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buch of error fixes for the uavcan hardpoint stuff

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This commit is contained in:
blah 2016-01-19 15:25:17 -08:00 committed by Lorenz Meier
parent ecf2b56013
commit 26b7fff239
3 changed files with 28 additions and 6 deletions
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8
src/modules/uavcan/actuators/hardpoint.cpp
View File

@ -40,6 +40,14 @@
#include "hardpoint.hpp"
#include <systemlib/err.h>
UavcanHardpointController::UavcanHardpointController(uavcan::INode &node) :
_node(node),
_uavcan_pub_raw_cmd(node),
_timer(node)
{
}
UavcanHardpointController::~UavcanHardpointController()
{

19
src/modules/uavcan/uavcan_main.cpp
View File

@ -81,10 +81,12 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
_node(can_driver, system_clock, _pool_allocator),
_node_mutex(),
_esc_controller(_node),
_hardpoint_controller(_node),
_time_sync_master(_node),
_time_sync_slave(_node),
_master_timer(_node),
_setget_response(0)
{
_task_should_exit = false;
_fw_server_action = None;
@ -1103,14 +1105,14 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
_mixers->groups_required(_groups_required);
}
}
break;
}
break;
case UAVCANIOC_HARDPOINT_SET:
case UAVCANIOC_HARDPOINT_SET: {
const auto& cmd = *reinterpret_cast<uavcan::equipment::hardpoint::Command*>(arg);
_hardpoint_controller.set_command(cmd.hardpoint_id, cmd.command);
}
break;
default:
@ -1370,6 +1372,15 @@ int uavcan_main(int argc, char *argv[])
return inst->set_param(nodeid, argv[4], argv[5]);
}
}
if (!std::strcmp(argv[1],"uavcan_hardpoint_set")) {
if (argc < 3) {
errx(1, "Hardpoint Id and value is requred");
}
//UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
//UavcanNode.ioctl(???)
// _hardpoint_controller.set_command()
}
if (!std::strcmp(argv[1], "stop")) {
if (fw) {

7
src/modules/uavcan/uavcan_main.hpp
View File

@ -53,6 +53,7 @@
#include <uORB/topics/actuator_direct.h>
#include "actuators/esc.hpp"
#include "actuators/hardpoint.hpp"
#include "sensors/sensor_bridge.hpp"
#include "uavcan_servers.hpp"
@ -71,9 +72,9 @@
// we add two to allow for actuator_direct and busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
// no idea something to do with hardpoint controller
// IOCTL control codes
static constexpr unsigned UAVCANIOCBASE = 0x7800;
static constexpr unsigned UAVCANIOC_HARDPOINT_SET = PX4_IOC(UAVCANIOCBASE, 0x10);
static constexpr unsigned UAVCANIOC_HARDPOINT_SET = _PX4_IOC(UAVCANIOCBASE, 0x10);
/**
* A UAVCAN node.
@ -87,6 +88,7 @@ class UavcanNode : public device::CDev
static constexpr unsigned PollTimeoutMs = 3;
/*
* This memory is reserved for uavcan to use for queuing CAN frames.
* At 1Mbit there is approximately one CAN frame every 145 uS.
@ -180,6 +182,7 @@ private:
pthread_mutex_t _node_mutex;
px4_sem_t _server_command_sem;
UavcanEscController _esc_controller;
UavcanHardpointController _hardpoint_controller;
uavcan::GlobalTimeSyncMaster _time_sync_master;
uavcan::GlobalTimeSyncSlave _time_sync_slave;