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px4fmu: added SET_MODE ioctl

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this gives control over timer capture driver
This commit is contained in:
Andrew Tridgell 2016-04-15 09:26:27 +10:00 committed by Lorenz Meier
parent e60f2c3f41
commit cc0fbdd549
1 changed files with 53 additions and 0 deletions
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53
src/drivers/px4fmu/fmu.cpp
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@ -1901,6 +1901,59 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
}
case PWM_SERVO_SET_MODE: {
switch (arg) {
case PWM_SERVO_MODE_NONE:
ret = set_mode(MODE_NONE);
break;
case PWM_SERVO_MODE_2PWM:
ret = set_mode(MODE_2PWM);
break;
case PWM_SERVO_MODE_2PWM2CAP:
ret = set_mode(MODE_2PWM2CAP);
break;
case PWM_SERVO_MODE_3PWM:
ret = set_mode(MODE_3PWM);
break;
case PWM_SERVO_MODE_3PWM1CAP:
ret = set_mode(MODE_3PWM1CAP);
break;
case PWM_SERVO_MODE_4PWM:
ret = set_mode(MODE_4PWM);
break;
case PWM_SERVO_MODE_6PWM:
ret = set_mode(MODE_6PWM);
break;
case PWM_SERVO_MODE_8PWM:
ret = set_mode(MODE_8PWM);
break;
case PWM_SERVO_MODE_4CAP:
ret = set_mode(MODE_4CAP);
break;
case PWM_SERVO_MODE_5CAP:
ret = set_mode(MODE_5CAP);
break;
case PWM_SERVO_MODE_6CAP:
ret = set_mode(MODE_6CAP);
break;
default:
ret = -EINVAL;
}
break;
}
#ifdef RC_SERIAL_PORT
case DSM_BIND_START: