AP_HAL_Linux: AnalogIn_Raspilot: use SPIDevice interface

libraries/AP_HAL_Linux/AnalogIn_Raspilot.cpp

@@ -1,11 +1,13 @@
+#include "AnalogIn_Raspilot.h"
+
+#include <algorithm>
+
 #include <AP_HAL/AP_HAL.h>
 
-#include "AnalogIn_Raspilot.h"
 #include "px4io_protocol.h"
 
-AnalogSource_Raspilot::AnalogSource_Raspilot(int16_t pin):
-    _pin(pin),
-    _value(0.0f)
+AnalogSource_Raspilot::AnalogSource_Raspilot(int16_t pin)
+    : _pin(pin)
 {
 }
 
@@ -54,7 +56,6 @@ float AnalogIn_Raspilot::board_voltage(void)
     _vcc_pin_analog_source->set_pin(4);
 
     return 5.0;
-    //return _vcc_pin_analog_source->voltage_average() * 2.0;
 }
 
 AP_HAL::AnalogSource* AnalogIn_Raspilot::channel(int16_t pin)
@@ -74,13 +75,10 @@ void AnalogIn_Raspilot::init()
 {
     _vcc_pin_analog_source = channel(4);
 
-    _spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
-    _spi_sem = _spi->get_semaphore();
-
-    if (_spi_sem == NULL) {
-        AP_HAL::panic("PANIC: RCIutput_Raspilot did not get "
-                                  "valid SPI semaphore!");
-        return; // never reached
+    _dev = std::move(hal.spi->get_device("raspio"));
+    if (!_dev) {
+        AP_HAL::panic("Bus for AnalogIn_Raspilot not found");
+        return;
     }
 
     hal.scheduler->suspend_timer_procs();
@@ -94,7 +92,7 @@ void AnalogIn_Raspilot::_update()
         return;
     }
 
-    if (!_spi_sem->take_nonblocking()) {
+    if (!_dev->get_semaphore()->take_nonblocking()) {
         return;
     }
 
@@ -105,8 +103,9 @@ void AnalogIn_Raspilot::_update()
     tx.offset = 0;
     tx.crc = 0;
     tx.crc = crc_packet(&tx);
+
     /* set raspilotio to read reg4 */
-    _spi->transaction((uint8_t *)&tx, (uint8_t *)&rx, sizeof(tx));
+    _dev->transfer((uint8_t *)&tx, sizeof(tx), (uint8_t *)&rx, sizeof(rx));
 
     hal.scheduler->delay_microseconds(200);
 
@@ -116,10 +115,11 @@ void AnalogIn_Raspilot::_update()
     tx.offset = 0;
     tx.crc = 0;
     tx.crc = crc_packet(&tx);
+
     /* get reg4 data from raspilotio */
-    _spi->transaction((uint8_t *)&tx, (uint8_t *)&rx, sizeof(tx));
+    _dev->transfer((uint8_t *)&tx, sizeof(tx), (uint8_t *)&rx, sizeof(rx));
 
-    _spi_sem->give();
+    _dev->get_semaphore()->give();
 
     for (int16_t i = 0; i < RASPILOT_ADC_MAX_CHANNELS; i++) {
         for (int16_t j=0; j < RASPILOT_ADC_MAX_CHANNELS; j++) {

libraries/AP_HAL_Linux/AnalogIn_Raspilot.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <AP_ADC/AP_ADC.h>
+#include <AP_HAL/SPIDevice.h>
 
 #include "AP_HAL_Linux.h"
 
@@ -13,8 +14,8 @@ public:
     float read_average();
     float read_latest();
     void set_pin(uint8_t p);
-    void set_stop_pin(uint8_t p) {}
-    void set_settle_time(uint16_t settle_time_ms){}
+    void set_stop_pin(uint8_t p) { }
+    void set_settle_time(uint16_t settle_time_ms) { }
     float voltage_average();
     float voltage_latest();
     float voltage_average_ratiometric();
@@ -26,6 +27,7 @@ private:
 class AnalogIn_Raspilot: public AP_HAL::AnalogIn {
 public:
     AnalogIn_Raspilot();
+
     void init();
     AP_HAL::AnalogSource* channel(int16_t n);
 
@@ -33,17 +35,13 @@ public:
     float board_voltage(void);
 
 protected:
-    AP_HAL::AnalogSource *_vcc_pin_analog_source;
-
-private:
-    AP_HAL::SPIDeviceDriver *_spi;
-    AP_HAL::Semaphore *_spi_sem;
+    void _update();
 
+    AP_HAL::AnalogSource *_vcc_pin_analog_source;
     AnalogSource_Raspilot *_channels[RASPILOT_ADC_MAX_CHANNELS];
 
-    uint8_t _channels_number;
-
-    void _update();
+    AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
 
     uint32_t _last_update_timestamp;
+    uint8_t _channels_number;
 };