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comms hijack compiles

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Oskar Weigl
2017-09-19 18:29:01 -07:00
parent 6083dba2f6
commit 097452eb99
3 changed files with 25 additions and 4 deletions
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MotorControl/axis.cpp
+16 -3
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@@ -10,14 +10,27 @@ extern "C" {
extern "C" {
void axis_thread_entry(void const* temp_motor_ptr) {
Motor_t* motor = (Motor_t*)temp_motor_ptr;
Axis axis(motor);
//TODO: explicit axis number assignment
//for now we search for it
uint8_t ax_number = 0;
while(&motors[ax_number] != motor)
++ax_number;
Axis axis(ax_number, motor);
axis.StateMachineLoop();
}
} // extern "C"
Axis::Axis(Motor_t* legacy_motor_ref)
: legacy_motor_ref_(legacy_motor_ref) {}
Axis::Axis(uint8_t axis_number, Motor_t* legacy_motor_ref)
: axis_number_(axis_number),
legacy_motor_ref_(legacy_motor_ref) {}
void Axis::StateMachineLoop() {
// override for compatibility with legacy comms paradigm
// TODO next gen comms
exposed_bools[4*axis_number_ + 1] = &enable_control_;
exposed_bools[4*axis_number_ + 2] = &do_calibration_;
motor_thread(legacy_motor_ref_);
}