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AP_HAL_Linux: SPIUARTDriver: add some cosmetic changes

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Mainly changes to follow the coding style and reduce the complexity a
little bit.
This commit is contained in:
Lucas De Marchi 2016-07-22 02:06:03 -03:00
parent e3c0476b8a
commit 065592e7df
2 changed files with 71 additions and 96 deletions
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62
libraries/AP_HAL_Linux/SPIUARTDriver.cpp
View File

@ -1,5 +1,6 @@
#include "SPIUARTDriver.h"
#include <assert.h>
#include <stdlib.h>
#include <cstdio>
@ -8,11 +9,8 @@
extern const AP_HAL::HAL &hal;
#define SPIUART_DEBUG 0
#include <cassert>
#if SPIUART_DEBUG
#ifdef SPIUART_DEBUG
#include <stdio.h>
#define debug(fmt, args ...) do {hal.console->printf("[SPIUARTDriver]: %s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
#define error(fmt, args ...) do {fprintf(stderr,"%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
#else
@ -22,25 +20,9 @@ extern const AP_HAL::HAL& hal;
using namespace Linux;
SPIUARTDriver::SPIUARTDriver() :
UARTDriver(false),
_dev(nullptr),
_last_update_timestamp(0),
_buffer(NULL),
_external(false)
SPIUARTDriver::SPIUARTDriver()
: UARTDriver(false)
{
_readbuf = NULL;
_writebuf = NULL;
}
bool SPIUARTDriver::sem_take_nonblocking()
{
return _dev->get_semaphore()->take_nonblocking();
}
void SPIUARTDriver::sem_give()
{
_dev->get_semaphore()->give();
}
void SPIUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
@ -53,12 +35,6 @@ void SPIUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
}
}
if (rxS < 1024) {
rxS = 2048;
}
if (txS < 1024) {
txS = 2048;
}
if (!is_initialized()) {
_dev = hal.spi->get_device("ublox");
if (!_dev) {
@ -66,6 +42,13 @@ void SPIUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
}
}
if (rxS < 1024) {
rxS = 2048;
}
if (txS < 1024) {
txS = 2048;
}
/*
allocate the read buffer
*/
@ -101,8 +84,6 @@ void SPIUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
}
}
_dev = hal.spi->get_device("ublox");
switch (b) {
case 4000000U:
if (is_initialized()) {
@ -133,13 +114,13 @@ int SPIUARTDriver::_write_fd(const uint8_t *buf, uint16_t size)
return UARTDriver::_write_fd(buf,size);
}
if (!sem_take_nonblocking()) {
if (!_dev->get_semaphore()->take_nonblocking()) {
return 0;
}
_dev->transfer_fullduplex(buf, _buffer, size);
sem_give();
_dev->get_semaphore()->give();
BUF_ADVANCEHEAD(_writebuf, size);
@ -186,9 +167,7 @@ int SPIUARTDriver::_write_fd(const uint8_t *buf, uint16_t size)
BUF_ADVANCETAIL(_readbuf, n);
}
return ret;
}
static uint8_t ff_stub[300] = {0xff};
@ -199,23 +178,21 @@ int SPIUARTDriver::_read_fd(uint8_t *buf, uint16_t n)
return UARTDriver::_read_fd(buf, n);
}
if (!sem_take_nonblocking()) {
return 0;
}
/* Make SPI transactions shorter. It can save SPI bus from keeping too
* long. It's essential for NavIO as MPU9250 is on the same bus and
* doesn't like to be waiting. Making transactions more frequent but shorter
* is a win.
*/
if (n > 100) {
n = 100;
}
_dev->transfer_fullduplex(ff_stub, buf, n);
if (!_dev->get_semaphore()->take_nonblocking()) {
return 0;
}
sem_give();
_dev->transfer_fullduplex(ff_stub, buf, n);
_dev->get_semaphore()->give();
BUF_ADVANCETAIL(_readbuf, n);
@ -228,6 +205,7 @@ void SPIUARTDriver::_timer_tick(void)
UARTDriver::_timer_tick();
return;
}
/* lower the update rate */
if (AP_HAL::micros() - _last_update_timestamp < 10000) {
return;

7
libraries/AP_HAL_Linux/SPIUARTDriver.h
View File

@ -15,14 +15,11 @@ protected:
int _write_fd(const uint8_t *buf, uint16_t n);
int _read_fd(uint8_t *buf, uint16_t n);
private:
bool sem_take_nonblocking();
void sem_give();
AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
uint8_t *_buffer;
uint32_t _last_update_timestamp;
uint8_t *_buffer;
bool _external;
};