Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_Linux: don't manually define number of spi devices 

It's error-prone, let's make the compiler define it for us.
This commit is contained in:
Lucas De Marchi 2015-07-02 12:02:02 -03:00 committed by Andrew Tridgell
parent 82314ee4a3
commit b211b86204
2 changed files with 7 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_HAL_Linux/SPIDriver.cpp
View File

@ -1,3 +1,4 @@
#include <AP_Common.h>
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
@ -23,7 +24,7 @@ extern const AP_HAL::HAL& hal;
#define KHZ (1000U)
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES] = {
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[] = {
// different SPI tables per board subtype
LinuxSPIDeviceDriver(1, 0, AP_HAL::SPIDevice_LSM9DS0_AM, SPI_MODE_3, 8, BBB_P9_17, 10*MHZ,10*MHZ),
LinuxSPIDeviceDriver(1, 0, AP_HAL::SPIDevice_LSM9DS0_G, SPI_MODE_3, 8, BBB_P8_9, 10*MHZ,10*MHZ),
@ -34,13 +35,13 @@ LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES
LinuxSPIDeviceDriver(2, 0, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, BBB_P8_12, 6*MHZ, 6*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES] = {
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
LinuxSPIDeviceDriver(0, 1, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 16*MHZ),
LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_Ublox, SPI_MODE_0, 8, SPI_CS_KERNEL, 250*KHZ, 4*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES] = {
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[] = {
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
LinuxSPIDeviceDriver(2, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
LinuxSPIDeviceDriver(2, 1, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, SPI_CS_KERNEL, 10*MHZ,10*MHZ),
@ -50,6 +51,8 @@ LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[0];
#endif
#define LINUX_SPI_DEVICE_NUM_DEVICES ARRAY_SIZE(LinuxSPIDeviceManager::_device)
// have a separate semaphore per bus
LinuxSemaphore LinuxSPIDeviceManager::_semaphore[LINUX_SPI_MAX_BUSES];

12
libraries/AP_HAL_Linux/SPIDriver.h
View File

@ -5,16 +5,6 @@
#include <AP_HAL_Linux.h>
#include "Semaphores.h"
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
#define LINUX_SPI_DEVICE_NUM_DEVICES 6
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#define LINUX_SPI_DEVICE_NUM_DEVICES 2
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
#define LINUX_SPI_DEVICE_NUM_DEVICES 2
#else
#define LINUX_SPI_DEVICE_NUM_DEVICES 0
#endif
// Most platforms won't need to declare the spidev bus offset
#ifndef LINUX_SPIDEV_BUS_OFFSET
#define LINUX_SPIDEV_BUS_OFFSET 0
@ -65,7 +55,7 @@ public:
static void transaction(LinuxSPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len);
private:
static LinuxSPIDeviceDriver _device[LINUX_SPI_DEVICE_NUM_DEVICES];
static LinuxSPIDeviceDriver _device[];
static LinuxSemaphore _semaphore[LINUX_SPI_MAX_BUSES];
};