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[PX4IO/PWM driver] Added trim values to the PWM output drivers

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Bartosz Wawrzacz
2016-12-10 12:56:39 +01:00
committed by Lorenz Meier
parent 4494182bfc
commit 619efa7b45
12 changed files with 222 additions and 41 deletions
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src/drivers/px4io/px4io.cpp
+24
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@@ -2688,6 +2688,30 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET_TRIM_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
if (pwm->channel_count > _max_actuators)
/* fail with error */
{
return -E2BIG;
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, pwm->values, pwm->channel_count);
break;
}
case PWM_SERVO_GET_TRIM_PWM:
ret = io_reg_get(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, (uint16_t *)arg, _max_actuators);
if (ret != OK) {
ret = -EIO;
}
break;
case PWM_SERVO_GET_COUNT:
*(unsigned *)arg = _max_actuators;
break;