#include <px4_platform_common/defines.h>
#include <stdint.h>
#include <sys/ioctl.h>
#include <board_config.h>
#include "drv_orb_dev.h"

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Classes
struct	pwm_output_values

struct	pwm_output_rc_config
	RC config values for a channel. More...

Macros
#define	PWM_OUTPUT_BASE_DEVICE_PATH "/dev/pwm_output"
	Path for the default PWM output device. More...

#define	PWM_OUTPUT0_DEVICE_PATH "/dev/pwm_output0"

#define	PWM_OUTPUT_MAX_CHANNELS 16

#define	PWM_LOWEST_MIN 90
	Lowest minimum PWM in us. More...

#define	PWM_MOTOR_OFF 900
	Default value for a shutdown motor. More...

#define	PWM_DEFAULT_MIN 1000
	Default minimum PWM in us. More...

#define	PWM_HIGHEST_MIN 1600
	Highest PWM allowed as the minimum PWM. More...

#define	PWM_HIGHEST_MAX 2150
	Highest maximum PWM in us. More...

#define	PWM_DEFAULT_MAX 2000
	Default maximum PWM in us. More...

#define	PWM_DEFAULT_TRIM 0
	Default trim PWM in us. More...

#define	PWM_LOWEST_MAX 200
	Lowest PWM allowed as the maximum PWM. More...

#define	PWM_IGNORE_THIS_CHANNEL UINT16_MAX
	Do not output a channel with this value. More...

#define	_PWM_SERVO_BASE 0x2a00

#define	PWM_SERVO_ARM _PX4_IOC(_PWM_SERVO_BASE, 0)
	arm all servo outputs handle by this driver More...

#define	PWM_SERVO_DISARM _PX4_IOC(_PWM_SERVO_BASE, 1)
	disarm all servo outputs (stop generating pulses) More...

#define	PWM_SERVO_GET_DEFAULT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 2)
	get default servo update rate More...

#define	PWM_SERVO_SET_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 3)
	set alternate servo update rate More...

#define	PWM_SERVO_GET_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 4)
	get alternate servo update rate More...

#define	PWM_SERVO_GET_COUNT _PX4_IOC(_PWM_SERVO_BASE, 5)
	get the number of servos in (unsigned )arg More...

#define	PWM_SERVO_SET_SELECT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 6)
	selects servo update rates, one bit per servo. More...

#define	PWM_SERVO_GET_SELECT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 7)
	check the selected update rates More...

#define	PWM_SERVO_SET_ARM_OK _PX4_IOC(_PWM_SERVO_BASE, 8)
	set the 'ARM ok' bit, which activates the safety switch More...

#define	PWM_SERVO_CLEAR_ARM_OK _PX4_IOC(_PWM_SERVO_BASE, 9)
	clear the 'ARM ok' bit, which deactivates the safety switch More...

#define	DSM_BIND_START _PX4_IOC(_PWM_SERVO_BASE, 10)
	start DSM bind More...

#define	DSM_BIND_POWER_UP _PX4_IOC(_PWM_SERVO_BASE, 11)
	power up DSM receiver More...

#define	PWM_SERVO_SET_FAILSAFE_PWM _PX4_IOC(_PWM_SERVO_BASE, 12)
	set the PWM value for failsafe More...

#define	PWM_SERVO_GET_FAILSAFE_PWM _PX4_IOC(_PWM_SERVO_BASE, 13)
	get the PWM value for failsafe More...

#define	PWM_SERVO_SET_DISARMED_PWM _PX4_IOC(_PWM_SERVO_BASE, 14)
	set the PWM value when disarmed - should be no PWM (zero) by default More...

#define	PWM_SERVO_GET_DISARMED_PWM _PX4_IOC(_PWM_SERVO_BASE, 15)
	get the PWM value when disarmed More...

#define	PWM_SERVO_SET_MIN_PWM _PX4_IOC(_PWM_SERVO_BASE, 16)
	set the minimum PWM value the output will send More...

#define	PWM_SERVO_GET_MIN_PWM _PX4_IOC(_PWM_SERVO_BASE, 17)
	get the minimum PWM value the output will send More...

#define	PWM_SERVO_SET_MAX_PWM _PX4_IOC(_PWM_SERVO_BASE, 18)
	set the maximum PWM value the output will send More...

#define	PWM_SERVO_GET_MAX_PWM _PX4_IOC(_PWM_SERVO_BASE, 19)
	get the maximum PWM value the output will send More...

#define	PWM_SERVO_SET_TRIM_PWM _PX4_IOC(_PWM_SERVO_BASE, 20)
	set the TRIM value the output will send More...

#define	PWM_SERVO_GET_TRIM_PWM _PX4_IOC(_PWM_SERVO_BASE, 21)
	get the TRIM value the output will send More...

#define	PWM_SERVO_SET_COUNT _PX4_IOC(_PWM_SERVO_BASE, 22)
	set the number of servos in (unsigned)arg - allows change of split between servos and GPIO More...

#define	PWM_SERVO_SET_DISABLE_LOCKDOWN _PX4_IOC(_PWM_SERVO_BASE, 23)
	set the lockdown override flag to enable outputs in HIL More...

#define	PWM_SERVO_GET_DISABLE_LOCKDOWN _PX4_IOC(_PWM_SERVO_BASE, 24)
	get the lockdown override flag to enable outputs in HIL More...

#define	PWM_SERVO_SET_FORCE_SAFETY_OFF _PX4_IOC(_PWM_SERVO_BASE, 25)
	force safety switch off (to disable use of safety switch) More...

