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fmu:Add PWM6 mode for nxphlite v3.5

This commit is contained in:
David Sidrane 2017-09-26 16:10:33 -10:00
parent 2eaf0c8c0a
commit e11af2bc27
1 changed files with 16 additions and 1 deletions
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17
src/drivers/px4fmu/fmu.cpp
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@ -108,6 +108,7 @@ enum PortMode {
PORT_FULL_GPIO,
PORT_FULL_PWM,
PORT_RC_IN,
PORT_PWM6,
PORT_PWM4,
PORT_PWM3,
PORT_PWM2,
@ -2973,6 +2974,13 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
servo_mode = PX4FMU::MODE_1PWM;
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case PORT_PWM6:
/* select 4-pin PWM mode */
servo_mode = PX4FMU::MODE_6PWM;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
case PORT_PWM4:
@ -3391,6 +3399,11 @@ int PX4FMU::custom_command(int argc, char *argv[])
} else if (!strcmp(verb, "mode_pwm2cap2")) {
new_mode = PORT_PWM2CAP2;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
} else if (!strcmp(verb, "mode_pwm6")) {
new_mode = PORT_PWM6;
#endif
}
@ -3478,7 +3491,9 @@ mixer files.
PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
PRINT_MODULE_USAGE_COMMAND("mode_pwm6");
#endif
PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "Send a DSM bind command (module must be running)");
PRINT_MODULE_USAGE_COMMAND_DESCR("sensor_reset", "Do a sensor reset (SPI bus)");