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AP_HAL_Linux: RPIOUARTDriver: use SPIDevice interface

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This commit is contained in:
Luiz Ywata 2016-04-26 15:17:35 -03:00 committed by Lucas De Marchi
parent bfd840c5ca
commit e8d3229492
2 changed files with 17 additions and 26 deletions
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38
libraries/AP_HAL_Linux/RPIOUARTDriver.cpp
View File

@ -28,8 +28,7 @@ using namespace Linux;
RPIOUARTDriver::RPIOUARTDriver() :
UARTDriver(false),
_spi(NULL),
_spi_sem(NULL),
_dev(nullptr),
_last_update_timestamp(0),
_external(false),
_need_set_baud(false),
@ -41,12 +40,12 @@ RPIOUARTDriver::RPIOUARTDriver() :
bool RPIOUARTDriver::sem_take_nonblocking()
{
return _spi_sem->take_nonblocking();
return _dev->get_semaphore()->take_nonblocking();
}
void RPIOUARTDriver::sem_give()
{
_spi_sem->give();
_dev->get_semaphore()->give();
}
bool RPIOUARTDriver::isExternal()
@ -102,19 +101,7 @@ void RPIOUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
_writebuf_tail = 0;
}
_spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
if (_spi == NULL) {
AP_HAL::panic("Cannot get SPIDevice_RASPIO");
}
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
AP_HAL::panic("PANIC: RASPIOUARTDriver did not get "
"valid SPI semaphore!");
return; // never reached
}
_dev = hal.spi->get_device("raspio");
/* set baudrate */
_baudrate = b;
@ -159,7 +146,7 @@ void RPIOUARTDriver::_timer_tick(void)
if (_baudrate != 0) {
if (!_spi_sem->take_nonblocking()) {
if (!_dev->get_semaphore()->take_nonblocking()) {
return;
}
@ -173,11 +160,12 @@ void RPIOUARTDriver::_timer_tick(void)
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_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));
hal.scheduler->delay(1);
_spi_sem->give();
_dev->get_semaphore()->give();
}
@ -194,7 +182,7 @@ void RPIOUARTDriver::_timer_tick(void)
_in_timer = true;
if (!_spi_sem->take_nonblocking()) {
if (!_dev->get_semaphore()->take_nonblocking()) {
return;
}
@ -235,7 +223,8 @@ void RPIOUARTDriver::_timer_tick(void)
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
/* set raspilotio to read uart data */
_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));
hal.scheduler->delay_microseconds(100);
@ -246,12 +235,13 @@ void RPIOUARTDriver::_timer_tick(void)
memset( &_dma_packet_tx.regs[0], 0, PKT_MAX_REGS*sizeof(uint16_t) );
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_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));
hal.scheduler->delay_microseconds(100);
/* release sem */
_spi_sem->give();
_dev->get_semaphore()->give();
/* add bytes to read buf */
uint16_t _head;

5
libraries/AP_HAL_Linux/RPIOUARTDriver.h
View File

@ -3,6 +3,7 @@
#include "AP_HAL_Linux.h"
#include "UARTDriver.h"
#include <AP_HAL/SPIDevice.h>
class Linux::RPIOUARTDriver : public Linux::UARTDriver {
@ -26,8 +27,8 @@ private:
bool sem_take_nonblocking();
void sem_give();
AP_HAL::SPIDeviceDriver *_spi;
AP_HAL::Semaphore *_spi_sem;
AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
uint32_t _last_update_timestamp;