#define	PWM_SERVO_SET_FORCE_FAILSAFE _PX4_IOC(_PWM_SERVO_BASE, 26)
	force failsafe mode (failsafe values are set immediately even if failsafe condition not met) More...

#define	PWM_SERVO_SET_TERMINATION_FAILSAFE _PX4_IOC(_PWM_SERVO_BASE, 27)
	make failsafe non-recoverable (termination) if it occurs More...

#define	PWM_SERVO_SET_FORCE_SAFETY_ON _PX4_IOC(_PWM_SERVO_BASE, 28)
	force safety switch on (to enable use of safety switch) More...

#define	PWM_SERVO_SET_OVERRIDE_IMMEDIATE _PX4_IOC(_PWM_SERVO_BASE, 32)
	setup OVERRIDE_IMMEDIATE behaviour on FMU fail More...

#define	PWM_SERVO_SET_SBUS_RATE _PX4_IOC(_PWM_SERVO_BASE, 33)
	set SBUS output frame rate in Hz More...

#define	PWM_SERVO_MODE_NONE 0
	set auxillary output mode. More...

#define	PWM_SERVO_MODE_1PWM 1

#define	PWM_SERVO_MODE_2PWM 2

#define	PWM_SERVO_MODE_2PWM2CAP 3

#define	PWM_SERVO_MODE_3PWM 4

#define	PWM_SERVO_MODE_3PWM1CAP 5

#define	PWM_SERVO_MODE_4PWM 6

#define	PWM_SERVO_MODE_4PWM1CAP 7

#define	PWM_SERVO_MODE_4PWM2CAP 8

#define	PWM_SERVO_MODE_5PWM 9

#define	PWM_SERVO_MODE_5PWM1CAP 10

#define	PWM_SERVO_MODE_6PWM 11

#define	PWM_SERVO_MODE_8PWM 12

#define	PWM_SERVO_MODE_14PWM 13

#define	PWM_SERVO_MODE_4CAP 14

#define	PWM_SERVO_MODE_5CAP 15

#define	PWM_SERVO_MODE_6CAP 16

#define	PWM_SERVO_ENTER_TEST_MODE 17

#define	PWM_SERVO_EXIT_TEST_MODE 18

#define	PWM_SERVO_SET_MODE _PX4_IOC(_PWM_SERVO_BASE, 34)

#define	PWM_SERVO_SET(_servo) _PX4_IOC(_PWM_SERVO_BASE, 0x30 + _servo)
	set a single servo to a specific value More...

#define	PWM_SERVO_GET(_servo) _PX4_IOC(_PWM_SERVO_BASE, 0x50 + _servo)
	get a single specific servo value More...

#define	PWM_SERVO_GET_RATEGROUP(_n) _PX4_IOC(_PWM_SERVO_BASE, 0x70 + _n)
	get the _n'th rate group's channels; (uint32_t )arg returns a bitmap of channels whose update rates must be the same. More...

#define	PWM_RATE_ONESHOT 0u
	specific rates for configuring the timer for OneShot or PWM More...

#define	PWM_RATE_LOWER_LIMIT 1u

#define	PWM_RATE_UPPER_LIMIT 10000u

#define	DSHOT1200 1200000u
	Dshot PWM frequency. More...

#define	DSHOT600 600000u

#define	DSHOT300 300000u

#define	DSHOT150 150000u

#define	DSHOT_MAX_THROTTLE 1999

Typedefs
typedef uint16_t	servo_position_t
	Servo output signal type, value is actual servo output pulse width in microseconds. More...

Enumerations
enum	dshot_command_t { DShot_cmd_motor_stop = 0, DShot_cmd_beacon1, DShot_cmd_beacon2, DShot_cmd_beacon3, DShot_cmd_beacon4, DShot_cmd_beacon5, DShot_cmd_esc_info, DShot_cmd_spin_direction_1, DShot_cmd_spin_direction_2, DShot_cmd_3d_mode_off, DShot_cmd_3d_mode_on, DShot_cmd_settings_request, DShot_cmd_save_settings, DShot_cmd_spin_direction_normal = 20, DShot_cmd_spin_direction_reversed = 21, DShot_cmd_led0_on, DShot_cmd_led1_on, DShot_cmd_led2_on, DShot_cmd_led3_on, DShot_cmd_led0_off, DShot_cmd_led1_off, DShot_cmd_led2_off, DShot_cmd_led4_off, DShot_cmd_audio_stream_mode_on_off = 30, DShot_cmd_silent_mode_on_off = 31, DShot_cmd_signal_line_telemeetry_disable = 32, DShot_cmd_signal_line_continuous_erpm_telemetry = 33, DShot_cmd_MAX = 47, DShot_cmd_MIN_throttle = 48 }

Functions
__EXPORT int	up_pwm_servo_init (uint32_t channel_mask)
	Intialise the PWM servo outputs using the specified configuration. More...

__EXPORT void	up_pwm_servo_deinit (void)
	De-initialise the PWM servo outputs. More...

__EXPORT void	up_pwm_servo_arm (bool armed)
	Arm or disarm servo outputs. More...

__EXPORT int	up_pwm_servo_set_rate (unsigned rate)
	Set the servo update rate for all rate groups. More...

__EXPORT uint32_t	up_pwm_servo_get_rate_group (unsigned group)
	Get a bitmap of output channels assigned to a given rate group. More...

__EXPORT int	up_pwm_servo_set_rate_group_update (unsigned group, unsigned rate)
	Set the update rate for a given rate group. More...

__EXPORT void	up_pwm_update (void)
	Trigger all timer's channels in Oneshot mode to fire the oneshot with updated values. More...

