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AP_Radio: fix build for skyviper-journey

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This commit is contained in:
Peter Barker 2022-02-23 17:26:37 +11:00 committed by Peter Barker
parent e312c3de30
commit 699648ef6f
3 changed files with 39 additions and 23 deletions
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12
libraries/AP_Radio/AP_Radio_bk2425.cpp
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@ -36,6 +36,18 @@ extern const AP_HAL::HAL& hal;
#define DebugMavlink(level, fmt, args...) do { if ((level) <= get_debug_level()) { gcs().send_text(MAV_SEVERITY_INFO, fmt, ##args); }} while (0)
#if SUPPORT_BK_DEBUG_PINS
#define DEBUG1_HIGH() (palSetLine(HAL_GPIO_PIN_DEBUG1))
#define DEBUG1_LOW() (palClearLine(HAL_GPIO_PIN_DEBUG1))
#define DEBUG2_HIGH() (palSetLine(HAL_GPIO_PIN_DEBUG2))
#define DEBUG2_LOW() (palClearLine(HAL_GPIO_PIN_DEBUG2))
#else
#define DEBUG1_HIGH() do {} while (0)
#define DEBUG1_LOW() do {} while (0)
#define DEBUG2_HIGH() do {} while (0)
#define DEBUG2_LOW() do {} while (0)
#endif
// object instance for trampoline
AP_Radio_beken *AP_Radio_beken::radio_singleton;
thread_t *AP_Radio_beken::_irq_handler_ctx;

27
libraries/AP_Radio/driver_bk2425.cpp
View File

@ -14,6 +14,33 @@ using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <hal.h>
#endif
// This assumes we are using ChiBios instead of the pixhawk o/s for accessing GPIO
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
#define BEKEN_SELECT() (dev->set_chip_select(true))
#define BEKEN_DESELECT() (dev->set_chip_select(false))
#define BEKEN_CE_HIGH() (palSetLine(HAL_GPIO_PIN_RADIO_CE)) // (hal.gpio->write(HAL_CHIBIOS_GPIO_RADIO_CE, 1))
#define BEKEN_CE_LOW() (palClearLine(HAL_GPIO_PIN_RADIO_CE)) // (hal.gpio->write(HAL_CHIBIOS_GPIO_RADIO_CE, 0))
#define BEKEN_PA_HIGH() (palSetLine(HAL_GPIO_PIN_RADIO_PA_CTL)) // (hal.gpio->write(HAL_CHIBIOS_GPIO_RADIO_PA_CTL, 1))
#define BEKEN_PA_LOW() (palClearLine(HAL_GPIO_PIN_RADIO_PA_CTL)) // (hal.gpio->write(HAL_CHIBIOS_GPIO_RADIO_PA_CTL, 0))
#if SUPPORT_BK_DEBUG_PINS
#define DEBUG1_HIGH() (palSetLine(HAL_GPIO_PIN_DEBUG1))
#define DEBUG1_LOW() (palClearLine(HAL_GPIO_PIN_DEBUG1))
#define DEBUG2_HIGH() (palSetLine(HAL_GPIO_PIN_DEBUG2))
#define DEBUG2_LOW() (palClearLine(HAL_GPIO_PIN_DEBUG2))
#else
#define DEBUG1_HIGH() do {} while (0)
#define DEBUG1_LOW() do {} while (0)
#define DEBUG2_HIGH() do {} while (0)
#define DEBUG2_LOW() do {} while (0)
#endif
#else
#error This configuration is not supported.
#endif
// --------------------------------------------------------------------
// Radio initialisation tables
// --------------------------------------------------------------------

23
libraries/AP_Radio/driver_bk2425.h
View File

@ -317,29 +317,6 @@ enum {
#define DEFAULT_OUTPUT_REG6 TOKENPASTE2(OUTPUT_POWER_REG6_,DEFAULT_OUTPUT_POWER)
#define DEFAULT_OUTPUT_REG4 TOKENPASTE2(OUTPUT_POWER_REG4_,DEFAULT_OUTPUT_POWER)
// This assumes we are using ChiBios instead of the pixhawk o/s for accessing GPIO
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_SKYVIPER_F412
#define BEKEN_SELECT() (dev->set_chip_select(true))
#define BEKEN_DESELECT() (dev->set_chip_select(false))
#define BEKEN_CE_HIGH() (palSetLine(HAL_GPIO_PIN_RADIO_CE)) // (hal.gpio->write(HAL_CHIBIOS_GPIO_RADIO_CE, 1))
#define BEKEN_CE_LOW() (palClearLine(HAL_GPIO_PIN_RADIO_CE)) // (hal.gpio->write(HAL_CHIBIOS_GPIO_RADIO_CE, 0))
#define BEKEN_PA_HIGH() (palSetLine(HAL_GPIO_PIN_RADIO_PA_CTL)) // (hal.gpio->write(HAL_CHIBIOS_GPIO_RADIO_PA_CTL, 1))
#define BEKEN_PA_LOW() (palClearLine(HAL_GPIO_PIN_RADIO_PA_CTL)) // (hal.gpio->write(HAL_CHIBIOS_GPIO_RADIO_PA_CTL, 0))
#if SUPPORT_BK_DEBUG_PINS
#define DEBUG1_HIGH() (palSetLine(HAL_GPIO_PIN_DEBUG1))
#define DEBUG1_LOW() (palClearLine(HAL_GPIO_PIN_DEBUG1))
#define DEBUG2_HIGH() (palSetLine(HAL_GPIO_PIN_DEBUG2))
#define DEBUG2_LOW() (palClearLine(HAL_GPIO_PIN_DEBUG2))
#else
#define DEBUG1_HIGH() do {} while (0)
#define DEBUG1_LOW() do {} while (0)
#define DEBUG2_HIGH() do {} while (0)
#define DEBUG2_LOW() do {} while (0)
#endif
#else
#error This configuration is not supported.
#endif
/** Parameters used by the fcc pretests */
typedef struct FccParams_s {
uint8_t fcc_mode; ///< The value (0..6) last set by the user that we are using. Non-zero iff we are sending test signals