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Add an ioctl for fetching the number of PWM outputs

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px4dev
2013-01-26 12:27:42 -08:00
parent b20c050402
commit 984e68d76e
2 changed files with 7 additions and 0 deletions
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apps/drivers/drv_pwm_output.h
+3
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@@ -103,6 +103,9 @@ ORB_DECLARE(output_pwm);
/** set update rate in Hz */ /** set update rate in Hz */
#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2) #define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)
/** get the number of servos in *(unsigned *)arg */
#define PWM_SERVO_GET_COUNT _IOC(_PWM_SERVO_BASE, 3)
/** set a single servo to a specific value */ /** set a single servo to a specific value */
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) #define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
apps/drivers/px4io/px4io.cpp
+4
View File
@@ -974,6 +974,10 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
} }
break; break;
case PWM_SERVO_GET_COUNT:
*(unsigned *)arg = _max_actuators;
break;
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS): { case PWM_SERVO_SET(0) ... PWM_SERVO_SET(PWM_OUTPUT_MAX_CHANNELS): {
unsigned channel = cmd - PWM_SERVO_SET(0); unsigned channel = cmd - PWM_SERVO_SET(0);