__EXPORT int	up_pwm_servo_set (unsigned channel, servo_position_t value)
	Set the current output value for a channel. More...

__EXPORT servo_position_t	up_pwm_servo_get (unsigned channel)
	Get the current output value for a channel. More...

__EXPORT int	up_dshot_init (uint32_t channel_mask, unsigned dshot_pwm_freq)
	Intialise the Dshot outputs using the specified configuration. More...

__EXPORT void	up_dshot_motor_data_set (unsigned channel, uint16_t throttle, bool telemetry)
	Set the current dshot throttle value for a channel (motor). More...

__EXPORT void	up_dshot_motor_command (unsigned channel, uint16_t command, bool telemetry)
	Send DShot command to a channel (motor). More...

__EXPORT void	up_dshot_trigger (void)
	Trigger dshot data transfer. More...

__EXPORT int	up_dshot_arm (bool armed)
	Arm or disarm dshot outputs (This will enable/disable complete timer for safety purpose.). More...

Macro Definition Documentation

◆ _PWM_SERVO_BASE

#define _PWM_SERVO_BASE 0x2a00

Definition at line 153 of file drv_pwm_output.h.

◆ DSHOT1200

#define DSHOT1200 1200000u

Dshot PWM frequency.

Definition at line 296 of file drv_pwm_output.h.

Referenced by DShotOutput::update_dshot_out_state().

◆ DSHOT150

#define DSHOT150 150000u

Definition at line 299 of file drv_pwm_output.h.

Referenced by DShotOutput::update_dshot_out_state().

◆ DSHOT300

#define DSHOT300 300000u

Definition at line 298 of file drv_pwm_output.h.

Referenced by DShotOutput::update_dshot_out_state().

◆ DSHOT600

#define DSHOT600 600000u

Definition at line 297 of file drv_pwm_output.h.

Referenced by DShotOutput::update_dshot_out_state().

◆ DSHOT_MAX_THROTTLE

#define DSHOT_MAX_THROTTLE 1999

Definition at line 301 of file drv_pwm_output.h.

Referenced by DShotOutput::DShotOutput(), DShotOutput::update_params(), and DShotOutput::updateOutputs().

◆ DSM_BIND_POWER_UP

#define DSM_BIND_POWER_UP _PX4_IOC(_PWM_SERVO_BASE, 11)

power up DSM receiver

Definition at line 189 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl().

◆ DSM_BIND_START

#define DSM_BIND_START _PX4_IOC(_PWM_SERVO_BASE, 10)

start DSM bind

Definition at line 186 of file drv_pwm_output.h.

Referenced by PX4IO::dsm_bind_ioctl(), PX4IO::ioctl(), and PX4IO::set_update_rate().

◆ PWM_DEFAULT_MAX

#define PWM_DEFAULT_MAX 2000

Default maximum PWM in us.

Definition at line 106 of file drv_pwm_output.h.

Referenced by Simulator::actuator_controls_from_outputs(), MissionFeasibilityChecker::checkMissionItemValidity(), esc_calib_main(), MixerTest::mixerTest(), PX4FMU::PX4FMU(), Sih::read_motors(), MavlinkStreamHILActuatorControls::send(), Tiltrotor::update_transition_state(), and VtolType::VtolType().

◆ PWM_DEFAULT_MIN

#define PWM_DEFAULT_MIN 1000

Default minimum PWM in us.

Definition at line 91 of file drv_pwm_output.h.

Referenced by Simulator::actuator_controls_from_outputs(), esc_calib_main(), MixerTest::mixerTest(), PX4FMU::PX4FMU(), Sih::read_motors(), MavlinkStreamHILActuatorControls::send(), Tiltrotor::update_transition_state(), and VtolAttitudeControl::VtolAttitudeControl().

◆ PWM_DEFAULT_TRIM

#define PWM_DEFAULT_TRIM 0

Default trim PWM in us.

Definition at line 111 of file drv_pwm_output.h.

◆ PWM_HIGHEST_MAX

#define PWM_HIGHEST_MAX 2150

Highest maximum PWM in us.

Definition at line 101 of file drv_pwm_output.h.

Referenced by esc_calib_main(), PX4IO::ioctl(), PX4FMU::pwm_ioctl(), and registers_set().

◆ PWM_HIGHEST_MIN

#define PWM_HIGHEST_MIN 1600

Highest PWM allowed as the minimum PWM.

Definition at line 96 of file drv_pwm_output.h.

Referenced by esc_calib_main(), PX4FMU::pwm_ioctl(), and registers_set().

◆ PWM_IGNORE_THIS_CHANNEL

#define PWM_IGNORE_THIS_CHANNEL UINT16_MAX

Do not output a channel with this value.

Definition at line 123 of file drv_pwm_output.h.

Referenced by registers_set().

◆ PWM_LOWEST_MAX

#define PWM_LOWEST_MAX 200

Lowest PWM allowed as the maximum PWM.

Definition at line 116 of file drv_pwm_output.h.

Referenced by esc_calib_main(), PX4FMU::pwm_ioctl(), and registers_set().

◆ PWM_LOWEST_MIN

#define PWM_LOWEST_MIN 90

Lowest minimum PWM in us.

Definition at line 81 of file drv_pwm_output.h.

Referenced by esc_calib_main(), PX4IO::ioctl(), MixerTest::mixerTest(), PX4FMU::pwm_ioctl(), and registers_set().

◆ PWM_MOTOR_OFF

#define PWM_MOTOR_OFF 900

Default value for a shutdown motor.

Definition at line 86 of file drv_pwm_output.h.

