From c8bb5e6469c1f3b6f319299d2534108f0a6539f5 Mon Sep 17 00:00:00 2001
From: Luiz Ywata <luizg.ywata@intel.com>
Date: Tue, 26 Apr 2016 15:33:22 -0300
Subject: [PATCH] AP_HAL_Linux: RCInput_Raspilot use SPIDevice interface

---
 libraries/AP_HAL_Linux/RCInput_Raspilot.cpp | 19 +++++++------------
 libraries/AP_HAL_Linux/RCInput_Raspilot.h   |  4 ++--
 2 files changed, 9 insertions(+), 14 deletions(-)

diff --git a/libraries/AP_HAL_Linux/RCInput_Raspilot.cpp b/libraries/AP_HAL_Linux/RCInput_Raspilot.cpp
index 3fa6163436..5d2a7a04fb 100644
--- a/libraries/AP_HAL_Linux/RCInput_Raspilot.cpp
+++ b/libraries/AP_HAL_Linux/RCInput_Raspilot.cpp
@@ -21,14 +21,7 @@ using namespace Linux;
 
 void RCInput_Raspilot::init()
 {
-    _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 = hal.spi->get_device("raspio");
 
     // start the timer process to read samples
     hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&RCInput_Raspilot::_poll_data, void));
@@ -43,7 +36,7 @@ void RCInput_Raspilot::_poll_data(void)
 
     _last_timer = AP_HAL::micros();
 
-    if (!_spi_sem->take_nonblocking()) {
+    if (!_dev->get_semaphore()->take_nonblocking()) {
         return;
     }
 
@@ -55,9 +48,11 @@ void RCInput_Raspilot::_poll_data(void)
     _dma_packet_tx.crc = 0;
     _dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
     /* set raspilotio to read reg4 */
-    _spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
+    _dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
+                   (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx));
     /* get reg4 data from raspilotio */
-    _spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
+    _dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
+		   (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx));
 
     uint16_t num_values = _dma_packet_rx.regs[0];
     uint16_t rc_ok = _dma_packet_rx.regs[1] & (1 << 4);
@@ -69,7 +64,7 @@ void RCInput_Raspilot::_poll_data(void)
       _update_periods(&_dma_packet_rx.regs[6], (uint8_t)num_values);
     }
 
-    _spi_sem->give();
+    _dev->get_semaphore()->give();
 }
 
 #endif // CONFIG_HAL_BOARD_SUBTYPE
diff --git a/libraries/AP_HAL_Linux/RCInput_Raspilot.h b/libraries/AP_HAL_Linux/RCInput_Raspilot.h
index 2a1c32b193..f967ab3b4a 100644
--- a/libraries/AP_HAL_Linux/RCInput_Raspilot.h
+++ b/libraries/AP_HAL_Linux/RCInput_Raspilot.h
@@ -2,6 +2,7 @@
 
 #include "AP_HAL_Linux.h"
 #include "RCInput.h"
+#include <AP_HAL/SPIDevice.h>
 
 class Linux::RCInput_Raspilot : public Linux::RCInput
 {
@@ -11,8 +12,7 @@ public:
 private:
     uint32_t _last_timer;
     
-    AP_HAL::SPIDeviceDriver *_spi;
-    AP_HAL::Semaphore *_spi_sem;
+    AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
     
     void _poll_data(void);
 };