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IOCTL for Hardpoint controller and instantiation for UavcanHardpointController as a field of UavcanNode

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This commit is contained in:
blah
2016-01-19 12:38:27 -08:00
committed by Lorenz Meier
parent fb4db49ea0
commit 9228e420d0
3 changed files with 12 additions and 0 deletions
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1
src/modules/uavcan/CMakeLists.txt
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@@ -69,6 +69,7 @@ px4_add_module(
# Actuators # Actuators
actuators/esc.cpp actuators/esc.cpp
actuators/hardpoint.cpp
# Sensors # Sensors
sensors/sensor_bridge.cpp sensors/sensor_bridge.cpp

6
src/modules/uavcan/uavcan_main.cpp
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@@ -1107,6 +1107,12 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
break; break;
} }
case UAVCANIOC_HARDPOINT_SET:
const auto& cmd = *reinterpret_cast<uavcan::equipment::hardpoint::Command*>(arg);
_hardpoint_controller.set_command(cmd.hardpoint_id, cmd.command);
break;
default: default:
ret = -ENOTTY; ret = -ENOTTY;
break; break;

5
src/modules/uavcan/uavcan_main.hpp
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@@ -70,6 +70,11 @@
// we add two to allow for actuator_direct and busevent // we add two to allow for actuator_direct and busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2) #define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
// no idea something to do with hardpoint controller
static constexpr unsigned UAVCANIOCBASE = 0x7800;
static constexpr unsigned UAVCANIOC_HARDPOINT_SET = PX4_IOC(UAVCANIOCBASE, 0x10);
/** /**
* A UAVCAN node. * A UAVCAN node.
*/ */