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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-08 13:57:23 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-08 13:57:23 +0200 |
| commit | 185c95fda6acac869c1821846d44359faeef22d2 (patch) | |
| tree | 5857b349212257cffd1dc90a49fa587b3ff80c9e /src/modules/uavcan/uavcan_main.hpp | |
| parent | 517f2df0d1de008c795061badc57fbfdbb68d0d5 (diff) | |
| download | px4-firmware-185c95fda6acac869c1821846d44359faeef22d2.tar.gz px4-firmware-185c95fda6acac869c1821846d44359faeef22d2.tar.bz2 px4-firmware-185c95fda6acac869c1821846d44359faeef22d2.zip | |
UAVCAN: improve printing, ready for full closed loop test
Diffstat (limited to 'src/modules/uavcan/uavcan_main.hpp')
| -rw-r--r-- | src/modules/uavcan/uavcan_main.hpp | 9 |
1 files changed, 7 insertions, 2 deletions
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp index 857c1dc66..97598ddf3 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -66,10 +66,12 @@ public: typedef uavcan::Node<MemPoolSize> Node; typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper; - UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock); + UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock); virtual ~UavcanNode(); + virtual int ioctl(file *filp, int cmd, unsigned long arg); + static int start(uavcan::NodeID node_id, uint32_t bitrate); Node& getNode() { return _node; } @@ -84,10 +86,13 @@ public: int teardown(); int arm_actuators(bool arm); + void print_info(); + + static UavcanNode* instance() { return _instance; } + private: int init(uavcan::NodeID node_id); int run(); - int pwm_ioctl(file *filp, int cmd, unsigned long arg); int _task; ///< handle to the OS task bool _task_should_exit; ///< flag to indicate to tear down the CAN driver |