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/****************************************************************************
*
* 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);
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