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Qurt UART ESC driver support (#20784)

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This commit is contained in:
Eric Katzfey
2022-12-20 01:25:12 -05:00
committed by GitHub
parent da7d52e302
commit 678607117a
10 changed files with 90 additions and 2 deletions
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src/modules/muorb/slpi/uORBProtobufChannel.cpp
+5
View File
@@ -38,6 +38,7 @@
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/device/qurt/uart.h>
#include <pthread.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/log.h>
@@ -280,6 +281,10 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
// Configure the SPI driver function pointers
device::SPI::configure_callbacks(muorb_func_ptrs._config_spi_bus_func_t, muorb_func_ptrs._spi_transfer_func_t);
// Configure the UART driver function pointers
configure_uart_callbacks(muorb_func_ptrs.open_uart_func_t, muorb_func_ptrs.write_uart_func_t,
muorb_func_ptrs.read_uart_func_t);
// Initialize the interrupt callback registration
register_interrupt_callback_initalizer(muorb_func_ptrs.register_interrupt_callback);
src/modules/muorb/slpi/uORBProtobufChannel.hpp
+2 -1
View File
@@ -38,6 +38,7 @@
#include <string>
#include <map>
#include <pthread.h>
#include <termios.h>
#include "uORB/uORBCommunicator.hpp"
#include "mUORBAggregator.hpp"
@@ -196,7 +197,7 @@ typedef struct {
// open_uart_func_t open_uart_func;
// write_uart_func_t write_uart_func;
// read_uart_func_t read_uart_func;
int (*open_uart_func_t)(uint8_t, uint32_t);
int (*open_uart_func_t)(uint8_t, speed_t);
int (*write_uart_func_t)(int, const void *, size_t);
int (*read_uart_func_t)(int, void *, size_t);
int (*register_interrupt_callback)(int (*)(int, void *, void *), void *arg);