UavcanMixingInterface Class Reference

UAVCAN mixing class. More...

#include <uavcan_main.hpp>

Inheritance diagram for UavcanMixingInterface:

Collaboration diagram for UavcanMixingInterface:

Public Member Functions
	UavcanMixingInterface (pthread_mutex_t &node_mutex, UavcanEscController &esc_controller)
bool	updateOutputs (bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override
	Callback to update the (physical) actuator outputs in the driver. More...
void	mixerChanged () override
	called whenever the mixer gets updated/reset More...
MixingOutput &	mixingOutput ()
Public Member Functions inherited from OutputModuleInterface
	OutputModuleInterface (const char *name, const px4::wq_config_t &config)

Protected Member Functions
void	Run () override

Private Attributes
pthread_mutex_t &	_node_mutex
UavcanEscController &	_esc_controller
MixingOutput	_mixing_output {MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}

Friends
class	UavcanNode

Additional Inherited Members
Static Public Attributes inherited from OutputModuleInterface
static constexpr int	MAX_ACTUATORS = PWM_OUTPUT_MAX_CHANNELS

Detailed Description

UAVCAN mixing class.

It is separate from UavcanNode to have 2 WorkItems and therefore allowing independent scheduling (I.e. UavcanMixingInterface runs upon actuator_control updates, whereas UavcanNode runs at a fixed rate or upon bus updates). Both work items are expected to run on the same work queue.

Definition at line 80 of file uavcan_main.hpp.

Constructor & Destructor Documentation

UavcanMixingInterface()

UavcanMixingInterface::UavcanMixingInterface ( pthread_mutex_t &  node_mutex, UavcanEscController &  esc_controller  )

inline

Definition at line 83 of file uavcan_main.hpp.

References OutputModuleInterface::MAX_ACTUATORS, mixerChanged(), and updateOutputs().

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Member Function Documentation

mixerChanged()

void UavcanMixingInterface::mixerChanged ( )

overridevirtual

called whenever the mixer gets updated/reset

Reimplemented from OutputModuleInterface.

Definition at line 900 of file uavcan_main.cpp.

References UavcanNode::_esc_controller, and UavcanEscController::set_rotor_count().

Referenced by UavcanMixingInterface().

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mixingOutput()

MixingOutput& UavcanMixingInterface::mixingOutput ( )

inline

Definition at line 93 of file uavcan_main.hpp.

References _mixing_output, and Run().

Referenced by UavcanNode::enable_idle_throttle_when_armed(), UavcanNode::init(), UavcanNode::ioctl(), UavcanNode::print_info(), and UavcanNode::Run().

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Run()

void UavcanMixingInterface::Run ( )

overrideprotected

Definition at line 892 of file uavcan_main.cpp.

References UavcanNode::_node_mutex.

Referenced by UavcanNode::attachITxQueueInjector(), and mixingOutput().

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updateOutputs()

bool UavcanMixingInterface::updateOutputs ( bool  stop_motors, uint16_t  outputs[MAX_ACTUATORS], unsigned  num_outputs, unsigned  num_control_groups_updated  )

overridevirtual

Callback to update the (physical) actuator outputs in the driver.

Parameters

stop_motors	if true, all motors must be stopped (if false, individual motors might still be stopped via outputs[i] == disarmed_value)
outputs	individual actuator outputs in range [min, max] or failsafe/disarmed value
num_outputs	number of outputs (<= max_num_outputs)
num_control_groups_updated	number of actuator_control groups updated

Returns

if true, the update got handled, and actuator_outputs can be published

Implements OutputModuleInterface.

Definition at line 885 of file uavcan_main.cpp.

References UavcanNode::_esc_controller, and UavcanEscController::update_outputs().

Referenced by UavcanMixingInterface().

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Friends And Related Function Documentation

UavcanNode

friend class UavcanNode

friend

Definition at line 98 of file uavcan_main.hpp.

Member Data Documentation

_esc_controller

UavcanEscController& UavcanMixingInterface::_esc_controller

private

Definition at line 100 of file uavcan_main.hpp.

_mixing_output

MixingOutput UavcanMixingInterface::_mixing_output {MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false}

private

Definition at line 101 of file uavcan_main.hpp.

Referenced by mixingOutput().

_node_mutex

pthread_mutex_t& UavcanMixingInterface::_node_mutex

private

Definition at line 99 of file uavcan_main.hpp.

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The documentation for this class was generated from the following files:

• src/drivers/uavcan/uavcan_main.hpp
• src/drivers/uavcan/uavcan_main.cpp