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AP_HAL_Linux: Adapt code to common RPI layer

mission-4.1.18
Víctor Mayoral Vilches 9 years ago committed by Andrew Tridgell
parent
b1a53c383c
commit
d5d1bfae8c
3 changed files with 11 additions and 11 deletions
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  1. 2
      libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h
  2. 4
      libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h
  3. 16
      libraries/AP_HAL_Linux/HAL_Linux_Class.cpp

2
libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h
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@ -22,7 +22,7 @@ namespace Linux { @@ -22,7 +22,7 @@ namespace Linux {
class RCInput;
class RCInput_PRU;
class RCInput_AioPRU;
class RCInput_Navio;
class RCInput_RPI;
class RCInput_Raspilot;
class RCInput_ZYNQ;
class RCInput_UART;

4
libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h
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@ -12,13 +12,13 @@ @@ -12,13 +12,13 @@
#include "I2CDriver.h"
#include "SPIDriver.h"
#include "AnalogIn.h"
#include "AnalogIn_Navio.h"
#include "AnalogIn_ADS1115.h"
#include "RaspilotAnalogIn.h"
#include "Storage.h"
#include "GPIO.h"
#include "RCInput.h"
#include "RCInput_AioPRU.h"
#include "RCInput_Navio.h"
#include "RCInput_RPI.h"
#include "RCInput_UART.h"
#include "RCInput_UDP.h"
#include "RCInput_Raspilot.h"

16
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -58,8 +58,8 @@ static Semaphore i2cSemaphore0; @@ -58,8 +58,8 @@ static Semaphore i2cSemaphore0;
static I2CDriver i2cDriver0(&i2cSemaphore0, "/dev/i2c-1");
#endif
static SPIDeviceManager spiDeviceManager;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static NavioAnalogIn analogIn;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
static ADS1115AnalogIn analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static RaspilotAnalogIn analogIn;
#else
@ -83,7 +83,7 @@ static GPIO_BBB gpioDriver; @@ -83,7 +83,7 @@ static GPIO_BBB gpioDriver;
/*
use the RPI gpio driver on Navio
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
static GPIO_RPI gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
static GPIO_Sysfs gpioDriver;
@ -98,8 +98,8 @@ static Empty::EmptyGPIO gpioDriver; @@ -98,8 +98,8 @@ static Empty::EmptyGPIO gpioDriver;
static RCInput_PRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static RCInput_AioPRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static RCInput_Navio rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
static RCInput_RPI rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static RCInput_Raspilot rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
@ -120,9 +120,9 @@ static RCOutput_PRU rcoutDriver; @@ -120,9 +120,9 @@ static RCOutput_PRU rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static RCOutput_AioPRU rcoutDriver;
/*
use the PCA9685 based RCOutput driver on Navio
use the PCA9685 based RCOutput driver on Navio and Erle-Brain 2
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
static RCOutput_PCA9685 rcoutDriver(PCA9685_PRIMARY_ADDRESS, true, 3, RPI_GPIO_27);
/*
use the STM32 based RCOutput driver on Raspilot
@ -140,7 +140,7 @@ static Empty::EmptyRCOutput rcoutDriver; @@ -140,7 +140,7 @@ static Empty::EmptyRCOutput rcoutDriver;
#endif
static Scheduler schedulerInstance;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
static UtilRPI utilInstance;
#else
static Util utilInstance;

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