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AP_HAL_Linux: rename RaspilotAnalogIn.cpp to AnalogIn_Raspilot.cpp

This commit is contained in:
Pritam Ghanghas 2016-01-10 18:31:28 +05:30 committed by Lucas De Marchi
parent 1fde473afc
commit 60636c1653
3 changed files with 39 additions and 36 deletions
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4
libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h
View File

@ -13,8 +13,8 @@
#include "SPIDriver.h"
#include "AnalogIn.h"
#include "AnalogIn_ADS1115.h"
#include "RaspilotAnalogIn.h"
#include "AnalogIn_IIO.h"
#include "AnalogIn_Raspilot.h"
#include "Storage.h"
#include "GPIO.h"
#include "RCInput.h"
@ -27,6 +27,7 @@
#include "RCOutput_PRU.h"
#include "RCOutput_AioPRU.h"
#include "RCOutput_PCA9685.h"
#include "RCOutput_Raspilot.h"
#include "RCOutput_ZYNQ.h"
#include "RCOutput_Bebop.h"
#include "RCOutput_Raspilot.h"
@ -46,4 +47,3 @@
#include "Flow_PX4.h"
#endif // __AP_HAL_LINUX_PRIVATE_H__

51
libraries/AP_HAL_Linux/RaspilotAnalogIn.cpp → libraries/AP_HAL_Linux/AnalogIn_Raspilot.cpp
View File

@ -2,8 +2,7 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <stdio.h>
#include "RaspilotAnalogIn.h"
#include "AnalogIn_Raspilot.h"
#include "px4io_protocol.h"
#define RASPILOT_ANALOGIN_DEBUG 0
@ -12,17 +11,17 @@
#define debug(fmt, args ...) do {hal.console->printf("%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
#define debug(fmt, args ...)
#define error(fmt, args ...)
#define debug(fmt, args ...)
#define error(fmt, args ...)
#endif
RaspilotAnalogSource::RaspilotAnalogSource(int16_t pin):
AnalogSource_Raspilot::AnalogSource_Raspilot(int16_t pin):
_pin(pin),
_value(0.0f)
{
}
void RaspilotAnalogSource::set_pin(uint8_t pin)
void AnalogSource_Raspilot::set_pin(uint8_t pin)
{
if (_pin == pin) {
return;
@ -30,27 +29,27 @@ void RaspilotAnalogSource::set_pin(uint8_t pin)
_pin = pin;
}
float RaspilotAnalogSource::read_average()
{
float AnalogSource_Raspilot::read_average()
{
return read_latest();
}
float RaspilotAnalogSource::read_latest()
float AnalogSource_Raspilot::read_latest()
{
return _value;
}
float RaspilotAnalogSource::voltage_average()
float AnalogSource_Raspilot::voltage_average()
{
return _value;
}
float RaspilotAnalogSource::voltage_latest()
float AnalogSource_Raspilot::voltage_latest()
{
return _value;
}
float RaspilotAnalogSource::voltage_average_ratiometric()
float AnalogSource_Raspilot::voltage_average_ratiometric()
{
return _value;
}
@ -65,7 +64,7 @@ RaspilotAnalogIn::RaspilotAnalogIn()
float RaspilotAnalogIn::board_voltage(void)
{
_vcc_pin_analog_source->set_pin(4);
return 5.0;
//return _vcc_pin_analog_source->voltage_average() * 2.0;
}
@ -74,7 +73,7 @@ AP_HAL::AnalogSource* RaspilotAnalogIn::channel(int16_t pin)
{
for (uint8_t j = 0; j < _channels_number; j++) {
if (_channels[j] == NULL) {
_channels[j] = new RaspilotAnalogSource(pin);
_channels[j] = new AnalogSource_Raspilot(pin);
return _channels[j];
}
}
@ -86,16 +85,16 @@ AP_HAL::AnalogSource* RaspilotAnalogIn::channel(int16_t pin)
void RaspilotAnalogIn::init()
{
_vcc_pin_analog_source = channel(4);
_spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
AP_HAL::panic("PANIC: RCIutput_Raspilot did not get "
"valid SPI semaphore!");
return; // never reached
}
hal.scheduler->suspend_timer_procs();
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&RaspilotAnalogIn::_update, void));
hal.scheduler->resume_timer_procs();
@ -106,11 +105,11 @@ void RaspilotAnalogIn::_update()
if (AP_HAL::micros() - _last_update_timestamp < 100000) {
return;
}
if (!_spi_sem->take_nonblocking()) {
return;
}
struct IOPacket _dma_packet_tx, _dma_packet_rx;
uint16_t count = RASPILOT_ADC_MAX_CHANNELS;
_dma_packet_tx.count_code = count | PKT_CODE_READ;
@ -120,17 +119,23 @@ void RaspilotAnalogIn::_update()
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
/* set raspilotio to read reg4 */
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
hal.scheduler->delay_microseconds(200);
count = 0;
_dma_packet_tx.count_code = count | PKT_CODE_READ;
_dma_packet_tx.page = 0;
_dma_packet_tx.offset = 0;
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
/* get reg4 data from raspilotio */
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
_spi_sem->give();
for (int16_t i = 0; i < RASPILOT_ADC_MAX_CHANNELS; i++) {
for (int16_t j=0; j < RASPILOT_ADC_MAX_CHANNELS; j++) {
RaspilotAnalogSource *source = _channels[j];
AnalogSource_Raspilot *source = _channels[j];
if (source != NULL && i == source->_pin) {
source->_value = _dma_packet_rx.regs[i] * 3.3 / 4096.0;

20
libraries/AP_HAL_Linux/RaspilotAnalogIn.h → libraries/AP_HAL_Linux/AnalogIn_Raspilot.h
View File

@ -1,15 +1,15 @@
#ifndef __RaspilotAnalogIn_H__
#define __RaspilotAnalogIn_H__
#pragma once
#include <AP_ADC/AP_ADC.h>
#include "AP_HAL_Linux.h"
#include <AP_ADC/AP_ADC.h>
#define RASPILOT_ADC_MAX_CHANNELS 8
class RaspilotAnalogSource: public AP_HAL::AnalogSource {
class AnalogSource_Raspilot: public AP_HAL::AnalogSource {
public:
friend class RaspilotAnalogIn;
RaspilotAnalogSource(int16_t pin);
AnalogSource_Raspilot(int16_t pin);
float read_average();
float read_latest();
void set_pin(uint8_t p);
@ -31,15 +31,15 @@ public:
/* Board voltage is not available */
float board_voltage(void);
protected:
AP_HAL::AnalogSource *_vcc_pin_analog_source;
private:
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
RaspilotAnalogSource *_channels[RASPILOT_ADC_MAX_CHANNELS];
AnalogSource_Raspilot *_channels[RASPILOT_ADC_MAX_CHANNELS];
uint8_t _channels_number;
@ -47,5 +47,3 @@ private:
uint32_t _last_update_timestamp;
};
#endif