Referenced by MixerTest::mixerTest(), VtolType::set_idle_fw(), and VtolType::VtolType().

◆ PWM_OUTPUT0_DEVICE_PATH

#define PWM_OUTPUT0_DEVICE_PATH "/dev/pwm_output0"

Definition at line 63 of file drv_pwm_output.h.

Referenced by VtolType::apply_pwm_limits(), do_esc_calibration(), esc_calib_main(), VtolType::init(), PX4IO::init(), pwm_main(), PX4IO::task_main(), test_ppm_loopback(), and test_servo().

◆ PWM_OUTPUT_BASE_DEVICE_PATH

#define PWM_OUTPUT_BASE_DEVICE_PATH "/dev/pwm_output"

Path for the default PWM output device.

Note that on systems with more than one PWM output path (e.g. PX4FMU with PX4IO connected) there may be other devices that respond to this protocol.

Definition at line 62 of file drv_pwm_output.h.

Referenced by DShotOutput::init(), PX4FMU::init(), DShotOutput::~DShotOutput(), and PX4FMU::~PX4FMU().

◆ PWM_OUTPUT_MAX_CHANNELS

#define PWM_OUTPUT_MAX_CHANNELS 16

Definition at line 65 of file drv_pwm_output.h.

Referenced by esc_calib_main(), PWMSim::ioctl(), PX4IO::ioctl(), pwm_main(), and test_servo().

◆ PWM_RATE_LOWER_LIMIT

#define PWM_RATE_LOWER_LIMIT 1u

Definition at line 292 of file drv_pwm_output.h.

◆ PWM_RATE_ONESHOT

#define PWM_RATE_ONESHOT 0u

specific rates for configuring the timer for OneShot or PWM

Definition at line 291 of file drv_pwm_output.h.

◆ PWM_RATE_UPPER_LIMIT

#define PWM_RATE_UPPER_LIMIT 10000u

Definition at line 293 of file drv_pwm_output.h.

◆ PWM_SERVO_ARM

#define PWM_SERVO_ARM _PX4_IOC(_PWM_SERVO_BASE, 0)

arm all servo outputs handle by this driver

Definition at line 156 of file drv_pwm_output.h.

Referenced by do_esc_calibration(), esc_calib_main(), PWMSim::ioctl(), PX4IO::ioctl(), prepare(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), pwm_main(), PX4IO::set_update_rate(), PX4FMU::test(), and test_servo().

◆ PWM_SERVO_CLEAR_ARM_OK

#define PWM_SERVO_CLEAR_ARM_OK _PX4_IOC(_PWM_SERVO_BASE, 9)

clear the 'ARM ok' bit, which deactivates the safety switch

Definition at line 183 of file drv_pwm_output.h.

Referenced by do_esc_calibration(), UavcanNode::ioctl(), PX4IO::ioctl(), MK::pwm_ioctl(), and PX4FMU::pwm_ioctl().

◆ PWM_SERVO_DISARM

#define PWM_SERVO_DISARM _PX4_IOC(_PWM_SERVO_BASE, 1)

disarm all servo outputs (stop generating pulses)

Definition at line 159 of file drv_pwm_output.h.

Referenced by do_esc_calibration(), esc_calib_main(), PWMSim::ioctl(), PX4IO::ioctl(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

◆ PWM_SERVO_ENTER_TEST_MODE

#define PWM_SERVO_ENTER_TEST_MODE 17

Definition at line 267 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl(), motor_ramp_thread_main(), PX4FMU::pwm_ioctl(), pwm_main(), and PX4FMU::test().

◆ PWM_SERVO_EXIT_TEST_MODE

#define PWM_SERVO_EXIT_TEST_MODE 18

Definition at line 268 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl(), motor_ramp_thread_main(), PX4FMU::pwm_ioctl(), pwm_main(), and PX4FMU::test().

◆ PWM_SERVO_GET

#define PWM_SERVO_GET ( _servo ) _PX4_IOC(_PWM_SERVO_BASE, 0x50 + _servo)

get a single specific servo value

Definition at line 283 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl(), motor_ramp_thread_main(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), pwm_main(), PX4IO::set_update_rate(), PX4FMU::test(), test_ppm_loopback(), and test_servo().

◆ PWM_SERVO_GET_COUNT

#define PWM_SERVO_GET_COUNT _PX4_IOC(_PWM_SERVO_BASE, 5)

get the number of servos in *(unsigned *)arg

Definition at line 171 of file drv_pwm_output.h.

Referenced by esc_calib_main(), PWMSim::ioctl(), PX4IO::ioctl(), motor_ramp_thread_main(), prepare(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), DShotOutput::pwm_ioctl(), pwm_main(), PX4IO::set_update_rate(), PX4FMU::test(), test_ppm_loopback(), and test_servo().

◆ PWM_SERVO_GET_DEFAULT_UPDATE_RATE

#define PWM_SERVO_GET_DEFAULT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 2)

get default servo update rate

Definition at line 162 of file drv_pwm_output.h.

Referenced by PWMSim::ioctl(), PX4IO::ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

◆ PWM_SERVO_GET_DISABLE_LOCKDOWN

#define PWM_SERVO_GET_DISABLE_LOCKDOWN _PX4_IOC(_PWM_SERVO_BASE, 24)

get the lockdown override flag to enable outputs in HIL

Definition at line 229 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl().

◆ PWM_SERVO_GET_DISARMED_PWM

#define PWM_SERVO_GET_DISARMED_PWM _PX4_IOC(_PWM_SERVO_BASE, 15)

get the PWM value when disarmed

Definition at line 201 of file drv_pwm_output.h.

