0-length arrays are supported in C but forbidden in C++. GCC allows it
but clang is more strict:
../../libraries/AP_HAL_Linux/SPIDriver.cpp:75:35: fatal error: no matching constructor for initialization of 'Linux::SPIDeviceDriver [0]'
SPIDeviceDriver SPIDeviceManager::_device[0];
^
../../libraries/AP_HAL_Linux/SPIDriver.h:20:7: note: candidate constructor (the implicit move constructor) not viable: requires 1 argument, but 0 were provided
class SPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
^
../../libraries/AP_HAL_Linux/SPIDriver.h:20:7: note: candidate constructor (the implicit copy constructor) not viable: requires 1 argument, but 0 were provided
../../libraries/AP_HAL_Linux/SPIDriver.h:25:5: note: candidate constructor not viable: requires 9 arguments, but 0 were provided
SPIDeviceDriver(const char *name, uint16_t bus, uint16_t subdev, enum AP_HAL::SPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, int16_t cs_pin, uint32_t lowspeed, uint32_t highspeed);
^
1 error generated.
This allows us to re-use SPIDevice from SPIDeviceDriver (the
to-become-SPIDeviceProperties) while the drivers are
converted. We create a fake device by calling the temporary
SPIDeviceManager::get_device() method passing the descriptor. The
transfer and assert logic is still using the old code.
Now we can interoperate SPIDeviceDriver with the ones based in
SPIDevice since they are going to use the same semaphore and bus.
Save in the manager the number of devices so it can be used in other
places like the SPIDevice implementation. This is a temporary storage
while we migrate to SPIDevice.
While at it use protected rather than private.
A string name allows to more easily expand the table: the board is
responsible for the name and doesn't have to declare it as a enum or
define. It's also easier to add 2 sensors of the same type.
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
Add support for /dev/spidev<bus>.<cs> in-kernel SPI CS handling, and convert
existing SPI devices over.
* Add a new member _subdev to the LinuxSPIDeviceDriver class, and initialiser
in LinuxSPIDevice constructor. Use subdev 0 for GPIO-managed CS
* Extend the _cs_pin to signed 16 bits and define SPI_CS_KERNEL (-1) for
kernel-managed CS
* Move to per-device file descriptors (required for in-kernel CS)
* Extend spidev filenames to include bus and subdevice numbers, possibly
longer than 1 digit each
* Allow support for platforms enumerating /dev/spidevNNN from non-zero bases
* Convert existing users over to the new API
Signed-off-by: John Williams <john@whelanwilliams.net>
Lucas De Marchi
Staroselskii Georgii
Julien Beraud
mirkix
raspilot
Víctor Mayoral Vilches
Aaron Wang Shi
Caio Marcelo de Oliveira Filho
Víctor Mayoral Vilches
Gustavo Jose de Sousa
John Williams
Andrew Tridgell
John Williams
Mikhail Avkhimenia