flight/pios/posix/pios_servo.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup   PIOS_SERVO RC Servo Functions
   6  * @brief Code to do set RC servo output
   7  * @{
   8  *
   9  * @file       pios_servo.c
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  11  * @brief      RC Servo routines (STM32 dependent)
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 /* Project Includes */
  32 #include "pios.h"
  33
  34 #if defined(PIOS_INCLUDE_SERVO)
  35
  36 /* Private Function Prototypes */
  37
  38 /* Local Variables */
  39 static volatile uint16_t ServoPosition[PIOS_SERVO_NUM_TIMERS];
  40
  41 /**
  42  * Initialise Servos
  43  */
  44 void PIOS_Servo_Init(void)
  45 {}
  46 /**
  47  * Set the servo update rate (Max 500Hz)
  48  * \param[in] array of rates in Hz
  49  * \param[in] array of timer clocks in Hz
  50  * \param[in] maximum number of banks
  51  */
  52 void PIOS_Servo_SetHz(const uint16_t *speeds, const uint32_t *clock, uint8_t banks)
  53 {}
  54
  55 /**
  56  * Set servo position
  57  * \param[in] Servo Servo number (0-7)
  58  * \param[in] Position Servo position in milliseconds
  59  */
  60 void PIOS_Servo_Set(uint8_t Servo, uint16_t Position)
  61 {
  62 #ifndef PIOS_ENABLE_DEBUG_PINS
  63     /* Make sure servo exists */
  64     if (Servo < PIOS_SERVO_NUM_OUTPUTS) {
  65         /* Update the position */
  66         ServoPosition[Servo] = Position;
  67     }
  68 #endif // PIOS_ENABLE_DEBUG_PINS
  69 }
  70
  71 #endif /* if defined(PIOS_INCLUDE_SERVO) */