AP_HAL_Linux: rename RaspilotAnalogIn.cpp to AnalogIn_Raspilot.cpp

libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h

@@ -13,8 +13,8 @@
 #include "SPIDriver.h"
 #include "AnalogIn.h"
 #include "AnalogIn_ADS1115.h"
-#include "RaspilotAnalogIn.h"
 #include "AnalogIn_IIO.h"
+#include "AnalogIn_Raspilot.h"
 #include "Storage.h"
 #include "GPIO.h"
 #include "RCInput.h"
@@ -27,6 +27,7 @@
 #include "RCOutput_PRU.h"
 #include "RCOutput_AioPRU.h"
 #include "RCOutput_PCA9685.h"
+#include "RCOutput_Raspilot.h"
 #include "RCOutput_ZYNQ.h"
 #include "RCOutput_Bebop.h"
 #include "RCOutput_Raspilot.h"
@@ -46,4 +47,3 @@
 #include "Flow_PX4.h"
 
 #endif // __AP_HAL_LINUX_PRIVATE_H__
-

libraries/AP_HAL_Linux/AnalogIn_Raspilot.cpp

@@ -2,8 +2,7 @@
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
-#include <stdio.h>
-#include "RaspilotAnalogIn.h"
+#include "AnalogIn_Raspilot.h"
 #include "px4io_protocol.h"
 
 #define RASPILOT_ANALOGIN_DEBUG 0
@@ -16,13 +15,13 @@
 #define error(fmt, args ...)
 #endif
 
-RaspilotAnalogSource::RaspilotAnalogSource(int16_t pin):
+AnalogSource_Raspilot::AnalogSource_Raspilot(int16_t pin):
     _pin(pin),
     _value(0.0f)
 {
 }
 
-void RaspilotAnalogSource::set_pin(uint8_t pin)
+void AnalogSource_Raspilot::set_pin(uint8_t pin)
 {
     if (_pin == pin) {
         return;
@@ -30,27 +29,27 @@ void RaspilotAnalogSource::set_pin(uint8_t pin)
     _pin = pin;
 }
 
-float RaspilotAnalogSource::read_average()
+float AnalogSource_Raspilot::read_average()
 {
     return read_latest();
 }
 
-float RaspilotAnalogSource::read_latest()
+float AnalogSource_Raspilot::read_latest()
 {
     return _value;
 }
 
-float RaspilotAnalogSource::voltage_average()
+float AnalogSource_Raspilot::voltage_average()
 {
     return _value;
 }
 
-float RaspilotAnalogSource::voltage_latest()
+float AnalogSource_Raspilot::voltage_latest()
 {
     return _value;
 }
 
-float RaspilotAnalogSource::voltage_average_ratiometric()
+float AnalogSource_Raspilot::voltage_average_ratiometric()
 {
     return _value;
 }
@@ -74,7 +73,7 @@ AP_HAL::AnalogSource* RaspilotAnalogIn::channel(int16_t pin)
 {
     for (uint8_t j = 0; j < _channels_number; j++) {
         if (_channels[j] == NULL) {
-            _channels[j] = new RaspilotAnalogSource(pin);
+            _channels[j] = new AnalogSource_Raspilot(pin);
             return _channels[j];
         }
     }
@@ -123,6 +122,12 @@ void RaspilotAnalogIn::_update()
 
     hal.scheduler->delay_microseconds(200);
 
+    count = 0;
+    _dma_packet_tx.count_code = count | PKT_CODE_READ;
+    _dma_packet_tx.page = 0;
+    _dma_packet_tx.offset = 0;
+    _dma_packet_tx.crc = 0;
+    _dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
     /* get reg4 data from raspilotio */
     _spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
 
@@ -130,7 +135,7 @@ void RaspilotAnalogIn::_update()
 
     for (int16_t i = 0; i < RASPILOT_ADC_MAX_CHANNELS; i++) {
         for (int16_t j=0; j < RASPILOT_ADC_MAX_CHANNELS; j++) {
-            RaspilotAnalogSource *source = _channels[j];
+            AnalogSource_Raspilot *source = _channels[j];
 
             if (source != NULL && i == source->_pin) {
                 source->_value = _dma_packet_rx.regs[i] * 3.3 / 4096.0;

libraries/AP_HAL_Linux/AnalogIn_Raspilot.h

@@ -1,15 +1,15 @@
-#ifndef __RaspilotAnalogIn_H__
-#define __RaspilotAnalogIn_H__
+#pragma once
 
-#include "AP_HAL_Linux.h"
 #include <AP_ADC/AP_ADC.h>
 
+#include "AP_HAL_Linux.h"
+
 #define RASPILOT_ADC_MAX_CHANNELS 8
 
-class RaspilotAnalogSource: public AP_HAL::AnalogSource {
+class AnalogSource_Raspilot: public AP_HAL::AnalogSource {
 public:
     friend class RaspilotAnalogIn;
-    RaspilotAnalogSource(int16_t pin);
+    AnalogSource_Raspilot(int16_t pin);
     float read_average();
     float read_latest();
     void set_pin(uint8_t p);
@@ -39,7 +39,7 @@ private:
     AP_HAL::SPIDeviceDriver *_spi;
     AP_HAL::Semaphore *_spi_sem;
 
-    RaspilotAnalogSource *_channels[RASPILOT_ADC_MAX_CHANNELS];
+    AnalogSource_Raspilot *_channels[RASPILOT_ADC_MAX_CHANNELS];
 
     uint8_t _channels_number;
 
@@ -47,5 +47,3 @@ private:
 
     uint32_t            _last_update_timestamp;
 };
-
-#endif