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AP_HAL_Linux: convert CameraSensor_Mt9v117 to I2CDevice

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This commit is contained in:
Lucas De Marchi 2016-07-22 14:34:27 -03:00
parent cb1c7b66cb
commit 84f45f09a3
3 changed files with 24 additions and 18 deletions
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30
libraries/AP_HAL_Linux/CameraSensor_Mt9v117.cpp
View File

@ -15,8 +15,10 @@
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
#include "CameraSensor_Mt9v117.h"
#include <utility>
#include "GPIO.h"
/* Cam sensor register definitions */
@ -106,17 +108,18 @@ extern const AP_HAL::HAL& hal;
using namespace Linux;
CameraSensor_Mt9v117::CameraSensor_Mt9v117(const char *device_path,
AP_HAL::I2CDriver *i2c,
uint8_t addr,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum mt9v117_res res,
uint16_t nrst_gpio,
uint32_t clock_freq)
uint16_t nrst_gpio, uint32_t clock_freq)
: CameraSensor(device_path)
, _i2c(i2c)
, _addr(addr)
, _dev(std::move(dev))
, _nrst_gpio(nrst_gpio)
, _clock_freq(clock_freq)
{
if (!_dev) {
AP_HAL::panic("Could not find I2C bus for CameraSensor_Mt9v117");
}
switch (res) {
case MT9V117_QVGA:
_init_sensor();
@ -137,7 +140,7 @@ uint8_t CameraSensor_Mt9v117::_read_reg8(uint16_t reg)
buf[0] = (uint8_t) (reg >> 8);
buf[1] = (uint8_t) (reg & 0xFF);
if (!_i2c->do_transfer(_addr, buf, 2, buf, 1)) {
if (!_dev->transfer(buf, 2, buf, 1)) {
hal.console->printf("mt9v117: error reading 0x%2x\n", reg);
return 0;
}
@ -152,7 +155,7 @@ void CameraSensor_Mt9v117::_write_reg8(uint16_t reg, uint8_t val)
buf[1] = (uint8_t) (reg & 0xFF);
buf[2] = val;
if (!_i2c->do_transfer(_addr, buf, 3, NULL, 0)) {
if (!_dev->transfer(buf, 3, nullptr, 0)) {
hal.console->printf("mt9v117: error writing 0x%2x\n", reg);
}
}
@ -163,7 +166,7 @@ uint16_t CameraSensor_Mt9v117::_read_reg16(uint16_t reg)
buf[0] = (uint8_t) (reg >> 8);
buf[1] = (uint8_t) (reg & 0xFF);
if (!_i2c->do_transfer(_addr, buf, 2, buf, 2)) {
if (!_dev->transfer(buf, 2, buf, 2)) {
hal.console->printf("mt9v117: error reading 0x%4x\n", reg);
return 0;
}
@ -179,7 +182,7 @@ void CameraSensor_Mt9v117::_write_reg16(uint16_t reg, uint16_t val)
buf[2] = (uint8_t) (val >> 8);
buf[3] = (uint8_t) (val & 0xFF);
if (!_i2c->do_transfer(_addr, buf, 4, NULL, 0)) {
if (!_dev->transfer(buf, 4, nullptr, 0)) {
hal.console->printf("mt9v117: error writing 0x%4x\n", reg);
}
}
@ -194,7 +197,7 @@ void CameraSensor_Mt9v117::_write_reg32(uint16_t reg, uint32_t val)
buf[4] = (uint8_t) ((val >> 8) & 0xFF);
buf[5] = (uint8_t) (val & 0xFF);
if (!_i2c->do_transfer(_addr, buf, 6, NULL, 0)) {
if (!_dev->transfer(buf, 6, NULL, 0)) {
hal.console->printf("mt9v117: error writing 0x%8x\n", reg);
}
}
@ -316,8 +319,7 @@ void CameraSensor_Mt9v117::_apply_patch()
/* write patch */
for (unsigned int i = 0; i < MT9V117_PATCH_LINE_NUM; i++) {
_i2c->do_transfer(_addr,
_patch_lines[i].data, _patch_lines[i].size, NULL, 0);
_dev->transfer(_patch_lines[i].data, _patch_lines[i].size, nullptr, 0);
}
_write_reg16(LOGICAL_ADDRESS_ACCESS, 0x0000);

9
libraries/AP_HAL_Linux/CameraSensor_Mt9v117.h
View File

@ -14,6 +14,8 @@
*/
#pragma once
#include <AP_HAL/I2CDevice.h>
#include "AP_HAL_Linux.h"
#include "CameraSensor.h"
@ -32,8 +34,9 @@ struct mt9v117_patch {
class CameraSensor_Mt9v117 : public CameraSensor {
public:
CameraSensor_Mt9v117(const char *device_path, AP_HAL::I2CDriver *i2c,
uint8_t addr, enum mt9v117_res res,
CameraSensor_Mt9v117(const char *device_path,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum mt9v117_res res,
uint16_t nrst_gpio, uint32_t clock_freq);
private:
@ -58,7 +61,7 @@ private:
void _configure_sensor_qvga();
void _init_sensor();
AP_HAL::I2CDriver *_i2c;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
uint32_t _clock_freq;
uint16_t _nrst_gpio = 0xFFFF;
uint8_t _addr;

3
libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
View File

@ -80,7 +80,8 @@ void OpticalFlow_Onboard::init(AP_HAL::OpticalFlow::Gyro_Cb get_gyro)
_pwm->enable(true);
_camerasensor = new CameraSensor_Mt9v117(HAL_OPTFLOW_ONBOARD_SUBDEV_PATH,
hal.i2c, 0x5D, MT9V117_QVGA,
hal.i2c_mgr->get_device(0, 0x5D),
MT9V117_QVGA,
BEBOP_GPIO_CAMV_NRST,
BEBOP_CAMV_PWM_FREQ);
if (!_camerasensor->set_format(HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH,