forked from Archive/PX4-Autopilot
77 lines
2.9 KiB
C
77 lines
2.9 KiB
C
/****************************************************************************
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* px4/ardrone_offboard_control.h
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*
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* Copyright (C) 2012 PX4 Autopilot Project. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <nuttx/config.h>
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#include <pthread.h>
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#include <poll.h>
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#include <stdio.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_gpio.h>
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/**
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* Generate the 5-byte motor set packet.
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*
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* @return the number of bytes (5)
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*/
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void ar_get_motor_packet(uint8_t *motor_buf, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4);
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/**
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* Select a motor in the multiplexing.
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*/
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int ar_select_motor(int fd, uint8_t motor);
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void ar_enable_broadcast(int fd);
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int ar_multiplexing_init(void);
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int ar_multiplexing_deinit(int fd);
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/**
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* Write four motor commands to an already initialized port.
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*
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* Writing 0 stops a motor, values from 1-512 encode the full thrust range.
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* on some motor controller firmware revisions a minimum value of 10 is
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* required to spin the motors.
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*/
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int ardrone_write_motor_commands(int ardrone_fd, uint16_t motor1, uint16_t motor2, uint16_t motor3, uint16_t motor4);
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/**
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* Initialize the motors.
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*/
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int ar_init_motors(int ardrone_uart, int *gpios_pin);
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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);
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