diff options
Diffstat (limited to 'src/drivers/ardrone_interface/ardrone_motor_control.h')
-rw-r--r-- | src/drivers/ardrone_interface/ardrone_motor_control.h | 93 |
1 files changed, 93 insertions, 0 deletions
diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.h b/src/drivers/ardrone_interface/ardrone_motor_control.h new file mode 100644 index 000000000..78b603b63 --- /dev/null +++ b/src/drivers/ardrone_interface/ardrone_motor_control.h @@ -0,0 +1,93 @@ +/**************************************************************************** + * + * 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); |