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44 lines
1.1 KiB
C++
44 lines
1.1 KiB
C++
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#include "axis.hpp"
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//TODO: goal of refactor is to kick this out completely
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extern "C" {
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#include "low_level.h"
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}
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// C interface
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extern "C" {
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void axis_thread_entry(void const* temp_motor_ptr) {
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Motor_t* motor = (Motor_t*)temp_motor_ptr;
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//TODO: explicit axis number assignment
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//for now we search for it
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uint8_t ax_number = 0;
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while(&motors[ax_number] != motor)
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++ax_number;
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static const AxisConfig default_config;
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Axis axis(default_config, ax_number, motor);
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axis.StateMachineLoop();
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}
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} // extern "C"
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Axis::Axis(const AxisConfig& config, uint8_t axis_number, Motor_t* legacy_motor_ref)
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: axis_number_(axis_number),
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enable_control_(config.enable_control_at_start),
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do_calibration_(config.do_calibration_at_start),
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legacy_motor_ref_(legacy_motor_ref) {}
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void Axis::StateMachineLoop() {
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// override for compatibility with legacy comms paradigm
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// TODO next gen comms
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exposed_bools[4*axis_number_ + 1] = &enable_control_;
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exposed_bools[4*axis_number_ + 2] = &do_calibration_;
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// for (;;) {
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// }
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motor_thread(legacy_motor_ref_);
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} |