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uavcan_v1: Change '_PID' params to '_SUB' for clarity

master
JacobCrabill 4 years ago committed by Daniel Agar
parent
10019bbccc
commit
8f55c960b6
3 changed files with 32 additions and 32 deletions
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  1. 18
      src/drivers/uavcan_v1/ParamManager.hpp
  2. 10
      src/drivers/uavcan_v1/SubscriptionManager.hpp
  3. 36
      src/drivers/uavcan_v1/parameters.c

18
src/drivers/uavcan_v1/ParamManager.hpp
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@ -120,15 +120,15 @@ private: @@ -120,15 +120,15 @@ private:
{"uavcan.pub.servo.0.id", "UCAN1_SERVO_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.pub.gps.0.id", "UCAN1_GPS_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.pub.actuator_outputs.0.id", "UCAN1_ACTR_PUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.esc.0.id", "UCAN1_ESC0_PID", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.gps.0.id", "UCAN1_GPS0_PID", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.gps.1.id", "UCAN1_GPS1_PID", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.energy_source.0.id", "UCAN1_BMS_ES_PID", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.battery_status.0.id", "UCAN1_BMS_BS_PID", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.battery_parameters.0.id", "UCAN1_BMS_BP_PID", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.legacy_bms.0.id", "UCAN1_LG_BMS_PID", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.esc.0.id", "UCAN1_ESC0_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.gps.0.id", "UCAN1_GPS0_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.gps.1.id", "UCAN1_GPS1_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.energy_source.0.id", "UCAN1_BMS_ES_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.battery_status.0.id", "UCAN1_BMS_BS_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.battery_parameters.0.id", "UCAN1_BMS_BP_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.legacy_bms.0.id", "UCAN1_LG_BMS_SUB", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
{"uavcan.sub.uorb.sensor_gps.0.id", "UCAN1_UORB_GPS", px4_param_to_uavcan_port_id, uavcan_port_id_to_px4_param},
//{"uavcan.sub.bms.0.id", "UCAN1_BMS0_PID"}, //FIXME instancing
//{"uavcan.sub.bms.1.id", "UCAN1_BMS1_PID"},
//{"uavcan.sub.bms.0.id", "UCAN1_BMS0_SUB"}, //FIXME instancing
//{"uavcan.sub.bms.1.id", "UCAN1_BMS1_SUB"},
};
};

10
src/drivers/uavcan_v1/SubscriptionManager.hpp
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@ -91,7 +91,7 @@ private: @@ -91,7 +91,7 @@ private:
const UavcanDynSubBinder _uavcan_subs[6] {
{
"UCAN1_ESC0_PID",
"UCAN1_ESC0_SUB",
[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
{
return new UavcanEscSubscriber(ins, pmgr, 0);
@ -100,7 +100,7 @@ private: @@ -100,7 +100,7 @@ private:
0
},
{
"UCAN1_GPS0_PID",
"UCAN1_GPS0_SUB",
[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
{
return new UavcanGnssSubscriber(ins, pmgr, 0);
@ -109,7 +109,7 @@ private: @@ -109,7 +109,7 @@ private:
0
},
{
"UCAN1_GPS1_PID",
"UCAN1_GPS1_SUB",
[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
{
return new UavcanGnssSubscriber(ins, pmgr, 1);
@ -118,7 +118,7 @@ private: @@ -118,7 +118,7 @@ private:
1
},
{
"UCAN1_BMS_ES_PID",
"UCAN1_BMS_ES_SUB",
[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
{
return new UavcanBmsSubscriber(ins, pmgr, 0);
@ -127,7 +127,7 @@ private: @@ -127,7 +127,7 @@ private:
0
},
{
"UCAN1_LG_BMS_PID",
"UCAN1_LG_BMS_SUB",
[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
{
return new UavcanLegacyBatteryInfoSubscriber(ins, pmgr, 0);

