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

AP_HAL_FLYMAPLE: use millis/micros/panic functions

This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-11-20 12:10:39 +09:00 committed by Randy Mackay
parent c33b86a783
commit f03eec59d6
6 changed files with 15 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_HAL_FLYMAPLE/AnalogSource.cpp
View File

@ -134,7 +134,7 @@ void FLYMAPLEAnalogSource::setup_read() {
hal.gpio->write(digital_pin, 1); hal.gpio->write(digital_pin, 1);
} }
if (_settle_time_ms != 0) { if (_settle_time_ms != 0) {
_read_start_time_ms = hal.scheduler->millis(); _read_start_time_ms = AP_HAL::millis();
} }
adc_reg_map *regs = ADC1->regs; adc_reg_map *regs = ADC1->regs;
adc_set_reg_seqlen(ADC1, 1); adc_set_reg_seqlen(ADC1, 1);
@ -158,7 +158,7 @@ void FLYMAPLEAnalogSource::stop_read() {
bool FLYMAPLEAnalogSource::reading_settled() bool FLYMAPLEAnalogSource::reading_settled()
{ {
if (_settle_time_ms != 0 && (hal.scheduler->millis() - _read_start_time_ms) < _settle_time_ms) { if (_settle_time_ms != 0 && (AP_HAL::millis() - _read_start_time_ms) < _settle_time_ms) {
return false; return false;
} }
return true; return true;

4
libraries/AP_HAL_FLYMAPLE/RCInput.cpp
View File

@ -51,7 +51,7 @@ FLYMAPLERCInput::FLYMAPLERCInput()
// This interrupt triggers on a negative transiution of the PPM-SIM pin // This interrupt triggers on a negative transiution of the PPM-SIM pin
void FLYMAPLERCInput::_timer_capt_cb(void) void FLYMAPLERCInput::_timer_capt_cb(void)
{ {
_last_input_interrupt_time = hal.scheduler->millis(); _last_input_interrupt_time = AP_HAL::millis();
static uint16 previous_count; static uint16 previous_count;
static uint8 channel_ctr; static uint8 channel_ctr;
@ -128,7 +128,7 @@ void FLYMAPLERCInput::init(void* machtnichts)
} }
bool FLYMAPLERCInput::new_input() { bool FLYMAPLERCInput::new_input() {
if ((hal.scheduler->millis() - _last_input_interrupt_time) > 50) if ((AP_HAL::millis() - _last_input_interrupt_time) > 50)
_valid_channels = 0; // Lost RC Input? _valid_channels = 0; // Lost RC Input?
return _valid_channels != 0; return _valid_channels != 0;
} }

2
libraries/AP_HAL_FLYMAPLE/Semaphores.cpp
View File

@ -44,7 +44,7 @@ bool FLYMAPLESemaphore::give() {
bool FLYMAPLESemaphore::take(uint32_t timeout_ms) { bool FLYMAPLESemaphore::take(uint32_t timeout_ms) {
if (hal.scheduler->in_timerprocess()) { if (hal.scheduler->in_timerprocess()) {
hal.scheduler->panic("PANIC: FLYMAPLESemaphore::take used from " AP_HAL::panic("PANIC: FLYMAPLESemaphore::take used from "
"inside timer process"); "inside timer process");
return false; /* Never reached - panic does not return */ return false; /* Never reached - panic does not return */
} }

14
libraries/AP_HAL_FLYMAPLE/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.cpp
View File

@ -41,7 +41,7 @@ void setup()
} }
hal.console->println("initialisation complete."); hal.console->println("initialisation complete.");
hal.scheduler->delay(1000); hal.scheduler->delay(1000);
timer = hal.scheduler->micros(); timer = AP_HAL::micros();
} }
void loop() void loop()
@ -50,17 +50,17 @@ void loop()
static uint32_t last_print; static uint32_t last_print;
// accumulate values at 100Hz // accumulate values at 100Hz
if ((hal.scheduler->micros()- timer) > 20000L) { if ((AP_HAL::micros()- timer) > 20000L) {
bmp085.accumulate(); bmp085.accumulate();
timer = hal.scheduler->micros(); timer = AP_HAL::micros();
} }
// print at 10Hz // print at 10Hz
if ((hal.scheduler->millis()- last_print) >= 100) { if ((AP_HAL::millis()- last_print) >= 100) {
uint32_t start = hal.scheduler->micros(); uint32_t start = AP_HAL::micros();
last_print = hal.scheduler->millis(); last_print = AP_HAL::millis();
bmp085.read(); bmp085.read();
uint32_t read_time = hal.scheduler->micros() - start; uint32_t read_time = AP_HAL::micros() - start;
if (! bmp085.healthy) { if (! bmp085.healthy) {
hal.console->println("not healthy"); hal.console->println("not healthy");
return; return;

2
libraries/AP_HAL_FLYMAPLE/examples/SPIDriver/SPIDriver.cpp
View File

@ -19,7 +19,7 @@ void setup (void) {
spidev = hal.spi->device(AP_HAL::SPIDevice_MPU6000); // Not really MPU6000, just a generic SPU driver spidev = hal.spi->device(AP_HAL::SPIDevice_MPU6000); // Not really MPU6000, just a generic SPU driver
if (!spidev) if (!spidev)
hal.scheduler->panic("Starting AP_HAL_FLYMAPLE::SPIDriver failed to get spidev\r\n"); AP_HAL::panic("Starting AP_HAL_FLYMAPLE::SPIDriver failed to get spidev\r\n");
} }
void loop (void) { void loop (void) {

4
libraries/AP_HAL_FLYMAPLE/examples/Semaphore/Semaphore.cpp
View File

@ -73,12 +73,12 @@ void setup (void) {
AP_HAL::SPIDeviceDriver *dataflash = hal.spi->device(AP_HAL::SPIDevice_Dataflash); // not really AP_HAL::SPIDeviceDriver *dataflash = hal.spi->device(AP_HAL::SPIDevice_Dataflash); // not really
if (dataflash == NULL) { if (dataflash == NULL) {
hal.scheduler->panic("Error: No SPIDeviceDriver!"); AP_HAL::panic("Error: No SPIDeviceDriver!");
} }
sem = dataflash->get_semaphore(); sem = dataflash->get_semaphore();
if (sem == NULL) { if (sem == NULL) {
hal.scheduler->panic("Error: No SPIDeviceDriver semaphore!"); AP_HAL::panic("Error: No SPIDeviceDriver semaphore!");
} }
hal.scheduler->register_timer_process(async_blinker); hal.scheduler->register_timer_process(async_blinker);