endif
default:
ret = -EINVAL;
break;
}
break;
}
case MIXERIOCRESET:
if (_mixers != nullptr) {
delete _mixers;
@ -1443,7 +1477,6 @@ void
sensor_reset(int ms)
{
int fd;
int ret;
fd = open(PX4FMU_DEVICE_PATH, O_RDWR);