fix bug with feedbacks for v3 cyphal+dronecan target

RaccoonlabDev · Sep 24, 2024 · ae885a4 · ae885a4
1 parent 81449c8
commit ae885a4
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Showing 5 changed files with 17 additions and 17 deletions.
diff --git a/Makefile b/Makefile
@@ -5,7 +5,7 @@ ROOT_DIR:=$(shell dirname $(realpath $(firstword $(MAKEFILE_LIST))))
 BUILD_DIR:=$(ROOT_DIR)/build
 BUILD_OBJ_DIR:=$(BUILD_DIR)/obj
 
-all: clean_releases cyphal_v2 cyphal_v3 dronecan_v2 dronecan_v3 sitl_dronecan sitl_cyphal
+all: clean_releases cyphal_v2 cyphal_v3 dronecan_v2 dronecan_v3 v3 sitl_dronecan sitl_cyphal
 
 # Cyphal
 NUNAVUT_OUT_DIR:=$(BUILD_DIR)/nunavut_out
@@ -43,8 +43,8 @@ dronecan_v3: checks clean
 
 # Cyphal & DroneCAN
 v3: checks generate_dsdl clean
-	mkdir -p ${BUILD_OBJ_DIR}
-	cd ${BUILD_OBJ_DIR} && cmake -DCAN_PROTOCOL=both -DUSE_PLATFORM_NODE_V3=ON -G "Unix Makefiles" ../.. && make
+	mkdir -p ${BUILD_DIR}/both_v3/obj
+	cd ${BUILD_DIR}/both_v3/obj && cmake -DCAN_PROTOCOL=both -DUSE_PLATFORM_NODE_V3=ON -G "Unix Makefiles" ../../.. && make
 
 # Common:
 checks:

diff --git a/Src/modules/cyphal/feedback/feedback.cpp b/Src/modules/cyphal/feedback/feedback.cpp
@@ -10,7 +10,7 @@
 #include "params.hpp"
 #include "peripheral/pwm/pwm.hpp"
 
-REGISTER_MODULE(FeedbackModule)
+REGISTER_MODULE(CyphalFeedbackModule)
 
 void FeedbackPublisher::publish() {
     uint8_t buffer[reg_udral_service_actuator_common_Feedback_0_1_EXTENT_BYTES_];
@@ -21,12 +21,12 @@ void FeedbackPublisher::publish() {
     }
 }
 
-void FeedbackModule::update_params() {
+void CyphalFeedbackModule::update_params() {
     auto port_id = static_cast<uint16_t>(paramsGetIntegerValue(PARAM_PUB_FEEDBACK_1_ID));
     pub.setPortId(port_id);
 }
 
-void FeedbackModule::spin_once() {
+void CyphalFeedbackModule::spin_once() {
     pub.msg.heartbeat.health.value = uavcan_node_Health_1_0_NOMINAL;
     pub.msg.heartbeat.readiness.value = reg_udral_service_common_Readiness_0_1_ENGAGED;
     uint32_t pwm_ccr_reg_value = HAL::Pwm::get_duration(HAL::PwmPin::PWM_1);

diff --git a/Src/modules/cyphal/feedback/feedback.hpp b/Src/modules/cyphal/feedback/feedback.hpp
@@ -24,9 +24,9 @@ struct FeedbackPublisher: public cyphal::CyphalPublisher {
     reg_udral_service_actuator_common_Feedback_0_1 msg;
 };
 
-class FeedbackModule : public Module {
+class CyphalFeedbackModule : public Module {
 public:
-    FeedbackModule() : Module(1, Protocol::CYPHAL) {}
+    CyphalFeedbackModule() : Module(1, Protocol::CYPHAL) {}
 
 protected:
     void update_params() override;

diff --git a/Src/modules/dronecan/feedback/feedback.cpp b/Src/modules/dronecan/feedback/feedback.cpp
@@ -9,14 +9,14 @@
 #include "peripheral/adc/circuit_periphery.hpp"
 
 
-REGISTER_MODULE(FeedbackModule)
+REGISTER_MODULE(DronecanFeedbackModule)
 
 
-void FeedbackModule::init() {
+void DronecanFeedbackModule::init() {
     mode = Module::Mode::STANDBY;
 }
 
-void FeedbackModule::update_params() {
+void DronecanFeedbackModule::update_params() {
     auto cmd_type_value = paramsGetIntegerValue(IntParamsIndexes::PARAM_PWM_CMD_TYPE);
     cmd_type = static_cast<CommandType>(cmd_type_value);
 
@@ -36,7 +36,7 @@ void FeedbackModule::update_params() {
     }
 }
 
-void FeedbackModule::spin_once() {
+void DronecanFeedbackModule::spin_once() {
     if (feedback_type == FeedbackType::DISABLED) {
         return;
     }
@@ -62,7 +62,7 @@ void FeedbackModule::spin_once() {
     }
 }
 
-void FeedbackModule::publish_esc_status(PwmChannelInfo& pwm) {
+void DronecanFeedbackModule::publish_esc_status(PwmChannelInfo& pwm) {
     esc_status.msg = {
         .error_count = esc_status.msg.error_count + 1,
         .voltage = CircuitPeriphery::voltage_vin(),
@@ -76,7 +76,7 @@ void FeedbackModule::publish_esc_status(PwmChannelInfo& pwm) {
     esc_status.publish();
 }
 
-void FeedbackModule::publish_actuator_status(PwmChannelInfo& pwm) {
+void DronecanFeedbackModule::publish_actuator_status(PwmChannelInfo& pwm) {
     actuator_status.msg = {
         .actuator_id = static_cast<uint8_t>(pwm.channel),
 
@@ -93,7 +93,7 @@ void FeedbackModule::publish_actuator_status(PwmChannelInfo& pwm) {
     actuator_status.publish();
 }
 
-void FeedbackModule::publish_hardpoint_status(PwmChannelInfo& pwm) {
+void DronecanFeedbackModule::publish_hardpoint_status(PwmChannelInfo& pwm) {
     static constexpr uint16_t CMD_RELEASE_OR_MIN = 0;
     static constexpr uint16_t CMD_HOLD_OR_MAX = 1;
 

diff --git a/Src/modules/dronecan/feedback/feedback.hpp b/Src/modules/dronecan/feedback/feedback.hpp
@@ -26,11 +26,11 @@ enum class FeedbackType: uint8_t {
     NUMBER_OF_FEEDBACKS,
 };
 
-class FeedbackModule : public Module {
+class DronecanFeedbackModule : public Module {
 public:
     void init() override;
 
-    inline FeedbackModule() : Module(10, Protocol::DRONECAN) {}
+    inline DronecanFeedbackModule() : Module(10, Protocol::DRONECAN) {}
 
 protected:
     void spin_once() override;