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93 lines
3.4 KiB
93 lines
3.4 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* Author: Lorenz Meier <lm@inf.ethz.ch> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file ardrone_motor_control.h |
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* Definition of AR.Drone 1.0 / 2.0 motor control interface |
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*/ |
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#include <uORB/uORB.h> |
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#include <uORB/topics/actuator_controls.h> |
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/** |
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* Generate the 5-byte motor set packet. |
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* |
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* @return the number of bytes (5) |
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*/ |
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void ar_get_motor_packet(uint8_t *motor_buf, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4); |
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/** |
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* Select a motor in the multiplexing. |
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* |
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* @param fd GPIO file descriptor |
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* @param motor Motor number, from 1 to 4, 0 selects all |
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*/ |
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int ar_select_motor(int fd, uint8_t motor); |
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/** |
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* Deselect a motor in the multiplexing. |
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* |
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* @param fd GPIO file descriptor |
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* @param motor Motor number, from 1 to 4, 0 deselects all |
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*/ |
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int ar_deselect_motor(int fd, uint8_t motor); |
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void ar_enable_broadcast(int fd); |
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int ar_multiplexing_init(void); |
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int ar_multiplexing_deinit(int fd); |
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/** |
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* Write four motor commands to an already initialized port. |
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* |
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* Writing 0 stops a motor, values from 1-512 encode the full thrust range. |
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* on some motor controller firmware revisions a minimum value of 10 is |
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* required to spin the motors. |
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*/ |
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int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4); |
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/** |
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* Initialize the motors. |
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*/ |
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int ar_init_motors(int ardrone_uart, int gpio); |
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/** |
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* Set LED pattern. |
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*/ |
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void ar_set_leds(int ardrone_uart, uint8_t led1_red, uint8_t led1_green, uint8_t led2_red, uint8_t led2_green, uint8_t led3_red, uint8_t led3_green, uint8_t led4_red, uint8_t led4_green); |
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/** |
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* Mix motors and output actuators |
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*/ |
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void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators);
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