mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-06 07:58:28 -04:00
2e464a53c2
The switching between different AP_HAL was happening by giving different definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to instantiate. A program or library code would have to explicitly include (and depend) on the concrete implementation of the HAL, even when using it only via interface. The proposed change move this dependency to be link time. There is a AP_HAL::get_HAL() function that is used by the client code. Each implementation of HAL provides its own definition of this function, returning the appropriate concrete instance. Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was removed. The static variables for PX4 and VRBRAIN were named differently to avoid shadowing the extern symbol 'hal'.
76 lines
2.1 KiB
C++
76 lines
2.1 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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#include <stdio.h>
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#include <errno.h>
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#include <stdlib.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <assert.h>
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#include "RCInput_Raspilot.h"
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#include "px4io_protocol.h"
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static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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using namespace Linux;
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void LinuxRCInput_Raspilot::init(void*)
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{
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_spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
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_spi_sem = _spi->get_semaphore();
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if (_spi_sem == NULL) {
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hal.scheduler->panic(PSTR("PANIC: RCIutput_Raspilot did not get "
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"valid SPI semaphore!"));
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return; // never reached
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}
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// start the timer process to read samples
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&LinuxRCInput_Raspilot::_poll_data, void));
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}
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void LinuxRCInput_Raspilot::_poll_data(void)
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{
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// Throttle read rate to 100hz maximum.
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if (hal.scheduler->micros() - _last_timer < 10000) {
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return;
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}
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_last_timer = hal.scheduler->micros();
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if (!_spi_sem->take_nonblocking()) {
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return;
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}
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struct IOPacket _dma_packet_tx, _dma_packet_rx;
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uint16_t count = LINUX_RC_INPUT_NUM_CHANNELS;
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_dma_packet_tx.count_code = count | PKT_CODE_READ;
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_dma_packet_tx.page = 4;
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_dma_packet_tx.offset = 0;
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_dma_packet_tx.crc = 0;
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_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
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/* set raspilotio to read reg4 */
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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/* get reg4 data from raspilotio */
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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uint16_t num_values = _dma_packet_rx.regs[0];
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uint16_t rc_ok = _dma_packet_rx.regs[1] & (1 << 4);
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uint8_t rx_crc = _dma_packet_rx.crc;
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_dma_packet_rx.crc = 0;
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if ( rc_ok && (rx_crc == crc_packet(&_dma_packet_rx)) ) {
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_update_periods(&_dma_packet_rx.regs[6], (uint8_t)num_values);
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}
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_spi_sem->give();
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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