actuators.h File Reference

Actuator driver for ardrone2-raw version. More...

#include <stdint.h>

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Macros
#define	ACTUATORS_ARDRONE_NB   4
#define	SERVOS_TICS_OF_USEC(_v)   (_v)
#define	ActuatorArdroneSet(_i, _v)   { actuators_pwm_values[_i] = _v; }
#define	ActuatorsArdroneCommit()   actuators_ardrone_commit();
#define	ActuatorsArdroneInit()   actuators_ardrone_init();
#define	MOT_LEDOFF   0
#define	MOT_LEDRED   1
#define	MOT_LEDGREEN   2
#define	MOT_LEDORANGE   3

Functions
void	actuators_ardrone_commit (void)
void	actuators_ardrone_init (void)
int	actuators_ardrone_cmd (uint8_t cmd, uint8_t *reply, int replylen)
void	actuators_ardrone_set_pwm (uint16_t pwm0, uint16_t pwm1, uint16_t pwm2, uint16_t pwm3)
	Write motor speed command cmd = 001aaaaa aaaabbbb bbbbbccc ccccccdd ddddddd0. More...
void	actuators_ardrone_set_leds (uint8_t led0, uint8_t led1, uint8_t led2, uint8_t led3)
	Write LED command cmd = 011rrrr0 000gggg0 (this is ardrone1 format, we need ardrone2 format) More...
void	actuators_ardrone_close (void)

Variables
uint16_t	actuators_pwm_values [ACTUATORS_ARDRONE_NB]

Detailed Description

Actuator driver for ardrone2-raw version.

Definition in file actuators.h.

Macro Definition Documentation

#define ActuatorArdroneSet	(		_i,
			_v
	)		{ actuators_pwm_values[_i] = _v; }

Definition at line 42 of file actuators.h.

#define ACTUATORS_ARDRONE_NB   4

Definition at line 37 of file actuators.h.

#define ActuatorsArdroneCommit

(

)

actuators_ardrone_commit();

Definition at line 43 of file actuators.h.

#define ActuatorsArdroneInit

(

)

actuators_ardrone_init();

Definition at line 44 of file actuators.h.

#define MOT_LEDGREEN   2

Definition at line 48 of file actuators.h.

Referenced by actuators_ardrone_init().

#define MOT_LEDOFF   0

Definition at line 46 of file actuators.h.

#define MOT_LEDORANGE   3

Definition at line 49 of file actuators.h.

#define MOT_LEDRED   1

Definition at line 47 of file actuators.h.

Referenced by actuators_ardrone_init().

#define SERVOS_TICS_OF_USEC

(

_v

)

(_v)

Definition at line 40 of file actuators.h.

Function Documentation

void actuators_ardrone_close

(

void

)

Definition at line 271 of file actuators.c.

References actuator_ardrone2_fd.

int actuators_ardrone_cmd	(	uint8_t	cmd,
		uint8_t *	reply,
		int	replylen
	)

Definition at line 158 of file actuators.c.

References actuator_ardrone2_fd, full_read(), and full_write().

Referenced by actuators_ardrone_init().

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void actuators_ardrone_commit

(

void

)

Definition at line 220 of file actuators.c.

References actuators_ardrone_motor_status(), actuators_ardrone_set_pwm(), and actuators_pwm_values.

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void actuators_ardrone_init

(

void

)

Definition at line 81 of file actuators.c.

References actuator_ardrone2_fd, actuators_ardrone_cmd(), actuators_ardrone_reset_flipflop(), actuators_ardrone_set_leds(), ARDRONE_GPIO_PIN_IRQ_FLIPFLOP, ARDRONE_GPIO_PIN_IRQ_INPUT, ARDRONE_GPIO_PIN_MOTOR1, ARDRONE_GPIO_PIN_MOTOR2, ARDRONE_GPIO_PIN_MOTOR3, ARDRONE_GPIO_PIN_MOTOR4, ARDRONE_GPIO_PORT, B115200, gpio_clear(), gpio_set(), gpio_setup_input(), gpio_setup_output(), led_hw_values, MOT_LEDGREEN, and MOT_LEDRED.

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void actuators_ardrone_set_leds	(	uint8_t	led0,
		uint8_t	led1,
		uint8_t	led2,
		uint8_t	led3
	)

Write LED command cmd = 011rrrr0 000gggg0 (this is ardrone1 format, we need ardrone2 format)

led0 = RearLeft led1 = RearRight led2 = FrontRight led3 = FrontLeft

Definition at line 254 of file actuators.c.

References actuator_ardrone2_fd, and full_write().

Referenced by actuators_ardrone_init(), and actuators_ardrone_led_run().

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void actuators_ardrone_set_pwm	(	uint16_t	pwm0,
		uint16_t	pwm1,
		uint16_t	pwm2,
		uint16_t	pwm3
	)

Write motor speed command cmd = 001aaaaa aaaabbbb bbbbbccc ccccccdd ddddddd0.

Definition at line 231 of file actuators.c.

References actuator_ardrone2_fd, actuators_ardrone_led_run(), and full_write().

Referenced by actuators_ardrone_commit().

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Variable Documentation

uint16_t actuators_pwm_values[ACTUATORS_ARDRONE_NB]

Definition at line 51 of file actuators.h.