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AP_HAL_Linux: rename RaspilotAnalogIn.cpp to AnalogIn_Raspilot.cpp

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

51
libraries/AP_HAL_Linux/RaspilotAnalogIn.cpp → libraries/AP_HAL_Linux/AnalogIn_Raspilot.cpp
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@ -2,8 +2,7 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <stdio.h> #include "AnalogIn_Raspilot.h"
#include "RaspilotAnalogIn.h"
#include "px4io_protocol.h" #include "px4io_protocol.h"
#define RASPILOT_ANALOGIN_DEBUG 0 #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 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) #define error(fmt, args ...) do {fprintf(stderr,"%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
#else #else
#define debug(fmt, args ...) #define debug(fmt, args ...)
#define error(fmt, args ...) #define error(fmt, args ...)
#endif #endif
RaspilotAnalogSource::RaspilotAnalogSource(int16_t pin): AnalogSource_Raspilot::AnalogSource_Raspilot(int16_t pin):
_pin(pin), _pin(pin),
_value(0.0f) _value(0.0f)
{ {
} }
void RaspilotAnalogSource::set_pin(uint8_t pin) void AnalogSource_Raspilot::set_pin(uint8_t pin)
{ {
if (_pin == pin) { if (_pin == pin) {
return; return;
@ -30,27 +29,27 @@ void RaspilotAnalogSource::set_pin(uint8_t pin)
_pin = pin; _pin = pin;
} }
float RaspilotAnalogSource::read_average() float AnalogSource_Raspilot::read_average()
{ {
return read_latest(); return read_latest();
} }
float RaspilotAnalogSource::read_latest() float AnalogSource_Raspilot::read_latest()
{ {
return _value; return _value;
} }
float RaspilotAnalogSource::voltage_average() float AnalogSource_Raspilot::voltage_average()
{ {
return _value; return _value;
} }
float RaspilotAnalogSource::voltage_latest() float AnalogSource_Raspilot::voltage_latest()
{ {
return _value; return _value;
} }
float RaspilotAnalogSource::voltage_average_ratiometric() float AnalogSource_Raspilot::voltage_average_ratiometric()
{ {
return _value; return _value;
} }
@ -65,7 +64,7 @@ RaspilotAnalogIn::RaspilotAnalogIn()
float RaspilotAnalogIn::board_voltage(void) float RaspilotAnalogIn::board_voltage(void)
{ {
_vcc_pin_analog_source->set_pin(4); _vcc_pin_analog_source->set_pin(4);
return 5.0; return 5.0;
//return _vcc_pin_analog_source->voltage_average() * 2.0; //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++) { for (uint8_t j = 0; j < _channels_number; j++) {
if (_channels[j] == NULL) { if (_channels[j] == NULL) {
_channels[j] = new RaspilotAnalogSource(pin); _channels[j] = new AnalogSource_Raspilot(pin);
return _channels[j]; return _channels[j];
} }
} }
@ -86,16 +85,16 @@ AP_HAL::AnalogSource* RaspilotAnalogIn::channel(int16_t pin)
void RaspilotAnalogIn::init() void RaspilotAnalogIn::init()
{ {
_vcc_pin_analog_source = channel(4); _vcc_pin_analog_source = channel(4);
_spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO); _spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
_spi_sem = _spi->get_semaphore(); _spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) { if (_spi_sem == NULL) {
AP_HAL::panic("PANIC: RCIutput_Raspilot did not get " AP_HAL::panic("PANIC: RCIutput_Raspilot did not get "
"valid SPI semaphore!"); "valid SPI semaphore!");
return; // never reached return; // never reached
} }
hal.scheduler->suspend_timer_procs(); hal.scheduler->suspend_timer_procs();
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&RaspilotAnalogIn::_update, void)); hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&RaspilotAnalogIn::_update, void));
hal.scheduler->resume_timer_procs(); hal.scheduler->resume_timer_procs();
@ -106,11 +105,11 @@ void RaspilotAnalogIn::_update()
if (AP_HAL::micros() - _last_update_timestamp < 100000) { if (AP_HAL::micros() - _last_update_timestamp < 100000) {
return; return;
} }
if (!_spi_sem->take_nonblocking()) { if (!_spi_sem->take_nonblocking()) {
return; return;
} }
struct IOPacket _dma_packet_tx, _dma_packet_rx; struct IOPacket _dma_packet_tx, _dma_packet_rx;
uint16_t count = RASPILOT_ADC_MAX_CHANNELS; uint16_t count = RASPILOT_ADC_MAX_CHANNELS;
_dma_packet_tx.count_code = count | PKT_CODE_READ; _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); _dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
/* set raspilotio to read reg4 */ /* set raspilotio to read reg4 */
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx)); _spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
hal.scheduler->delay_microseconds(200); 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 */ /* get reg4 data from raspilotio */
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx)); _spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
_spi_sem->give(); _spi_sem->give();
for (int16_t i = 0; i < RASPILOT_ADC_MAX_CHANNELS; i++) { for (int16_t i = 0; i < RASPILOT_ADC_MAX_CHANNELS; i++) {
for (int16_t j=0; j < RASPILOT_ADC_MAX_CHANNELS; j++) { 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) { if (source != NULL && i == source->_pin) {
source->_value = _dma_packet_rx.regs[i] * 3.3 / 4096.0; 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
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@ -1,15 +1,15 @@
#ifndef __RaspilotAnalogIn_H__ #pragma once
#define __RaspilotAnalogIn_H__
#include <AP_ADC/AP_ADC.h>
#include "AP_HAL_Linux.h" #include "AP_HAL_Linux.h"
#include <AP_ADC/AP_ADC.h>
#define RASPILOT_ADC_MAX_CHANNELS 8 #define RASPILOT_ADC_MAX_CHANNELS 8
class RaspilotAnalogSource: public AP_HAL::AnalogSource { class AnalogSource_Raspilot: public AP_HAL::AnalogSource {
public: public:
friend class RaspilotAnalogIn; friend class RaspilotAnalogIn;
RaspilotAnalogSource(int16_t pin); AnalogSource_Raspilot(int16_t pin);
float read_average(); float read_average();
float read_latest(); float read_latest();
void set_pin(uint8_t p); void set_pin(uint8_t p);
@ -31,15 +31,15 @@ public:
/* Board voltage is not available */ /* Board voltage is not available */
float board_voltage(void); float board_voltage(void);
protected: protected:
AP_HAL::AnalogSource *_vcc_pin_analog_source; AP_HAL::AnalogSource *_vcc_pin_analog_source;
private: private:
AP_HAL::SPIDeviceDriver *_spi; AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem; AP_HAL::Semaphore *_spi_sem;
RaspilotAnalogSource *_channels[RASPILOT_ADC_MAX_CHANNELS]; AnalogSource_Raspilot *_channels[RASPILOT_ADC_MAX_CHANNELS];
uint8_t _channels_number; uint8_t _channels_number;
@ -47,5 +47,3 @@ private:
uint32_t _last_update_timestamp; uint32_t _last_update_timestamp;
}; };
#endif