From 163ad0af1fe878374e6445d7485fe5d58d998820 Mon Sep 17 00:00:00 2001 From: Benjamin Perseghetti Date: Tue, 7 Jun 2022 20:29:35 -0400 Subject: [PATCH] add default start ports and fix param lengths. --- boards/nxp/ucans32k146/init/rc.board_defaults | 2 ++ src/drivers/cyphal/ParamManager.hpp | 2 +- src/drivers/cyphal/parameters.c | 2 +- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/boards/nxp/ucans32k146/init/rc.board_defaults b/boards/nxp/ucans32k146/init/rc.board_defaults index adf945bb4a..7d523b20ef 100644 --- a/boards/nxp/ucans32k146/init/rc.board_defaults +++ b/boards/nxp/ucans32k146/init/rc.board_defaults @@ -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 diff --git a/src/drivers/cyphal/ParamManager.hpp b/src/drivers/cyphal/ParamManager.hpp index 13d46f97fb..1f69ef77e0 100644 --- a/src/drivers/cyphal/ParamManager.hpp +++ b/src/drivers/cyphal/ParamManager.hpp @@ -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"}, }; diff --git a/src/drivers/cyphal/parameters.c b/src/drivers/cyphal/parameters.c index 18007e258d..0743c290ff 100644 --- a/src/drivers/cyphal/parameters.c +++ b/src/drivers/cyphal/parameters.c @@ -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