Referenced by VtolType::init(), PWMSim::ioctl(), PX4IO::ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

◆ PWM_SERVO_GET_FAILSAFE_PWM

#define PWM_SERVO_GET_FAILSAFE_PWM _PX4_IOC(_PWM_SERVO_BASE, 13)

get the PWM value for failsafe

Definition at line 195 of file drv_pwm_output.h.

Referenced by PWMSim::ioctl(), PX4IO::ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

◆ PWM_SERVO_GET_MAX_PWM

#define PWM_SERVO_GET_MAX_PWM _PX4_IOC(_PWM_SERVO_BASE, 19)

get the maximum PWM value the output will send

Definition at line 213 of file drv_pwm_output.h.

Referenced by VtolType::init(), PWMSim::ioctl(), PX4IO::ioctl(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

◆ PWM_SERVO_GET_MIN_PWM

#define PWM_SERVO_GET_MIN_PWM _PX4_IOC(_PWM_SERVO_BASE, 17)

get the minimum PWM value the output will send

Definition at line 207 of file drv_pwm_output.h.

Referenced by VtolType::init(), PWMSim::ioctl(), PX4IO::ioctl(), motor_ramp_thread_main(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

◆ PWM_SERVO_GET_RATEGROUP

#define PWM_SERVO_GET_RATEGROUP ( _n ) _PX4_IOC(_PWM_SERVO_BASE, 0x70 + _n)

get the _n'th rate group's channels; *(uint32_t *)arg returns a bitmap of channels whose update rates must be the same.

Definition at line 288 of file drv_pwm_output.h.

Referenced by PWMSim::ioctl(), PX4IO::ioctl(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

◆ PWM_SERVO_GET_SELECT_UPDATE_RATE

#define PWM_SERVO_GET_SELECT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 7)

check the selected update rates

Definition at line 177 of file drv_pwm_output.h.

Referenced by PWMSim::ioctl(), PX4IO::ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

◆ PWM_SERVO_GET_TRIM_PWM

#define PWM_SERVO_GET_TRIM_PWM _PX4_IOC(_PWM_SERVO_BASE, 21)

get the TRIM value the output will send

Definition at line 219 of file drv_pwm_output.h.

Referenced by PWMSim::ioctl(), PX4IO::ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

◆ PWM_SERVO_GET_UPDATE_RATE

#define PWM_SERVO_GET_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 4)

get alternate servo update rate

Definition at line 168 of file drv_pwm_output.h.

Referenced by PWMSim::ioctl(), PX4IO::ioctl(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

◆ PWM_SERVO_MODE_14PWM

#define PWM_SERVO_MODE_14PWM 13

Definition at line 263 of file drv_pwm_output.h.

◆ PWM_SERVO_MODE_1PWM

#define PWM_SERVO_MODE_1PWM 1

Definition at line 251 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_2PWM

#define PWM_SERVO_MODE_2PWM 2

Definition at line 252 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_2PWM2CAP

#define PWM_SERVO_MODE_2PWM2CAP 3

Definition at line 253 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_3PWM

#define PWM_SERVO_MODE_3PWM 4

Definition at line 254 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_3PWM1CAP

#define PWM_SERVO_MODE_3PWM1CAP 5

Definition at line 255 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_4CAP

#define PWM_SERVO_MODE_4CAP 14

Definition at line 264 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_4PWM

#define PWM_SERVO_MODE_4PWM 6

Definition at line 256 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_4PWM1CAP

#define PWM_SERVO_MODE_4PWM1CAP 7

Definition at line 257 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_4PWM2CAP

#define PWM_SERVO_MODE_4PWM2CAP 8

Definition at line 258 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), DShotOutput::pwm_ioctl(), and CameraCapture::set_capture_control().

◆ PWM_SERVO_MODE_5CAP

#define PWM_SERVO_MODE_5CAP 15

Definition at line 265 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_5PWM

#define PWM_SERVO_MODE_5PWM 9

Definition at line 259 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_5PWM1CAP

#define PWM_SERVO_MODE_5PWM1CAP 10

Definition at line 260 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_6CAP

#define PWM_SERVO_MODE_6CAP 16

Definition at line 266 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_6PWM

#define PWM_SERVO_MODE_6PWM 11

Definition at line 261 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_8PWM

#define PWM_SERVO_MODE_8PWM 12

Definition at line 262 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_MODE_NONE

#define PWM_SERVO_MODE_NONE 0

set auxillary output mode.

These correspond to enum Mode in px4fmu/fmu.cpp

Definition at line 250 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_SET

#define PWM_SERVO_SET ( _servo ) _PX4_IOC(_PWM_SERVO_BASE, 0x30 + _servo)

set a single servo to a specific value

Definition at line 280 of file drv_pwm_output.h.

Referenced by esc_calib_main(), PX4IO::ioctl(), motor_ramp_thread_main(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), pwm_main(), set_out(), PX4FMU::test(), test_ppm_loopback(), and test_servo().

◆ PWM_SERVO_SET_ARM_OK

#define PWM_SERVO_SET_ARM_OK _PX4_IOC(_PWM_SERVO_BASE, 8)

set the 'ARM ok' bit, which activates the safety switch

Definition at line 180 of file drv_pwm_output.h.

Referenced by do_esc_calibration(), esc_calib_main(), UavcanNode::ioctl(), PX4IO::ioctl(), prepare(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), pwm_main(), PX4IO::set_update_rate(), and test_servo().

