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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-25 15:32:40 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-25 15:32:40 +0100 |
| commit | cd35ab26610650d93120d3a9eabd196a733c2e44 (patch) | |
| tree | 8d65f136dd8d86b3087e69cf97e6040b4447c47f /src/drivers | |
| parent | 7634147c0f9bb1ee27464d678394f22339b5ce00 (diff) | |
| download | px4-firmware-cd35ab26610650d93120d3a9eabd196a733c2e44.tar.gz px4-firmware-cd35ab26610650d93120d3a9eabd196a733c2e44.tar.bz2 px4-firmware-cd35ab26610650d93120d3a9eabd196a733c2e44.zip | |
add another set of uorb headers
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/roboclaw/RoboClaw.cpp | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp index eb9453b50..5b945e452 100644 --- a/src/drivers/roboclaw/RoboClaw.cpp +++ b/src/drivers/roboclaw/RoboClaw.cpp @@ -54,6 +54,7 @@ #include <mavlink/mavlink_log.h> #include <uORB/Publication.hpp> +#include <uORB/topics/actuator_controls_0.h> #include <uORB/topics/debug_key_value.h> #include <drivers/drv_hrt.h> @@ -114,7 +115,7 @@ int RoboClaw::readEncoder(e_motor motor) uint8_t rbuf[50]; usleep(5000); int nread = read(_uart, rbuf, 50); - if (nread < 6) { + if (nread < 6) { printf("failed to read\n"); return -1; } @@ -131,7 +132,7 @@ int RoboClaw::readEncoder(e_motor motor) countBytes[0] = rbuf[3]; uint8_t status = rbuf[4]; uint8_t checksum = rbuf[5]; - uint8_t checksum_computed = (sum + _sumBytes(rbuf, 5)) & + uint8_t checksum_computed = (sum + _sumBytes(rbuf, 5)) & checksum_mask; // check if checksum is valid if (checksum != checksum_computed) { @@ -156,11 +157,11 @@ int RoboClaw::readEncoder(e_motor motor) static int64_t overflowAmount = 0x100000000LL; if (motor == MOTOR_1) { _motor1Overflow += overFlow; - _motor1Position = float(int64_t(count) + + _motor1Position = float(int64_t(count) + _motor1Overflow*overflowAmount)/_pulsesPerRev; } else if (motor == MOTOR_2) { _motor2Overflow += overFlow; - _motor2Position = float(int64_t(count) + + _motor2Position = float(int64_t(count) + _motor2Overflow*overflowAmount)/_pulsesPerRev; } return 0; @@ -242,7 +243,7 @@ int RoboClaw::setMotorDutyCycle(e_motor motor, float value) return -1; } -int RoboClaw::resetEncoders() +int RoboClaw::resetEncoders() { uint16_t sum = 0; return _sendCommand(CMD_RESET_ENCODERS, @@ -278,7 +279,7 @@ uint16_t RoboClaw::_sumBytes(uint8_t * buf, size_t n) return sum; } -int RoboClaw::_sendCommand(e_command cmd, uint8_t * data, +int RoboClaw::_sendCommand(e_command cmd, uint8_t * data, size_t n_data, uint16_t & prev_sum) { tcflush(_uart, TCIOFLUSH); // flush buffers @@ -299,7 +300,7 @@ int RoboClaw::_sendCommand(e_command cmd, uint8_t * data, return write(_uart, buf, n_data + 3); } -int roboclawTest(const char *deviceName, uint8_t address, +int roboclawTest(const char *deviceName, uint8_t address, uint16_t pulsesPerRev) { printf("roboclaw test: starting\n"); |