diff options
Diffstat (limited to 'apps/ardrone_control/ardrone_motor_control.h')
-rw-r--r-- | apps/ardrone_control/ardrone_motor_control.h | 61 |
1 files changed, 61 insertions, 0 deletions
diff --git a/apps/ardrone_control/ardrone_motor_control.h b/apps/ardrone_control/ardrone_motor_control.h new file mode 100644 index 000000000..bf41e3f3b --- /dev/null +++ b/apps/ardrone_control/ardrone_motor_control.h @@ -0,0 +1,61 @@ +/**************************************************************************** + * px4/ardrone_offboard_control.h + * + * Copyright (C) 2012 PX4 Autopilot Project. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name NuttX nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +#include <nuttx/config.h> +#include <pthread.h> +#include <poll.h> +#include <stdio.h> +#include <fcntl.h> +#include <unistd.h> +#include <drivers/drv_gpio.h> + + +/** + * @brief Generate the 8-byte motor set packet + * + * @return the number of bytes (8) + */ +void ar_get_motor_packet(uint8_t *motor_buf, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4); + +int ar_select_motor(int fd, uint8_t motor); + +void ar_enable_broadcast(int fd); + +int ar_multiplexing_init(void); +int ar_multiplexing_deinit(int fd); + +void ar_init_motors(int ardrone_uart, int *gpios_uart); + +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); + |