1 files changed, 0 insertions, 398 deletions
diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c
deleted file mode 100644
index aeaf830de..000000000
--- a/apps/ardrone_interface/ardrone_interface.c
+++ /dev/null
@@ -1,398 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. 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 PX4 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.
- *
- ****************************************************************************/
-
-/**
- * @file ardrone_interface.c
- * Implementation of AR.Drone 1.0 / 2.0 motor control interface.
- */
-
-#include <nuttx/config.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <math.h>
-#include <fcntl.h>
-#include <errno.h>
-#include <debug.h>
-#include <termios.h>
-#include <time.h>
-#include <systemlib/err.h>
-#include <sys/prctl.h>
-#include <drivers/drv_hrt.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/actuator_controls.h>
-
-#include <systemlib/systemlib.h>
-
-#include "ardrone_motor_control.h"
-
-__EXPORT int ardrone_interface_main(int argc, char *argv[]);
-
-
-static bool thread_should_exit = false;		/**< Deamon exit flag */
-static bool thread_running = false;		/**< Deamon status flag */
-static int ardrone_interface_task;		/**< Handle of deamon task / thread */
-static int ardrone_write;			/**< UART to write AR.Drone commands to */
-
-/**
- * Mainloop of ardrone_interface.
- */
-int ardrone_interface_thread_main(int argc, char *argv[]);
-
-/**
- * Open the UART connected to the motor controllers
- */
-static int ardrone_open_uart(char *uart_name, struct termios *uart_config_original);
-
-/**
- * Print the correct usage.
- */
-static void usage(const char *reason);
-
-static void
-usage(const char *reason)
-{
-	if (reason)
-		fprintf(stderr, "%s\n", reason);
-	fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d <UART>]\n\n");
-	exit(1);
-}
-
-/**
- * The deamon app only briefly exists to start
- * the background job. The stack size assigned in the
- * Makefile does only apply to this management task.
- * 
- * The actual stack size should be set in the call
- * to task_create().
- */
-int ardrone_interface_main(int argc, char *argv[])
-{
-		if (argc < 1)
-		usage("missing command");
-
-	if (!strcmp(argv[1], "start")) {
-
-		if (thread_running) {
-			printf("ardrone_interface already running\n");
-			/* this is not an error */
-			exit(0);
-		}
-
-		thread_should_exit = false;
-		ardrone_interface_task = task_spawn("ardrone_interface",
-						    SCHED_DEFAULT,
-						    SCHED_PRIORITY_MAX - 15,
-						    2048,
-						    ardrone_interface_thread_main,
-						    (argv) ? (const char **)&argv[2] : (const char **)NULL);
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "stop")) {
-		thread_should_exit = true;
-		exit(0);
-	}
-
-	if (!strcmp(argv[1], "status")) {
-		if (thread_running) {
-			printf("\tardrone_interface is running\n");
-		} else {
-			printf("\tardrone_interface not started\n");
-		}
-		exit(0);
-	}
-
-	usage("unrecognized command");
-	exit(1);
-}
-
-static int ardrone_open_uart(char *uart_name, struct termios *uart_config_original)
-{
-	/* baud rate */
-	int speed = B115200;
-	int uart;
-
-	/* open uart */
-	uart = open(uart_name, O_RDWR | O_NOCTTY);
-
-	/* Try to set baud rate */
-	struct termios uart_config;
-	int termios_state;
-
-	/* Back up the original uart configuration to restore it after exit */
-	if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
-		fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
-		close(uart);
-		return -1;
-	}
-
-	/* Fill the struct for the new configuration */
-	tcgetattr(uart, &uart_config);
-
-	/* Clear ONLCR flag (which appends a CR for every LF) */
-	uart_config.c_oflag &= ~ONLCR;
-
-	/* Set baud rate */
-	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
-		fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
-		close(uart);
-		return -1;
-	}
-
-
-	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
-		fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
-		close(uart);
-		return -1;
-	}
-
-	return uart;
-}
-
-int ardrone_interface_thread_main(int argc, char *argv[])
-{
-	thread_running = true;
-
-	char *device = "/dev/ttyS1";
-
-	/* welcome user */
-	printf("[ardrone_interface] Control started, taking over motors\n");
-
-	/* File descriptors */
-	int gpios;
-
-	char *commandline_usage = "\tusage: ardrone_interface start|status|stop [-t for motor test (10%% thrust)]\n";
-
-	bool motor_test_mode = false;
-	int test_motor = -1;
-
-	/* read commandline arguments */
-	for (int i = 0; i < argc && argv[i]; i++) {
-		if (strcmp(argv[i], "-t") == 0 || strcmp(argv[i], "--test") == 0) {
-			motor_test_mode = true;
-		}
-
-		if (strcmp(argv[i], "-m") == 0 || strcmp(argv[i], "--motor") == 0) {
-			if (i+1 < argc) {
-				int motor = atoi(argv[i+1]);
-				if (motor > 0 && motor < 5) {
-					test_motor = motor;
-				} else {
-					thread_running = false;
-					errx(1, "supply a motor # between 1 and 4. Example: -m 1\n %s", commandline_usage);
-				}
-			} else {
-				thread_running = false;
-				errx(1, "missing parameter to -m 1..4\n %s", commandline_usage);