36
src/drivers/uavcan_v1/parameters.c
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@ -69,58 +69,58 @@ PARAM_DEFINE_INT32(UAVCAN_V1_BAUD, 1000000); @@ -69,58 +69,58 @@ PARAM_DEFINE_INT32(UAVCAN_V1_BAUD, 1000000);
/* Subscription port ID, -1 will be treated as unset */
/**
* ESC0 port ID.
* ESC 0 subscription port ID.
*
* @min -1
* @max 6143
* @group UAVCAN v1
*/
PARAM_DEFINE_INT32(UCAN1_ESC0_PID, -1);
PARAM_DEFINE_INT32(UCAN1_ESC0_SUB, -1);
/**
* GPS 0 port ID.
* GPS 0 subscription port ID.
*
* @min -1
* @max 6143
* @group UAVCAN v1
*/
PARAM_DEFINE_INT32(UCAN1_GPS0_PID, -1);
PARAM_DEFINE_INT32(UCAN1_GPS0_SUB, -1);
/**
* GPS 1 port ID.
* GPS 1 subscription port ID.
*
* @min -1
* @max 6143
* @group UAVCAN v1
*/
PARAM_DEFINE_INT32(UCAN1_GPS1_PID, -1);
PARAM_DEFINE_INT32(UCAN1_GPS1_SUB, -1);
/**
* DS-015 battery energy source port ID.
* DS-015 battery energy source subscription port ID.
*
* @min -1
* @max 6143
* @group UAVCAN v1
*/
PARAM_DEFINE_INT32(UCAN1_BMS_ES_PID, -1);
PARAM_DEFINE_INT32(UCAN1_BMS_ES_SUB, -1);
/**
* DS-015 battery status port ID.
* DS-015 battery status subscription port ID.
*
* @min -1
* @max 6143
* @group UAVCAN v1
*/
PARAM_DEFINE_INT32(UCAN1_BMS_BS_PID, -1);
PARAM_DEFINE_INT32(UCAN1_BMS_BS_SUB, -1);
/**
* DS-015 battery parameters port ID.
* DS-015 battery parameters subscription port ID.
*
* @min -1
* @max 6143
* @group UAVCAN v1
*/
PARAM_DEFINE_INT32(UCAN1_BMS_BP_PID, -1);
PARAM_DEFINE_INT32(UCAN1_BMS_BP_SUB, -1);
/**
* UAVCAN v1 leagcy battery port ID.
@ -129,11 +129,11 @@ PARAM_DEFINE_INT32(UCAN1_BMS_BP_PID, -1); @@ -129,11 +129,11 @@ PARAM_DEFINE_INT32(UCAN1_BMS_BP_PID, -1);
* @max 6143
* @group UAVCAN v1
*/
PARAM_DEFINE_INT32(UCAN1_LG_BMS_PID, -1);
PARAM_DEFINE_INT32(UCAN1_LG_BMS_SUB, -1);
/**
* sensor_gps uORB over UAVCAN v1 port ID.
* sensor_gps uORB over UAVCAN v1 subscription port ID.
*
* @min -1
* @max 6143
@ -144,7 +144,7 @@ PARAM_DEFINE_INT32(UCAN1_UORB_GPS, -1); @@ -144,7 +144,7 @@ PARAM_DEFINE_INT32(UCAN1_UORB_GPS, -1);
// Publication Port IDs
/**
* UAVCAN v1 ESC port ID.
* UAVCAN v1 ESC publication port ID.
*
* @min -1
* @max 6143
@ -153,7 +153,7 @@ PARAM_DEFINE_INT32(UCAN1_UORB_GPS, -1); @@ -153,7 +153,7 @@ PARAM_DEFINE_INT32(UCAN1_UORB_GPS, -1);
PARAM_DEFINE_INT32(UCAN1_ESC_PUB, -1);
/**
* UAVCAN v1 GPS port ID.
* UAVCAN v1 GPS publication port ID.
*
* @min -1
* @max 6143
@ -162,7 +162,7 @@ PARAM_DEFINE_INT32(UCAN1_ESC_PUB, -1); @@ -162,7 +162,7 @@ PARAM_DEFINE_INT32(UCAN1_ESC_PUB, -1);
PARAM_DEFINE_INT32(UCAN1_GPS_PUB, -1);
/**
* UAVCAN v1 Servo port ID.
* UAVCAN v1 Servo publication port ID.
*
* @min -1
* @max 6143
@ -171,7 +171,7 @@ PARAM_DEFINE_INT32(UCAN1_GPS_PUB, -1); @@ -171,7 +171,7 @@ PARAM_DEFINE_INT32(UCAN1_GPS_PUB, -1);
PARAM_DEFINE_INT32(UCAN1_SERVO_PUB, -1);
/**
* actuator_outputs uORB over UAVCAN v1 port ID.
* actuator_outputs uORB over UAVCAN v1 publication port ID.
*
* @min -1
* @max 6143

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