◆ PWM_SERVO_SET_COUNT

#define PWM_SERVO_SET_COUNT _PX4_IOC(_PWM_SERVO_BASE, 22)

set the number of servos in (unsigned)arg - allows change of split between servos and GPIO

Definition at line 223 of file drv_pwm_output.h.

Referenced by PX4FMU::pwm_ioctl(), and DShotOutput::pwm_ioctl().

◆ PWM_SERVO_SET_DISABLE_LOCKDOWN

#define PWM_SERVO_SET_DISABLE_LOCKDOWN _PX4_IOC(_PWM_SERVO_BASE, 23)

set the lockdown override flag to enable outputs in HIL

Definition at line 226 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl(), and PX4IO::set_update_rate().

◆ PWM_SERVO_SET_DISARMED_PWM

#define PWM_SERVO_SET_DISARMED_PWM _PX4_IOC(_PWM_SERVO_BASE, 14)

set the PWM value when disarmed - should be no PWM (zero) by default

Definition at line 198 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl(), PX4FMU::pwm_ioctl(), pwm_main(), and test_ppm_loopback().

◆ PWM_SERVO_SET_FAILSAFE_PWM

#define PWM_SERVO_SET_FAILSAFE_PWM _PX4_IOC(_PWM_SERVO_BASE, 12)

set the PWM value for failsafe

Definition at line 192 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

◆ PWM_SERVO_SET_FORCE_FAILSAFE

#define PWM_SERVO_SET_FORCE_FAILSAFE _PX4_IOC(_PWM_SERVO_BASE, 26)

force failsafe mode (failsafe values are set immediately even if failsafe condition not met)

Definition at line 235 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl(), and pwm_main().

◆ PWM_SERVO_SET_FORCE_SAFETY_OFF

#define PWM_SERVO_SET_FORCE_SAFETY_OFF _PX4_IOC(_PWM_SERVO_BASE, 25)

force safety switch off (to disable use of safety switch)

Definition at line 232 of file drv_pwm_output.h.

Referenced by do_esc_calibration(), UavcanNode::ioctl(), PX4IO::ioctl(), prepare(), PX4FMU::pwm_ioctl(), and px4io_main().

◆ PWM_SERVO_SET_FORCE_SAFETY_ON

#define PWM_SERVO_SET_FORCE_SAFETY_ON _PX4_IOC(_PWM_SERVO_BASE, 28)

force safety switch on (to enable use of safety switch)

Definition at line 241 of file drv_pwm_output.h.

Referenced by do_esc_calibration(), PX4IO::ioctl(), PX4FMU::pwm_ioctl(), and px4io_main().

◆ PWM_SERVO_SET_MAX_PWM

#define PWM_SERVO_SET_MAX_PWM _PX4_IOC(_PWM_SERVO_BASE, 18)

set the maximum PWM value the output will send

Definition at line 210 of file drv_pwm_output.h.

Referenced by VtolType::apply_pwm_limits(), PWMSim::ioctl(), PX4IO::ioctl(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

◆ PWM_SERVO_SET_MIN_PWM

#define PWM_SERVO_SET_MIN_PWM _PX4_IOC(_PWM_SERVO_BASE, 16)

set the minimum PWM value the output will send

Definition at line 204 of file drv_pwm_output.h.

Referenced by VtolType::apply_pwm_limits(), PWMSim::ioctl(), PX4IO::ioctl(), motor_ramp_thread_main(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), pwm_main(), and set_min_pwm().

◆ PWM_SERVO_SET_MODE

#define PWM_SERVO_SET_MODE _PX4_IOC(_PWM_SERVO_BASE, 34)

Definition at line 269 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl(), motor_ramp_thread_main(), PX4FMU::pwm_ioctl(), DShotOutput::pwm_ioctl(), pwm_main(), CameraCapture::set_capture_control(), and PX4FMU::test().

◆ PWM_SERVO_SET_OVERRIDE_IMMEDIATE

#define PWM_SERVO_SET_OVERRIDE_IMMEDIATE _PX4_IOC(_PWM_SERVO_BASE, 32)

setup OVERRIDE_IMMEDIATE behaviour on FMU fail

Definition at line 244 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl().

◆ PWM_SERVO_SET_SBUS_RATE

#define PWM_SERVO_SET_SBUS_RATE _PX4_IOC(_PWM_SERVO_BASE, 33)

set SBUS output frame rate in Hz

Definition at line 247 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl().

◆ PWM_SERVO_SET_SELECT_UPDATE_RATE

#define PWM_SERVO_SET_SELECT_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 6)

selects servo update rates, one bit per servo.

0 = default (50Hz), 1 = alternate

Definition at line 174 of file drv_pwm_output.h.

Referenced by PWMSim::ioctl(), PX4IO::ioctl(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

◆ PWM_SERVO_SET_TERMINATION_FAILSAFE

#define PWM_SERVO_SET_TERMINATION_FAILSAFE _PX4_IOC(_PWM_SERVO_BASE, 27)

make failsafe non-recoverable (termination) if it occurs

Definition at line 238 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl(), and pwm_main().

◆ PWM_SERVO_SET_TRIM_PWM

#define PWM_SERVO_SET_TRIM_PWM _PX4_IOC(_PWM_SERVO_BASE, 20)

set the TRIM value the output will send

Definition at line 216 of file drv_pwm_output.h.

Referenced by PX4IO::ioctl(), and PX4FMU::pwm_ioctl().

◆ PWM_SERVO_SET_UPDATE_RATE

#define PWM_SERVO_SET_UPDATE_RATE _PX4_IOC(_PWM_SERVO_BASE, 3)

set alternate servo update rate

Definition at line 165 of file drv_pwm_output.h.

