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Diffstat (limited to 'apps/ardrone_interface/ardrone_motor_control.h')
-rw-r--r-- | apps/ardrone_interface/ardrone_motor_control.h | 93 |
1 files changed, 0 insertions, 93 deletions
diff --git a/apps/ardrone_interface/ardrone_motor_control.h b/apps/ardrone_interface/ardrone_motor_control.h deleted file mode 100644 index 78b603b63..000000000 --- a/apps/ardrone_interface/ardrone_motor_control.h +++ /dev/null @@ -1,93 +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_motor_control.h - * Definition of AR.Drone 1.0 / 2.0 motor control interface - */ - -#include <uORB/uORB.h> -#include <uORB/topics/actuator_controls.h> - -/** - * Generate the 5-byte motor set packet. - * - * @return the number of bytes (5) - */ -void ar_get_motor_packet(uint8_t *motor_buf, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4); - -/** - * Select a motor in the multiplexing. - * - * @param fd GPIO file descriptor - * @param motor Motor number, from 1 to 4, 0 selects all - */ -int ar_select_motor(int fd, uint8_t motor); - -/** - * Deselect a motor in the multiplexing. - * - * @param fd GPIO file descriptor - * @param motor Motor number, from 1 to 4, 0 deselects all - */ -int ar_deselect_motor(int fd, uint8_t motor); - -void ar_enable_broadcast(int fd); - -int ar_multiplexing_init(void); -int ar_multiplexing_deinit(int fd); - -/** - * Write four motor commands to an already initialized port. - * - * Writing 0 stops a motor, values from 1-512 encode the full thrust range. - * on some motor controller firmware revisions a minimum value of 10 is - * required to spin the motors. - */ -int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4); - -/** - * Initialize the motors. - */ -int ar_init_motors(int ardrone_uart, int gpio); - -/** - * Set LED pattern. - */ -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); - -/** - * Mix motors and output actuators - */ -void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators); |