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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-08 09:14:23 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-08 09:14:23 +0200 |
| commit | d62f3b8aa7a1ba932b932b26068b79bd14e205dd (patch) | |
| tree | 9fabab7091915eee3dfe4761989802867a79ef5f /src/modules/uavcan/uavcan_main.hpp | |
| parent | ab5e76e3d9da5a76d6520e166d5370c6bdfc4a53 (diff) | |
| download | px4-firmware-d62f3b8aa7a1ba932b932b26068b79bd14e205dd.tar.gz px4-firmware-d62f3b8aa7a1ba932b932b26068b79bd14e205dd.tar.bz2 px4-firmware-d62f3b8aa7a1ba932b932b26068b79bd14e205dd.zip | |
Added mixing code, not complete, not compiliing
Diffstat (limited to 'src/modules/uavcan/uavcan_main.hpp')
| -rw-r--r-- | src/modules/uavcan/uavcan_main.hpp | 27 |
1 files changed, 21 insertions, 6 deletions
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp index b27449f1f..213cb4206 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -34,6 +34,7 @@ #pragma once #include <uavcan_stm32/uavcan_stm32.hpp> +#include <drivers/drv_pwm_output.h> /** * @file uavcan_main.hpp @@ -46,7 +47,7 @@ /** * A UAVCAN node. */ -class UavcanNode +class UavcanNode : public device::CDev { static constexpr unsigned MemPoolSize = 10752; static constexpr unsigned RxQueueLenPerIface = 64; @@ -56,18 +57,32 @@ public: typedef uavcan::Node<MemPoolSize> Node; typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper; - UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) - : _node(can_driver, system_clock) - { } + UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock); static int start(uavcan::NodeID node_id, uint32_t bitrate); Node &getNode() { return _node; } + static int control_callback(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &input); + void subscribe(); + private: int init(uavcan::NodeID node_id); int run(); - static UavcanNode *_instance; ///< pointer to the library instance - Node _node; + static UavcanNode *_instance; ///< pointer to the library instance + Node _node; + + MixerGroup *_mixers; + + uint32_t _groups_required; + uint32_t _groups_subscribed; + int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS]; + actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS]; + orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS]; + pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS]; + unsigned _poll_fds_num; }; |