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-rw-r--r--src/drivers/ardrone_interface/ardrone_interface.c8
-rw-r--r--src/drivers/hil/hil.cpp22
-rw-r--r--src/drivers/mkblctrl/mkblctrl.cpp1
-rw-r--r--src/drivers/px4fmu/fmu.cpp6
-rw-r--r--src/drivers/px4io/px4io.cpp8
-rw-r--r--src/drivers/roboclaw/RoboClaw.cpp17
6 files changed, 39 insertions, 23 deletions
diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index 7f1b21a95..7d4b7d880 100644
--- a/src/drivers/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
@@ -55,6 +55,10 @@
#include <uORB/uORB.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_0.h>
+#include <uORB/topics/actuator_controls_1.h>
+#include <uORB/topics/actuator_controls_2.h>
+#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
@@ -98,7 +102,7 @@ usage(const char *reason)
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
- *
+ *
* The actual stack size should be set in the call
* to task_create().
*/
@@ -319,7 +323,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* get a local copy of the actuator controls */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
-
+
/* for now only spin if armed and immediately shut down
* if in failsafe
*/
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp
index 9b5c8133b..6ffa8252e 100644
--- a/src/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
@@ -75,6 +75,8 @@
#include <systemlib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_0.h>
+#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_outputs.h>
@@ -250,7 +252,7 @@ HIL::task_main_trampoline(int argc, char *argv[])
int
HIL::set_mode(Mode mode)
{
- /*
+ /*
* Configure for PWM output.
*
* Note that regardless of the configured mode, the task is always
@@ -269,19 +271,19 @@ HIL::set_mode(Mode mode)
/* multi-port as 4 PWM outs */
_update_rate = 50; /* default output rate */
break;
-
+
case MODE_8PWM:
debug("MODE_8PWM");
/* multi-port as 8 PWM outs */
_update_rate = 50; /* default output rate */
break;
-
+
case MODE_12PWM:
debug("MODE_12PWM");
/* multi-port as 12 PWM outs */
_update_rate = 50; /* default output rate */
break;
-
+
case MODE_16PWM:
debug("MODE_16PWM");
/* multi-port as 16 PWM outs */
@@ -513,12 +515,12 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET_UPDATE_RATE:
- // HIL always outputs at the alternate (usually faster) rate
+ // HIL always outputs at the alternate (usually faster) rate
g_hil->set_pwm_rate(arg);
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
- // HIL always outputs at the alternate (usually faster) rate
+ // HIL always outputs at the alternate (usually faster) rate
break;
case PWM_SERVO_SET(2):
@@ -659,7 +661,7 @@ int
hil_new_mode(PortMode new_mode)
{
// uint32_t gpio_bits;
-
+
// /* reset to all-inputs */
// g_hil->ioctl(0, GPIO_RESET, 0);
@@ -691,17 +693,17 @@ hil_new_mode(PortMode new_mode)
/* select 2-pin PWM mode */
servo_mode = HIL::MODE_2PWM;
break;
-
+
case PORT2_8PWM:
/* select 8-pin PWM mode */
servo_mode = HIL::MODE_8PWM;
break;
-
+
case PORT2_12PWM:
/* select 12-pin PWM mode */
servo_mode = HIL::MODE_12PWM;
break;
-
+
case PORT2_16PWM:
/* select 16-pin PWM mode */
servo_mode = HIL::MODE_16PWM;
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 1055487cb..a4505fe6f 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -74,6 +74,7 @@
#include <drivers/drv_mixer.h>
#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/esc_status.h>
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 112c01513..2552e7e6a 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -70,6 +70,10 @@
#include <drivers/drv_rc_input.h>
#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_0.h>
+#include <uORB/topics/actuator_controls_1.h>
+#include <uORB/topics/actuator_controls_2.h>
+#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
@@ -1144,7 +1148,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
* and PWM under control of the flight config
* parameters. Note that this does not allow for
* changing a set of pins to be used for serial on
- * FMUv1
+ * FMUv1
*/
switch (arg) {
case 0:
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 5e3d28fe9..ffcb1c907 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -75,6 +75,10 @@
#include <systemlib/circuit_breaker.h>
#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_0.h>
+#include <uORB/topics/actuator_controls_1.h>
+#include <uORB/topics/actuator_controls_2.h>
+#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
@@ -1206,7 +1210,7 @@ PX4IO::io_set_arming_state()
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
-
+
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
@@ -2597,7 +2601,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
case PWM_SERVO_SET_RC_CONFIG: {
/* enable setting of RC configuration without relying
- on param_get()
+ on param_get()
*/
struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
if (config->channel >= RC_INPUT_MAX_CHANNELS) {
diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp
index fdaa7f27b..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>
@@ -65,7 +66,7 @@ RoboClaw::RoboClaw(const char *deviceName, uint16_t address,
_pulsesPerRev(pulsesPerRev),
_uart(0),
_controlPoll(),
- _actuators(NULL, ORB_ID(actuator_controls_0), 20),
+ _actuators(ORB_ID(actuator_controls_0), 20),
_motor1Position(0),
_motor1Speed(0),
_motor1Overflow(0),
@@ -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");
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-08 12:12:28 +0000