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AP_HAL_Linux: RCInput_Raspilot use SPIDevice interface

This commit is contained in:
Luiz Ywata 2016-04-26 15:33:22 -03:00 committed by Lucas De Marchi
parent e8d3229492
commit c8bb5e6469
2 changed files with 9 additions and 14 deletions
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19
libraries/AP_HAL_Linux/RCInput_Raspilot.cpp
View File

@ -21,14 +21,7 @@ using namespace Linux;
void RCInput_Raspilot::init()
{
_spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
AP_HAL::panic("PANIC: RCIutput_Raspilot did not get "
"valid SPI semaphore!");
return; // never reached
}
_dev = hal.spi->get_device("raspio");
// start the timer process to read samples
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&RCInput_Raspilot::_poll_data, void));
@ -43,7 +36,7 @@ void RCInput_Raspilot::_poll_data(void)
_last_timer = AP_HAL::micros();
if (!_spi_sem->take_nonblocking()) {
if (!_dev->get_semaphore()->take_nonblocking()) {
return;
}
@ -55,9 +48,11 @@ void RCInput_Raspilot::_poll_data(void)
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
/* set raspilotio to read reg4 */
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
_dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
(uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx));
/* get reg4 data from raspilotio */
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
_dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
(uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx));
uint16_t num_values = _dma_packet_rx.regs[0];
uint16_t rc_ok = _dma_packet_rx.regs[1] & (1 << 4);
@ -69,7 +64,7 @@ void RCInput_Raspilot::_poll_data(void)
_update_periods(&_dma_packet_rx.regs[6], (uint8_t)num_values);
}
_spi_sem->give();
_dev->get_semaphore()->give();
}
#endif // CONFIG_HAL_BOARD_SUBTYPE

4
libraries/AP_HAL_Linux/RCInput_Raspilot.h
View File

@ -2,6 +2,7 @@
#include "AP_HAL_Linux.h"
#include "RCInput.h"
#include <AP_HAL/SPIDevice.h>
class Linux::RCInput_Raspilot : public Linux::RCInput
{
@ -11,8 +12,7 @@ public:
private:
uint32_t _last_timer;
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
void _poll_data(void);
};