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add default start ports and fix param lengths.

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This commit is contained in:
Benjamin Perseghetti
2022-06-07 20:29:35 -04:00
parent c9ba7f8148
commit 163ad0af1f
3 changed files with 4 additions and 2 deletions
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boards/nxp/ucans32k146/init/rc.board_defaults
+2
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@@ -4,6 +4,8 @@
#------------------------------------------------------------------------------
set UCAN146 1
param set-default UCAN1_PCA_PWM_S 500
param set-default UCAN1_APA102_SUB 501
pca9685_ucan start -X
src/drivers/cyphal/ParamManager.hpp
+1 -1
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@@ -131,7 +131,7 @@ private:
{"uavcan.sub.uorb.sensor_gps.0.id", "UCAN1_UORB_GPS", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.pub.uorb.sensor_gps.0.id", "UCAN1_UORB_GPS_P", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.uorb.pca_pwm.0.id", "UCAN1_PCA_PWM_S", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.uorb.apa102_control.0.id", "UCAN1_APA102_CONTROL_S", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.uorb.apa102_control.0.id", "UCAN1_APA102_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
//{"uavcan.sub.bms.0.id", "UCAN1_BMS0_SUB"}, //FIXME instancing
//{"uavcan.sub.bms.1.id", "UCAN1_BMS1_SUB"},
};
src/drivers/cyphal/parameters.c
+1 -1
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@@ -167,7 +167,7 @@ PARAM_DEFINE_INT32(UCAN1_PCA_PWM_S, -1);
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_APA102_CONTROL_S, -1);
PARAM_DEFINE_INT32(UCAN1_APA102_SUB, -1);
// Publication Port IDs