From 5223244a62c1e93f30cf3b6c02b204cad49f9932 Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Thu, 9 Jul 2015 07:02:51 +0300 Subject: [PATCH] LPC11C24 test update --- .../lpc11c24/driver/include/uavcan_lpc11c24/can.hpp | 4 +++- libuavcan_drivers/lpc11c24/driver/src/can.cpp | 9 +++------ .../lpc11c24/test_olimex_lpc_p11c24/src/main.cpp | 4 ++-- 3 files changed, 8 insertions(+), 9 deletions(-) diff --git a/libuavcan_drivers/lpc11c24/driver/include/uavcan_lpc11c24/can.hpp b/libuavcan_drivers/lpc11c24/driver/include/uavcan_lpc11c24/can.hpp index 46d5c81632..9e4816fa69 100644 --- a/libuavcan_drivers/lpc11c24/driver/include/uavcan_lpc11c24/can.hpp +++ b/libuavcan_drivers/lpc11c24/driver/include/uavcan_lpc11c24/can.hpp @@ -50,7 +50,9 @@ public: virtual uavcan::int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic, uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags); - virtual uavcan::int16_t select(uavcan::CanSelectMasks& inout_masks, uavcan::MonotonicTime blocking_deadline); + virtual uavcan::int16_t select(uavcan::CanSelectMasks& inout_masks, + const uavcan::CanFrame* (&)[uavcan::MaxCanIfaces], + uavcan::MonotonicTime blocking_deadline); virtual uavcan::int16_t configureFilters(const uavcan::CanFilterConfig* filter_configs, uavcan::uint16_t num_configs); diff --git a/libuavcan_drivers/lpc11c24/driver/src/can.cpp b/libuavcan_drivers/lpc11c24/driver/src/can.cpp index 7ee82f46cd..fb1d80f63c 100644 --- a/libuavcan_drivers/lpc11c24/driver/src/can.cpp +++ b/libuavcan_drivers/lpc11c24/driver/src/can.cpp @@ -291,7 +291,9 @@ uavcan::int16_t CanDriver::receive(uavcan::CanFrame& out_frame, uavcan::Monotoni return 1; } -uavcan::int16_t CanDriver::select(uavcan::CanSelectMasks& inout_masks, uavcan::MonotonicTime blocking_deadline) +uavcan::int16_t CanDriver::select(uavcan::CanSelectMasks& inout_masks, + const uavcan::CanFrame* (&)[uavcan::MaxCanIfaces], + uavcan::MonotonicTime blocking_deadline) { const bool noblock = ((inout_masks.read == 1) && hasReadyRx()) || ((inout_masks.write == 1) && hasEmptyTx()); @@ -348,11 +350,6 @@ uavcan::ICanIface* CanDriver::getIface(uavcan::uint8_t iface_index) return (iface_index == 0) ? this : NULL; } -const uavcan::ICanIface* CanDriver::getIface(uavcan::uint8_t iface_index) const -{ - return (iface_index == 0) ? this : NULL; -} - uavcan::uint8_t CanDriver::getNumIfaces() const { return 1; diff --git a/libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/src/main.cpp b/libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/src/main.cpp index 22485746e3..0f1ff0125c 100644 --- a/libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/src/main.cpp +++ b/libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/src/main.cpp @@ -62,7 +62,7 @@ void init() swver.major = FW_VERSION_MAJOR; swver.minor = FW_VERSION_MINOR; swver.vcs_commit = GIT_HASH; - swver.optional_field_mask = swver.OPTIONAL_FIELD_MASK_VCS_COMMIT; + swver.optional_field_flags = swver.OPTIONAL_FIELD_FLAG_VCS_COMMIT; getNode().setSoftwareVersion(swver); uavcan::protocol::HardwareVersion hwver; @@ -128,7 +128,7 @@ int main() { init(); - getNode().setStatusOk(); + getNode().setModeOperational(); uavcan::MonotonicTime prev_log_at;