-			}
-		}
-		if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set
-			if (argc > i + 1) {
-				device = argv[i + 1];
-
-			} else {
-				thread_running = false;
-				errx(1, "missing parameter to -m 1..4\n %s", commandline_usage);
-			}
-		}
-	}
-
-	struct termios uart_config_original;
-
-	if (motor_test_mode) {
-		printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n");
-	}
-
-	/* Led animation */
-	int counter = 0;
-	int led_counter = 0;
-
-	/* declare and safely initialize all structs */
-	struct vehicle_status_s state;
-	memset(&state, 0, sizeof(state));
-	struct actuator_controls_s actuator_controls;
-	memset(&actuator_controls, 0, sizeof(actuator_controls));
-	struct actuator_armed_s armed;
-	armed.armed = false;
-
-	/* subscribe to attitude, motor setpoints and system state */
-	int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
-	int state_sub = orb_subscribe(ORB_ID(vehicle_status));
-	int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
-
-	printf("[ardrone_interface] Motors initialized - ready.\n");
-	fflush(stdout);
-
-	/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
-	ardrone_write = ardrone_open_uart(device, &uart_config_original);
-
-	/* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */
-	gpios = ar_multiplexing_init();
-
-	if (ardrone_write < 0) {
-		fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
-		thread_running = false;
-		exit(ERROR);
-	}
-
-	/* initialize motors */
-	if (OK != ar_init_motors(ardrone_write, gpios)) {
-		close(ardrone_write);
-		fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
-		thread_running = false;
-		exit(ERROR);
-	}
-
-	ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);
-
-
-	// XXX Re-done initialization to make sure it is accepted by the motors
-	// XXX should be removed after more testing, but no harm
-
-	/* close uarts */
-	close(ardrone_write);
-
-	/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
-	ardrone_write = ardrone_open_uart(device, &uart_config_original);
-
-	/* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */
-	gpios = ar_multiplexing_init();
-
-	if (ardrone_write < 0) {
-		fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
-		thread_running = false;
-		exit(ERROR);
-	}
-
-	/* initialize motors */
-	if (OK != ar_init_motors(ardrone_write, gpios)) {
-		close(ardrone_write);
-		fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
-		thread_running = false;
-		exit(ERROR);
-	}
-
-	while (!thread_should_exit) {
-
-		if (motor_test_mode) {
-			/* set motors to idle speed */
-			if (test_motor > 0 && test_motor < 5) {
-				int motors[4] = {0, 0, 0, 0};
-				motors[test_motor - 1] = 10;
-				ardrone_write_motor_commands(ardrone_write, motors[0], motors[1], motors[2], motors[3]);
-			} else {
-				ardrone_write_motor_commands(ardrone_write, 10, 10, 10, 10);
-			}
-
-		} else {
-			/* MAIN OPERATION MODE */
-
-			/* get a local copy of the vehicle state */
-			orb_copy(ORB_ID(vehicle_status), state_sub, &state);
-			/* get a local copy of the actuator controls */
-			orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
-			orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
-			
-			/* for now only spin if armed and immediately shut down
-			 * if in failsafe
-			 */
-			if (armed.armed && !armed.lockdown) {
-				ardrone_mixing_and_output(ardrone_write, &actuator_controls);
-
-			} else {
-				/* Silently lock down motor speeds to zero */
-				ardrone_write_motor_commands(ardrone_write, 0, 0, 0, 0);
-			}
-		}
-
-		if (counter % 24 == 0) {
-			if (led_counter == 0) ar_set_leds(ardrone_write, 0, 1, 0, 0, 0, 0, 0 , 0);
-
-			if (led_counter == 1) ar_set_leds(ardrone_write, 1, 1, 0, 0, 0, 0, 0 , 0);
-
-			if (led_counter == 2) ar_set_leds(ardrone_write, 1, 0, 0, 0, 0, 0, 0 , 0);
-
-			if (led_counter == 3) ar_set_leds(ardrone_write, 0, 0, 0, 1, 0, 0, 0 , 0);
-
-			if (led_counter == 4) ar_set_leds(ardrone_write, 0, 0, 1, 1, 0, 0, 0 , 0);
-
-			if (led_counter == 5) ar_set_leds(ardrone_write, 0, 0, 1, 0, 0, 0, 0 , 0);
-
-			if (led_counter == 6) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 1, 0 , 0);
-
-			if (led_counter == 7) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 1, 0 , 0);
-
-			if (led_counter == 8) ar_set_leds(ardrone_write, 0, 0, 0, 0, 1, 0, 0 , 0);
-
-			if (led_counter == 9) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 0 , 1);
-
-			if (led_counter == 10) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 1);
-
-			if (led_counter == 11) ar_set_leds(ardrone_write, 0, 0, 0, 0, 0, 0, 1 , 0);
-
-			led_counter++;
-
-			if (led_counter == 12) led_counter = 0;
-		}
-
-		/* run at approximately 200 Hz */
-		usleep(4500);
-
-		counter++;
-	}
-
-	/* restore old UART config */
-	int termios_state;
-
-	if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) {
-		fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n");
-	}
-
-	printf("[ardrone_interface] Restored original UART config, exiting..\n");
-
-	/* close uarts */
-	close(ardrone_write);
-	ar_multiplexing_deinit(gpios);
-
-	fflush(stdout);
-
-	thread_running = false;
-
-	return OK;
-}
-