forked from Archive/PX4-Autopilot
fmu:Add PWM6 mode for nxphlite v3.5
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@ -108,6 +108,7 @@ enum PortMode {
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PORT_FULL_GPIO,
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PORT_FULL_PWM,
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PORT_RC_IN,
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PORT_PWM6,
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PORT_PWM4,
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PORT_PWM3,
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PORT_PWM2,
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@ -2973,6 +2974,13 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
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servo_mode = PX4FMU::MODE_1PWM;
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break;
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#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
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case PORT_PWM6:
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/* select 4-pin PWM mode */
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servo_mode = PX4FMU::MODE_6PWM;
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break;
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#endif
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#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
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case PORT_PWM4:
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@ -3391,6 +3399,11 @@ int PX4FMU::custom_command(int argc, char *argv[])
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} else if (!strcmp(verb, "mode_pwm2cap2")) {
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new_mode = PORT_PWM2CAP2;
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#endif
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#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
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} else if (!strcmp(verb, "mode_pwm6")) {
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new_mode = PORT_PWM6;
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#endif
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}
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@ -3478,7 +3491,9 @@ mixer files.
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PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
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PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
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#endif
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#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
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PRINT_MODULE_USAGE_COMMAND("mode_pwm6");
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#endif
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PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "Send a DSM bind command (module must be running)");
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PRINT_MODULE_USAGE_COMMAND_DESCR("sensor_reset", "Do a sensor reset (SPI bus)");
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