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HAL_Linux: fixed build for Disco with I2C changes

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This commit is contained in:
Andrew Tridgell 2016-07-14 20:16:06 +10:00
parent f5a20d28bc
commit b69170febd
4 changed files with 9 additions and 19 deletions
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2
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -180,7 +180,7 @@ static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(i2c_devpaths, PC
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
static RCOutput_QFLIGHT rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
static RCOutput_Disco rcoutDriver;
static RCOutput_Disco rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_DISCO_BLDC_I2C_BUS, HAL_RCOUT_DISCO_BLDC_I2C_ADDR));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
static RCOutput_Sysfs rcoutDriver(0, 0, 14);
#else

19
libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
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@ -14,6 +14,7 @@
#include <utility>
#include <AP_HAL/utility/sparse-endian.h>
#include <AP_Math/AP_Math.h>
#include "Util.h"
@ -22,23 +23,7 @@
#define BEBOP_BLDC_STARTPROP 0x40
#define BEBOP_BLDC_SETREFSPEED 0x02
struct PACKED bldc_ref_speed_data {
uint8_t cmd;
uint16_t rpm[BEBOP_BLDC_MOTORS_NUM];
uint8_t enable_security;
uint8_t checksum;
};
#define BEBOP_BLDC_GETOBSDATA 0x20
struct PACKED bldc_obs_data {
uint16_t rpm[BEBOP_BLDC_MOTORS_NUM];
uint16_t batt_mv;
uint8_t status;
uint8_t error;
uint8_t motors_err;
uint8_t temp;
uint8_t checksum;
};
struct PACKED bldc_info {
uint8_t version_maj;
@ -524,7 +509,7 @@ void RCOutput_Bebop::_run_rcout()
/* start propellers if the speed of the 4 motors is >= min speed
* min speed set to min_pwm + 50*/
for (i = 0; i < _n_motors; i++) {
if (current_period_us[i] <= _min_pwm + 50)
if (current_period_us[i] <= _min_pwm + 50) {
break;
}
_rpm[bebop_bldc_channels[i]] = _period_us_to_rpm(current_period_us[i]);

5
libraries/AP_HAL_Linux/RCOutput_Disco.cpp
View File

@ -29,6 +29,11 @@
namespace Linux {
RCOutput_Disco::RCOutput_Disco(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: bebop_out(std::move(dev))
{
}
void RCOutput_Disco::init()
{
sysfs_out.init();

2
libraries/AP_HAL_Linux/RCOutput_Disco.h
View File

@ -6,7 +6,7 @@
class Linux::RCOutput_Disco : public AP_HAL::RCOutput {
public:
RCOutput_Disco(void) {}
RCOutput_Disco(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
~RCOutput_Disco() {}
static RCOutput_Bebop *from(AP_HAL::RCOutput *rcoutput)