HAL_Linux: mv AnalogIn_PXF to AnalogIn_IIO

Initial implementation used for the PXF moved for
a wider use. The implementation uses the Linux Industrial
I/O Subsystem (IIO) to get Analog Input.

libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h

@@ -14,7 +14,7 @@
 #include "AnalogIn.h"
 #include "AnalogIn_ADS1115.h"
 #include "RaspilotAnalogIn.h"
-#include "AnalogIn_PXF.h"
+#include "AnalogIn_IIO.h"
 #include "Storage.h"
 #include "GPIO.h"
 #include "RCInput.h"

libraries/AP_HAL_Linux/AnalogIn_IIO.cpp

@@ -2,13 +2,14 @@
 #include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-#include "AnalogIn_PXF.h"
+#include "AnalogIn_IIO.h"
 
 extern const AP_HAL::HAL& hal;
 
 
 
-const char* PXFAnalogSource::analog_sources[PXF_ANALOG_IN_COUNT] = {
+const char* IIOAnalogSource::analog_sources[IIO_ANALOG_IN_COUNT] = {
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
     "in_voltage0_raw",
     "in_voltage1_raw",
     "in_voltage2_raw",
@@ -17,9 +18,12 @@ const char* PXFAnalogSource::analog_sources[PXF_ANALOG_IN_COUNT] = {
     "in_voltage5_raw",
     "in_voltage6_raw",            
     "in_voltage7_raw",                        
+#else
+    "in_voltage0_raw",
+#endif
 };
 
-PXFAnalogSource::PXFAnalogSource(int16_t pin, float initial_value) :
+IIOAnalogSource::IIOAnalogSource(int16_t pin, float initial_value) :
     _pin(pin),
     _value(initial_value),
     _sum_value(0),
@@ -29,7 +33,7 @@ PXFAnalogSource::PXFAnalogSource(int16_t pin, float initial_value) :
     reopen_pin();
 }
 
-void PXFAnalogSource::reopen_pin(void)
+void IIOAnalogSource::reopen_pin(void)
 {
     char buf[100];
 
@@ -42,14 +46,14 @@ void PXFAnalogSource::reopen_pin(void)
         return;
     }
     
-    if (_pin > PXF_ANALOG_IN_COUNT) {
+    if (_pin > IIO_ANALOG_IN_COUNT) {
         // invalid pin
         return;
     }
 
     // Construct the path by appending strings
-    strncpy(buf, PXF_ANALOG_IN_DIR, sizeof(buf));
-    strncat(buf, PXFAnalogSource::analog_sources[_pin], sizeof(buf));
+    strncpy(buf, IIO_ANALOG_IN_DIR, sizeof(buf));
+    strncat(buf, IIOAnalogSource::analog_sources[_pin], sizeof(buf));
     
     _pin_fd = open(buf, O_RDONLY | O_NONBLOCK);
     if (_pin_fd == -1) {
@@ -57,7 +61,7 @@ void PXFAnalogSource::reopen_pin(void)
     }    
 }
 
-float PXFAnalogSource::read_average() 
+float IIOAnalogSource::read_average() 
 {
     read_latest();
     if (_sum_count == 0) {
@@ -73,7 +77,7 @@ float PXFAnalogSource::read_average()
     return _value;
 }
 
-float PXFAnalogSource::read_latest() 
+float IIOAnalogSource::read_latest() 
 {
     char sbuf[10];
 
@@ -84,8 +88,11 @@ float PXFAnalogSource::read_latest()
 
     memset(sbuf, 0, sizeof(sbuf));
     pread(_pin_fd, sbuf, sizeof(sbuf)-1, 0);
-
-    _latest = atoi(sbuf) * BBB_VOLTAGE_SCALING;      
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
+    _latest = atoi(sbuf) * BBB_VOLTAGE_SCALING;
+#else    
+    _latest = atoi(sbuf)
+#endif
     _sum_value += _latest;
     _sum_count++;
 
@@ -93,18 +100,18 @@ float PXFAnalogSource::read_latest()
 }
 
 // output is in volts
-float PXFAnalogSource::voltage_average() 
+float IIOAnalogSource::voltage_average() 
 {
     return read_average();
 }
 