Referenced by PWMSim::ioctl(), PX4IO::ioctl(), MK::pwm_ioctl(), PX4FMU::pwm_ioctl(), and pwm_main().

Typedef Documentation

◆ servo_position_t

typedef uint16_t servo_position_t

Servo output signal type, value is actual servo output pulse width in microseconds.

Definition at line 129 of file drv_pwm_output.h.

Enumeration Type Documentation

◆ dshot_command_t

enum dshot_command_t

Enumerator
DShot_cmd_motor_stop
DShot_cmd_beacon1
DShot_cmd_beacon2
DShot_cmd_beacon3
DShot_cmd_beacon4
DShot_cmd_beacon5
DShot_cmd_esc_info
DShot_cmd_spin_direction_1
DShot_cmd_spin_direction_2
DShot_cmd_3d_mode_off
DShot_cmd_3d_mode_on
DShot_cmd_settings_request
DShot_cmd_save_settings
DShot_cmd_spin_direction_normal
DShot_cmd_spin_direction_reversed
DShot_cmd_led0_on
DShot_cmd_led1_on
DShot_cmd_led2_on
DShot_cmd_led3_on
DShot_cmd_led0_off
DShot_cmd_led1_off
DShot_cmd_led2_off
DShot_cmd_led4_off
DShot_cmd_audio_stream_mode_on_off
DShot_cmd_silent_mode_on_off
DShot_cmd_signal_line_telemeetry_disable
DShot_cmd_signal_line_continuous_erpm_telemetry
DShot_cmd_MAX
DShot_cmd_MIN_throttle

Definition at line 303 of file drv_pwm_output.h.

Function Documentation

◆ up_dshot_arm()

__EXPORT int up_dshot_arm ( bool armed )

Arm or disarm dshot outputs (This will enable/disable complete timer for safety purpose.).

When disarmed, dshot output no pulse.

Parameters

armed If true, outputs are armed; if false they are disarmed.

Referenced by DShotOutput::update_dshot_out_state(), and DShotOutput::~DShotOutput().

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◆ up_dshot_init()

__EXPORT int up_dshot_init	(	uint32_t	channel_mask,
		unsigned	dshot_pwm_freq
	)

Intialise the Dshot outputs using the specified configuration.

Parameters

channel_mask	Bitmask of channels (LSB = channel 0) to enable. This allows some of the channels to remain configured as GPIOs or as another function.
dshot_pwm_freq	is frequency of DSHOT signal. Usually DSHOT1200, DSHOT600, DSHOT300 or DSHOT150

Returns: OK on success.

Referenced by DShotOutput::update_dshot_out_state().

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◆ up_dshot_motor_command()

__EXPORT void up_dshot_motor_command	(	unsigned	channel,
		uint16_t	command,
		bool	telemetry
	)

Send DShot command to a channel (motor).

Parameters

channel	The channel to set.
command	dshot_command_t
telemetry	If true, request telemetry from that motor

Referenced by DShotOutput::updateOutputs().

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◆ up_dshot_motor_data_set()

__EXPORT void up_dshot_motor_data_set	(	unsigned	channel,
		uint16_t	throttle,
		bool	telemetry
	)

Set the current dshot throttle value for a channel (motor).

Parameters

channel	The channel to set.
throttle	The output dshot throttle value in [0, 1999 = DSHOT_MAX_THROTTLE].
telemetry	If true, request telemetry from that motor

Referenced by DShotOutput::updateOutputs().

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◆ up_dshot_trigger()

__EXPORT void up_dshot_trigger ( void )

Trigger dshot data transfer.

Referenced by DShotOutput::updateOutputs().

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◆ up_pwm_servo_arm()

__EXPORT void up_pwm_servo_arm ( bool armed )

Arm or disarm servo outputs.

When disarmed, servos output no pulse.

Bug:: This function should, but does not, guarantee that any pulse currently in progress is cleanly completed.

Parameters

armed If true, outputs are armed; if false they are disarmed.

Referenced by mixer_tick(), and PX4FMU::update_pwm_out_state().

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◆ up_pwm_servo_deinit()

__EXPORT void up_pwm_servo_deinit ( void )

De-initialise the PWM servo outputs.

Referenced by PX4FMU::set_mode(), MK::task_main(), and PX4FMU::~PX4FMU().

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◆ up_pwm_servo_get()

__EXPORT servo_position_t up_pwm_servo_get ( unsigned channel )

Get the current output value for a channel.

Parameters

channel The channel to read.

Returns: The output pulse width in microseconds, or zero if outputs are not armed or not configured.

Referenced by PX4FMU::pwm_ioctl().

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◆ up_pwm_servo_get_rate_group()

__EXPORT uint32_t up_pwm_servo_get_rate_group ( unsigned group )

Get a bitmap of output channels assigned to a given rate group.

Parameters

group The rate group to query. Rate groups are assigned contiguously starting from zero.

Returns: A bitmap of channels assigned to the rate group, or zero if the group number has no channels.

Referenced by pwm_configure_rates(), PX4FMU::pwm_ioctl(), registers_get(), and PX4FMU::set_pwm_rate().

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◆ up_pwm_servo_init()

__EXPORT int up_pwm_servo_init ( uint32_t channel_mask )

Intialise the PWM servo outputs using the specified configuration.

Parameters

channel_mask Bitmask of channels (LSB = channel 0) to enable. This allows some of the channels to remain configured as GPIOs or as another function.

Returns: OK on success.

Referenced by PX4FMU::update_pwm_out_state(), and user_start().

