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AP_HAL_Linux: Use from() method for downcast in Util class

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This commit is contained in:
Lucas De Marchi 2015-09-23 22:49:38 -03:00 committed by Andrew Tridgell
parent cf6e6b7e82
commit 55e1d60b54
3 changed files with 7 additions and 2 deletions
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2
libraries/AP_HAL_Linux/GPIO_RPI.cpp
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@ -24,7 +24,7 @@ LinuxGPIO_RPI::LinuxGPIO_RPI()
void LinuxGPIO_RPI::init()
{
int rpi_version = static_cast<LinuxUtilNavio*>(hal.util)->get_rpi_version();
int rpi_version = LinuxUtilNavio::from(hal.util)->get_rpi_version();
uint32_t gpio_address = rpi_version == 1 ? GPIO_BASE(BCM2708_PERI_BASE) : GPIO_BASE(BCM2709_PERI_BASE);
uint32_t pwm_address = rpi_version == 1 ? PWM_BASE(BCM2708_PERI_BASE) : PWM_BASE(BCM2709_PERI_BASE);
uint32_t clk_address = rpi_version == 1 ? CLOCK_BASE(BCM2708_PERI_BASE) : CLOCK_BASE(BCM2709_PERI_BASE);

2
libraries/AP_HAL_Linux/RCInput_Navio.cpp
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@ -392,7 +392,7 @@ LinuxRCInput_Navio::LinuxRCInput_Navio():
last_signal(228),
state(RCIN_NAVIO_INITIAL_STATE)
{
int version = static_cast<LinuxUtilNavio*>(hal.util)->get_rpi_version();
int version = LinuxUtilNavio::from(hal.util)->get_rpi_version();
set_physical_addresses(version);
//Init memory for buffer and for DMA control blocks. See comments in "init_ctrl_data()" to understand values "2" and "113"

5
libraries/AP_HAL_Linux/Util_Navio.h
View File

@ -5,6 +5,11 @@
class Linux::LinuxUtilNavio : public Linux::LinuxUtil {
public:
LinuxUtilNavio();
static LinuxUtilNavio *from(AP_HAL::Util *util) {
return static_cast<LinuxUtilNavio*>(util);
}
/* return the Raspberry Pi version */
int get_rpi_version() const;