From d5d1bfae8c42839f8ef388202522d73bcec5a63b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?V=C3=ADctor=20Mayoral=20Vilches?= Date: Mon, 2 Nov 2015 16:24:33 +0100 Subject: [PATCH] AP_HAL_Linux: Adapt code to common RPI layer --- libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h | 2 +- libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h | 4 ++-- libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 16 ++++++++-------- 3 files changed, 11 insertions(+), 11 deletions(-) diff --git a/libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h b/libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h index c2d9f5767a..ae4b51d033 100644 --- a/libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h +++ b/libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h @@ -22,7 +22,7 @@ namespace Linux { class RCInput; class RCInput_PRU; class RCInput_AioPRU; - class RCInput_Navio; + class RCInput_RPI; class RCInput_Raspilot; class RCInput_ZYNQ; class RCInput_UART; diff --git a/libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h b/libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h index 586fe45824..eb70d6f45c 100644 --- a/libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h +++ b/libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h @@ -12,13 +12,13 @@ #include "I2CDriver.h" #include "SPIDriver.h" #include "AnalogIn.h" -#include "AnalogIn_Navio.h" +#include "AnalogIn_ADS1115.h" #include "RaspilotAnalogIn.h" #include "Storage.h" #include "GPIO.h" #include "RCInput.h" #include "RCInput_AioPRU.h" -#include "RCInput_Navio.h" +#include "RCInput_RPI.h" #include "RCInput_UART.h" #include "RCInput_UDP.h" #include "RCInput_Raspilot.h" diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp index da41325999..57880c7289 100644 --- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp +++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp @@ -58,8 +58,8 @@ static Semaphore i2cSemaphore0; static I2CDriver i2cDriver0(&i2cSemaphore0, "/dev/i2c-1"); #endif static SPIDeviceManager spiDeviceManager; -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO -static NavioAnalogIn analogIn; +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 +static ADS1115AnalogIn analogIn; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT static RaspilotAnalogIn analogIn; #else @@ -83,7 +83,7 @@ static GPIO_BBB gpioDriver; /* use the RPI gpio driver on Navio */ -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT +#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 static GPIO_RPI gpioDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE static GPIO_Sysfs gpioDriver; @@ -98,8 +98,8 @@ static Empty::EmptyGPIO gpioDriver; static RCInput_PRU rcinDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI static RCInput_AioPRU rcinDriver; -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO -static RCInput_Navio rcinDriver; +#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 +static RCInput_RPI rcinDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT static RCInput_Raspilot rcinDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ @@ -120,9 +120,9 @@ static RCOutput_PRU rcoutDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI static RCOutput_AioPRU rcoutDriver; /* - use the PCA9685 based RCOutput driver on Navio + use the PCA9685 based RCOutput driver on Navio and Erle-Brain 2 */ -#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO +#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 static RCOutput_PCA9685 rcoutDriver(PCA9685_PRIMARY_ADDRESS, true, 3, RPI_GPIO_27); /* use the STM32 based RCOutput driver on Raspilot @@ -140,7 +140,7 @@ static Empty::EmptyRCOutput rcoutDriver; #endif static Scheduler schedulerInstance; -#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT +#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 static UtilRPI utilInstance; #else static Util utilInstance;