diff options
| author | px4dev <px4@purgatory.org> | 2012-09-03 13:28:40 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-09-03 13:28:40 -0700 |
| commit | 9667edd1708ef6e0d17688e66fbb7240769eb9f9 (patch) | |
| tree | 41d1716723744ca9c1353c524605ea16cd82fd27 /apps/ardrone_interface/ardrone_motor_control.c | |
| parent | 8a615a9741ad1dd7406a804349329345573da5b5 (diff) | |
| download | px4-firmware-9667edd1708ef6e0d17688e66fbb7240769eb9f9.tar.gz px4-firmware-9667edd1708ef6e0d17688e66fbb7240769eb9f9.tar.bz2 px4-firmware-9667edd1708ef6e0d17688e66fbb7240769eb9f9.zip | |
Fix up AR.drone motor GPIO config and initialisation
Diffstat (limited to 'apps/ardrone_interface/ardrone_motor_control.c')
| -rw-r--r-- | apps/ardrone_interface/ardrone_motor_control.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/apps/ardrone_interface/ardrone_motor_control.c index d40f0066a..1e4b48c07 100644 --- a/apps/ardrone_interface/ardrone_motor_control.c +++ b/apps/ardrone_interface/ardrone_motor_control.c @@ -118,6 +118,7 @@ int ar_multiplexing_init() return -1; } + /* configure all motor select GPIOs as outputs */ if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) { warn("GPIO: output set fail"); close(fd); @@ -174,8 +175,6 @@ int ar_select_motor(int fd, uint8_t motor) ret += ioctl(fd, GPIO_CLEAR, motor_gpio[motor - 1]); } - fsync(fd); - return ret; } @@ -208,6 +207,9 @@ int ar_init_motors(int ardrone_uart, int gpios) uint8_t initbuf[] = {0xE0, 0x91, 0xA1, 0x00, 0x40}; uint8_t multicastbuf[] = {0xA0, 0xA0, 0xA0, 0xA0, 0xA0, 0xA0}; + /* deselect all motors */ + ar_deselect_motor(gpios, 0); + /* initialize all motors * - select one motor at a time * - configure motor @@ -215,8 +217,6 @@ int ar_init_motors(int ardrone_uart, int gpios) int i; int errcounter = 0; - gpios = ar_multiplexing_init(); - for (i = 1; i < 5; ++i) { /* Initialize motors 1-4 */ initbuf[3] = (uint8_t)i; |