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[ArDrone][FIX] New pin numbers for motor selection

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This commit is contained in:
Christophe De Wagter
2013-08-30 17:41:48 +02:00
parent e6ae39d9d9
commit 06e466face
1 changed files with 16 additions and 16 deletions
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sw/airborne/boards/ardrone/actuators_ardrone2_raw.c
+16 -16
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@@ -81,34 +81,34 @@ void actuators_ardrone_init(void)
tcsetattr(mot_fd, TCSANOW, &options);
//reset IRQ flipflop - on error 106 read 1, this code resets 106 to 0
gpio_set(106,-1);
gpio_set(107,0);
gpio_set(107,1);
gpio_set(176,-1);
gpio_set(175,0);
gpio_set(175,1);
//all select lines inactive
gpio_set(68,1);
gpio_set(69,1);
gpio_set(70,1);
gpio_set(71,1);
gpio_set(171,1);
gpio_set(172,1);
gpio_set(173,1);
gpio_set(174,1);
//configure motors
uint8_t reply[256];
for(int m=0;m<4;m++) {
gpio_set(68+m,-1);
gpio_set(171+m,-1);
actuators_ardrone_cmd(0xe0,reply,2);
if(reply[0]!=0xe0 || reply[1]!=0x00)
{
printf("motor%d cmd=0x%02x reply=0x%02x\n",m+1,(int)reply[0],(int)reply[1]);
}
actuators_ardrone_cmd(m+1,reply,1);
gpio_set(68+m,1);
gpio_set(171+m,1);
}
//all select lines active
gpio_set(68,-1);
gpio_set(69,-1);
gpio_set(70,-1);
gpio_set(71,-1);
gpio_set(171,-1);
gpio_set(172,-1);
gpio_set(173,-1);
gpio_set(174,-1);
//start multicast
actuators_ardrone_cmd(0xa0,reply,1);
@@ -118,9 +118,9 @@ void actuators_ardrone_init(void)
actuators_ardrone_cmd(0xa0,reply,1);
//reset IRQ flipflop - on error 106 read 1, this code resets 106 to 0
gpio_set(106,-1);
gpio_set(107,0);
gpio_set(107,1);
gpio_set(176,-1);
gpio_set(175,0);
gpio_set(175,1);
//all leds green
//actuators_ardrone_set_leds(0,0,0,0);