Cleaned up UAVCAN ioctl codes

src/modules/uavcan/uavcan_main.cpp

@@ -1115,7 +1115,7 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 		break;
 
 
-	case UAVCANIOC_HARDPOINT_SET: {
+	case UAVCAN_IOCS_HARDPOINT_SET: {
 			const auto &hp_cmd = *reinterpret_cast<uavcan::equipment::hardpoint::Command *>(arg);
 			_hardpoint_controller.set_command(hp_cmd.hardpoint_id, hp_cmd.command);
 		}

src/modules/uavcan/uavcan_main.hpp

@@ -73,10 +73,6 @@
 // we add two to allow for actuator_direct and busevent
 #define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
 
-// IOCTL control codes
-static constexpr unsigned UAVCANIOCBASE = 0x7800;
-static constexpr unsigned UAVCANIOC_HARDPOINT_SET = _PX4_IOC(UAVCANIOCBASE, 0x10);
-
 /**
  * A UAVCAN node.
  */

src/modules/uavcan/uavcan_module.hpp

@@ -65,7 +65,18 @@
 // ioctl interface
 #define _UAVCAN_IOC(_n)               (_IOC(_UAVCAN_IOCBASE, _n))
 #define _UAVCAN_IOCBASE               (0x4000)                        // IOCTL base for module UAVCAN
-#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1)                  // query if node identification is in progress
+/*
+ * Query if node identification is in progress. Returns:
+ *      EINVAL - not applicable in the current operating mode
+ *      ETIME  - network discovery complete
+ *      OK (0) - network discovery in progress
+ */
+#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1)
+/*
+ * Set hardpoint command. Accepts a pointer to uavcan::equipment::hardpoint::Command; returns nothing.
+ * The pointer may be invalidated once the call returns.
+ */
+#define UAVCAN_IOCS_HARDPOINT_SET       _UAVCAN_IOC(10)
 
 // public prototypes
 extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);