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interface for min and max rc added

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This commit is contained in:
NosDE 2015-02-28 20:29:03 +01:00
parent e4ad2f8e48
commit 3de63dee6c
1 changed files with 33 additions and 1 deletions
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34
src/drivers/mkblctrl/mkblctrl.cpp
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@ -99,6 +99,7 @@
#define RC_MIN_VALUE 1010
#define RC_MAX_VALUE 2100
struct MotorData_t {
unsigned int Version; // the version of the BL (0 = old)
unsigned int SetPoint; // written by attitude controller
@ -304,7 +305,7 @@ MK::init(unsigned motors)
_task = task_spawn_cmd("mkblctrl",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
2048,
1500,
(main_t)&MK::task_main_trampoline,
nullptr);
@ -1085,6 +1086,37 @@ MK::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_SET_MIN_PWM: {
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return -E2BIG;
set_rc_min_value((unsigned)pwm->values[0]);
ret = OK;
break;
}
case PWM_SERVO_GET_MIN_PWM:
ret = OK;
break;
case PWM_SERVO_SET_MAX_PWM: {
struct pwm_output_values* pwm = (struct pwm_output_values*)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
return -E2BIG;
set_rc_max_value((unsigned)pwm->values[0]);
ret = OK;
break;
}
case PWM_SERVO_GET_MAX_PWM:
ret = OK;
break;
default:
ret = -ENOTTY;
break;