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AP_HAL_Linux: SPIUARTDriver: use SPIDevice interface

This commit is contained in:
Luiz Ywata 2016-04-26 17:50:19 -03:00 committed by Lucas De Marchi
parent c8bb5e6469
commit 7ded01cf24
2 changed files with 11 additions and 19 deletions
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27
libraries/AP_HAL_Linux/SPIUARTDriver.cpp
View File

@ -24,8 +24,7 @@ using namespace Linux;
SPIUARTDriver::SPIUARTDriver() :
UARTDriver(false),
_spi(NULL),
_spi_sem(NULL),
_dev(nullptr),
_last_update_timestamp(0),
_buffer(NULL),
_external(false)
@ -36,12 +35,12 @@ SPIUARTDriver::SPIUARTDriver() :
bool SPIUARTDriver::sem_take_nonblocking()
{
return _spi_sem->take_nonblocking();
return _dev->get_semaphore()->take_nonblocking();
}
void SPIUARTDriver::sem_give()
{
_spi_sem->give();
_dev->get_semaphore()->give();
}
void SPIUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
@ -96,13 +95,7 @@ void SPIUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
}
}
_spi = hal.spi->device(AP_HAL::SPIDevice_Ublox);
if (_spi == NULL) {
AP_HAL::panic("Cannot get SPIDevice_Ublox");
}
_spi_sem = _spi->get_semaphore();
_dev = hal.spi->get_device("ublox");
switch (b) {
case 4000000U:
@ -111,15 +104,15 @@ void SPIUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
* it can lead to misconfiguraration. Once the device is initialized,
* it's sage to update speed
*/
_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_HIGH);
_dev->set_speed(AP_HAL::Device::SPEED_HIGH);
debug("Set higher SPI-frequency");
} else {
_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);
_dev->set_speed(AP_HAL::Device::SPEED_LOW);
debug("Set lower SPI-frequency");
}
break;
default:
_spi->set_bus_speed(AP_HAL::SPIDeviceDriver::SPI_SPEED_LOW);
_dev->set_speed(AP_HAL::Device::SPEED_LOW);
debug("Set lower SPI-frequency");
debug("%s: wrong baudrate (%u) for SPI-driven device. setting default speed", __func__, b);
break;
@ -138,7 +131,7 @@ int SPIUARTDriver::_write_fd(const uint8_t *buf, uint16_t size)
return 0;
}
_spi->transaction(buf, _buffer, size);
_dev->transfer(buf, sizeof(*buf), nullptr, 0);
sem_give();
@ -192,7 +185,7 @@ int SPIUARTDriver::_write_fd(const uint8_t *buf, uint16_t size)
}
static const uint8_t ff_stub[300] = {0xff};
static uint8_t ff_stub[300] = {0xff};
int SPIUARTDriver::_read_fd(uint8_t *buf, uint16_t n)
{
if (_external) {
@ -213,7 +206,7 @@ int SPIUARTDriver::_read_fd(uint8_t *buf, uint16_t n)
n = 100;
}
_spi->transaction(ff_stub, buf, n);
_dev->transfer(nullptr, 0, ff_stub, sizeof(ff_stub));
sem_give();

3
libraries/AP_HAL_Linux/SPIUARTDriver.h
View File

@ -19,8 +19,7 @@ private:
bool sem_take_nonblocking();
void sem_give();
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
uint32_t _last_update_timestamp;