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◆ up_pwm_servo_set()

__EXPORT int up_pwm_servo_set	(	unsigned	channel,
		servo_position_t	value
	)

Set the current output value for a channel.

Parameters

channel	The channel to set.
value	The output pulse width in microseconds.

Referenced by mixer_tick(), PX4FMU::pwm_ioctl(), and PX4FMU::updateOutputs().

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◆ up_pwm_servo_set_rate()

__EXPORT int up_pwm_servo_set_rate ( unsigned rate )

Set the servo update rate for all rate groups.

Parameters

rate	The update rate in Hz to set.

Returns: OK on success, -ERANGE if an unsupported update rate is set.

Referenced by MK::task_main().

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◆ up_pwm_servo_set_rate_group_update()

__EXPORT int up_pwm_servo_set_rate_group_update	(	unsigned	group,
		unsigned	rate
	)

Set the update rate for a given rate group.

Parameters

group	The rate group whose update rate will be changed.
rate	The update rate in Hz.

Returns: OK if the group was adjusted, -ERANGE if an unsupported update rate is set.

Referenced by pwm_configure_rates(), and PX4FMU::set_pwm_rate().

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◆ up_pwm_update()

__EXPORT void up_pwm_update ( void )

Trigger all timer's channels in Oneshot mode to fire the oneshot with updated values.

Nothing is done if not in oneshot mode.

Referenced by mixer_tick(), pwm_main(), registers_set(), and PX4FMU::updateOutputs().

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Classes

Macros

Typedefs

Enumerations

Functions

Macro Definition Documentation

◆ _PWM_SERVO_BASE

◆ DSHOT1200

◆ DSHOT150

◆ DSHOT300

◆ DSHOT600

◆ DSHOT_MAX_THROTTLE

◆ DSM_BIND_POWER_UP

◆ DSM_BIND_START

◆ PWM_DEFAULT_MAX

◆ PWM_DEFAULT_MIN

◆ PWM_DEFAULT_TRIM

◆ PWM_HIGHEST_MAX

◆ PWM_HIGHEST_MIN

◆ PWM_IGNORE_THIS_CHANNEL

◆ PWM_LOWEST_MAX

◆ PWM_LOWEST_MIN

◆ PWM_MOTOR_OFF

◆ PWM_OUTPUT0_DEVICE_PATH

◆ PWM_OUTPUT_BASE_DEVICE_PATH

◆ PWM_OUTPUT_MAX_CHANNELS

◆ PWM_RATE_LOWER_LIMIT

◆ PWM_RATE_ONESHOT

◆ PWM_RATE_UPPER_LIMIT

◆ PWM_SERVO_ARM

◆ PWM_SERVO_CLEAR_ARM_OK

◆ PWM_SERVO_DISARM

◆ PWM_SERVO_ENTER_TEST_MODE

◆ PWM_SERVO_EXIT_TEST_MODE

◆ PWM_SERVO_GET

◆ PWM_SERVO_GET_COUNT

◆ PWM_SERVO_GET_DEFAULT_UPDATE_RATE

◆ PWM_SERVO_GET_DISABLE_LOCKDOWN

◆ PWM_SERVO_GET_DISARMED_PWM

◆ PWM_SERVO_GET_FAILSAFE_PWM

◆ PWM_SERVO_GET_MAX_PWM

◆ PWM_SERVO_GET_MIN_PWM

◆ PWM_SERVO_GET_RATEGROUP

◆ PWM_SERVO_GET_SELECT_UPDATE_RATE

◆ PWM_SERVO_GET_TRIM_PWM

◆ PWM_SERVO_GET_UPDATE_RATE

◆ PWM_SERVO_MODE_14PWM

◆ PWM_SERVO_MODE_1PWM

◆ PWM_SERVO_MODE_2PWM

◆ PWM_SERVO_MODE_2PWM2CAP

◆ PWM_SERVO_MODE_3PWM

◆ PWM_SERVO_MODE_3PWM1CAP

◆ PWM_SERVO_MODE_4CAP

◆ PWM_SERVO_MODE_4PWM

◆ PWM_SERVO_MODE_4PWM1CAP

◆ PWM_SERVO_MODE_4PWM2CAP

◆ PWM_SERVO_MODE_5CAP

◆ PWM_SERVO_MODE_5PWM

◆ PWM_SERVO_MODE_5PWM1CAP

◆ PWM_SERVO_MODE_6CAP

◆ PWM_SERVO_MODE_6PWM

◆ PWM_SERVO_MODE_8PWM

◆ PWM_SERVO_MODE_NONE

◆ PWM_SERVO_SET

◆ PWM_SERVO_SET_ARM_OK

◆ PWM_SERVO_SET_COUNT

◆ PWM_SERVO_SET_DISABLE_LOCKDOWN

◆ PWM_SERVO_SET_DISARMED_PWM

◆ PWM_SERVO_SET_FAILSAFE_PWM

◆ PWM_SERVO_SET_FORCE_FAILSAFE

◆ PWM_SERVO_SET_FORCE_SAFETY_OFF

◆ PWM_SERVO_SET_FORCE_SAFETY_ON

◆ PWM_SERVO_SET_MAX_PWM

◆ PWM_SERVO_SET_MIN_PWM

◆ PWM_SERVO_SET_MODE

◆ PWM_SERVO_SET_OVERRIDE_IMMEDIATE

◆ PWM_SERVO_SET_SBUS_RATE

◆ PWM_SERVO_SET_SELECT_UPDATE_RATE

◆ PWM_SERVO_SET_TERMINATION_FAILSAFE

◆ PWM_SERVO_SET_TRIM_PWM