diff options
Diffstat (limited to 'apps/ardrone_control/ardrone_motor_control.c')
| -rw-r--r-- | apps/ardrone_control/ardrone_motor_control.c | 20 |
1 files changed, 12 insertions, 8 deletions
diff --git a/apps/ardrone_control/ardrone_motor_control.c b/apps/ardrone_control/ardrone_motor_control.c index 25847e1da..f13427eea 100644 --- a/apps/ardrone_control/ardrone_motor_control.c +++ b/apps/ardrone_control/ardrone_motor_control.c @@ -33,7 +33,8 @@ ****************************************************************************/ /* - * @file Implementation of AR.Drone 1.0 / 2.0 motor control interface + * @file ardrone_motor_control.c + * Implementation of AR.Drone 1.0 / 2.0 motor control interface */ @@ -97,23 +98,23 @@ int ar_multiplexing_init() { int fd; - fd = open("/dev/gpio", O_RDONLY | O_NONBLOCK); + fd = open(GPIO_DEVICE_PATH, 0); if (fd < 0) { printf("GPIO: open fail\n"); return fd; } + /* deactivate all outputs */ + int ret = 0; + ret += ioctl(fd, GPIO_SET, motor_gpios); + if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) { printf("GPIO: output set fail\n"); close(fd); return -1; } - /* deactivate all outputs */ - int ret = 0; - ret += ioctl(fd, GPIO_SET, motor_gpios); - if (ret < 0) { printf("GPIO: clearing pins fail\n"); close(fd); @@ -167,12 +168,15 @@ int ar_select_motor(int fd, uint8_t motor) ret += ioctl(fd, GPIO_CLEAR, motor_gpios); } else { + /* deselect all */ + ret += ioctl(fd, GPIO_SET, motor_gpios); + /* select reqested motor */ ret += ioctl(fd, GPIO_CLEAR, motor_gpio[motor - 1]); /* deselect all others */ - gpioset = motor_gpios ^ motor_gpio[motor - 1]; - ret += ioctl(fd, GPIO_SET, gpioset); + // gpioset = motor_gpios ^ motor_gpio[motor - 1]; + // ret += ioctl(fd, GPIO_SET, gpioset); } return ret; |