-float PXFAnalogSource::voltage_latest() 
+float IIOAnalogSource::voltage_latest() 
 {
     read_latest();
     return _latest;
 }
 
-void PXFAnalogSource::set_pin(uint8_t pin)
+void IIOAnalogSource::set_pin(uint8_t pin)
 {
     if (_pin == pin) {
         return;
@@ -122,21 +129,21 @@ void PXFAnalogSource::set_pin(uint8_t pin)
     hal.scheduler->resume_timer_procs();
 }
 
-void PXFAnalogSource::set_stop_pin(uint8_t p)
+void IIOAnalogSource::set_stop_pin(uint8_t p)
 {}
 
-void PXFAnalogSource::set_settle_time(uint16_t settle_time_ms)
+void IIOAnalogSource::set_settle_time(uint16_t settle_time_ms)
 {}
 
-PXFAnalogIn::PXFAnalogIn()
+IIOAnalogIn::IIOAnalogIn()
 {}
 
-void PXFAnalogIn::init()
+void IIOAnalogIn::init()
 {}
 
 
-AP_HAL::AnalogSource* PXFAnalogIn::channel(int16_t pin) {
-    return new PXFAnalogSource(pin, 0);
+AP_HAL::AnalogSource* IIOAnalogIn::channel(int16_t pin) {
+    return new IIOAnalogSource(pin, 0);
 }
 
 #endif // CONFIG_HAL_BOARD

libraries/AP_HAL_Linux/AnalogIn_IIO.h

@@ -1,6 +1,6 @@
 
-#ifndef __AP_HAL_PXF_ANALOGIN_H__
-#define __AP_HAL_PXF_ANALOGIN_H__
+#ifndef __AP_HAL_IIO_ANALOGIN_H__
+#define __AP_HAL_IIO_ANALOGIN_H__
 
 #include "AP_HAL_Linux.h"
 #include <AP_ADC/AP_ADC.h>
@@ -12,16 +12,20 @@
 #include <unistd.h>
 #include <stdlib.h>
 
-
-#define PXF_ANALOG_IN_COUNT 8
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF 
+#define IIO_ANALOG_IN_COUNT 8
 // Note that echo BB-ADC cape should be loaded
-#define PXF_ANALOG_IN_DIR "/sys/bus/iio/devices/iio:device0/"
+#define IIO_ANALOG_IN_DIR "/sys/bus/iio/devices/iio:device0/"
 #define BBB_VOLTAGE_SCALING 0.00142602816
+#else
+#define IIO_ANALOG_IN_COUNT 8
+#define IIO_ANALOG_IN_DIR "/sys/bus/iio/devices/iio:device0/"
+#endif
 
-class PXFAnalogSource : public AP_HAL::AnalogSource {
+class IIOAnalogSource : public AP_HAL::AnalogSource {
 public:
-    friend class PXFAnalogIn;
-    PXFAnalogSource(int16_t pin, float v);
+    friend class IIOAnalogIn;
+    IIOAnalogSource(int16_t pin, float v);
     float read_average();
     float read_latest();
     void set_pin(uint8_t p);
@@ -41,12 +45,12 @@ private:
 
     void reopen_pin(void);
 
-    static const char *analog_sources[PXF_ANALOG_IN_COUNT];
+    static const char *analog_sources[IIO_ANALOG_IN_COUNT];
 };
 
-class PXFAnalogIn : public AP_HAL::AnalogIn {
+class IIOAnalogIn : public AP_HAL::AnalogIn {
 public:
-    PXFAnalogIn();
+    IIOAnalogIn();
     void init();
     AP_HAL::AnalogSource* channel(int16_t n);
 
@@ -54,4 +58,4 @@ public:
     float board_voltage(void) { return 0.0f; }
 
 };
-#endif // __AP_HAL_PXF_ANALOGIN_H__
+#endif // __AP_HAL_IIO_ANALOGIN_H__

libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

@@ -83,7 +83,7 @@ static RaspilotAnalogIn analogIn;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
 static Empty::AnalogIn analogIn;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
-static PXFAnalogIn analogIn;
+static IIOAnalogIn analogIn;
 #else
 static AnalogIn analogIn;
 #endif