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
@@ -12,17 +11,17 @@
 #define debug(fmt, args ...)  do {hal.console->printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
 #define error(fmt, args ...)  do {fprintf(stderr,"%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
 #else
-#define debug(fmt, args ...)  
-#define error(fmt, args ...)  
+#define debug(fmt, args ...)
+#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;
 }
@@ -65,7 +64,7 @@ RaspilotAnalogIn::RaspilotAnalogIn()
 float RaspilotAnalogIn::board_voltage(void)
 {
     _vcc_pin_analog_source->set_pin(4);
-    
+
     return 5.0;
     //return _vcc_pin_analog_source->voltage_average() * 2.0;
 }
@@ -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];
         }
     }
@@ -86,16 +85,16 @@ AP_HAL::AnalogSource* RaspilotAnalogIn::channel(int16_t pin)
 void RaspilotAnalogIn::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
     }
-    
+
     hal.scheduler->suspend_timer_procs();
     hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&RaspilotAnalogIn::_update, void));
     hal.scheduler->resume_timer_procs();
@@ -106,11 +105,11 @@ void RaspilotAnalogIn::_update()
     if (AP_HAL::micros() - _last_update_timestamp < 100000) {
         return;
     }
-    
+
     if (!_spi_sem->take_nonblocking()) {
         return;
     }
-    
+
     struct IOPacket _dma_packet_tx, _dma_packet_rx;
     uint16_t count = RASPILOT_ADC_MAX_CHANNELS;
     _dma_packet_tx.count_code = count | PKT_CODE_READ;
@@ -120,17 +119,23 @@ void RaspilotAnalogIn::_update()
     _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));
-    
+
     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));
-    
+
     _spi_sem->give();
 
     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);
@@ -31,15 +31,15 @@ public:
 
     /* Board voltage is not available */
     float board_voltage(void);
-    
+
 protected:
     AP_HAL::AnalogSource *_vcc_pin_analog_source;
-    
+
 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