AP_HAL_Linux: RCOutput_Raspilot: use SPIDevice interface

libraries/AP_HAL_Linux/RCOutput_Raspilot.cpp

@@ -25,21 +25,14 @@ static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 void RCOutput_Raspilot::init()
 {
-    _spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
+    _dev = hal.spi->get_device("raspio");
-    _spi_sem = _spi->get_semaphore();
-
-    if (_spi_sem == NULL) {
-        AP_HAL::panic("PANIC: RCOutput_Raspilot did not get "
-                                  "valid SPI semaphore!");
-        return; // never reached
-    }
 
     hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&RCOutput_Raspilot::_update, void));
 }
 
 void RCOutput_Raspilot::set_freq(uint32_t chmask, uint16_t freq_hz)
 {
-    if (!_spi_sem->take(10)) {
+    if (!_dev->get_semaphore()->take(10)) {
         return;
     }
 
@@ -51,11 +44,12 @@ void RCOutput_Raspilot::set_freq(uint32_t chmask, uint16_t freq_hz)
     _dma_packet_tx.regs[0] = freq_hz;
     _dma_packet_tx.crc = 0;
     _dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
-    _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));
 
     _frequency = freq_hz;
 
-    _spi_sem->give();
+    _dev->get_semaphore()->give();
 }
 
 uint16_t RCOutput_Raspilot::get_freq(uint8_t ch)
@@ -107,7 +101,7 @@ void RCOutput_Raspilot::_update(void)
 
     _last_update_timestamp = AP_HAL::micros();
 
-    if (!_spi_sem->take_nonblocking()) {
+    if (!_dev->get_semaphore()->take_nonblocking()) {
         return;
     }
 
@@ -119,7 +113,8 @@ void RCOutput_Raspilot::_update(void)
     _dma_packet_tx.regs[0] = 75;
     _dma_packet_tx.crc = 0;
     _dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
-    _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));
 
     count = 1;
     _dma_packet_tx.count_code = count | PKT_CODE_WRITE;
@@ -128,7 +123,8 @@ void RCOutput_Raspilot::_update(void)
     _dma_packet_tx.regs[0] = 0x560B;
     _dma_packet_tx.crc = 0;
     _dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
-    _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));
 
     count = PWM_CHAN_COUNT;
     _dma_packet_tx.count_code = count | PKT_CODE_WRITE;
@@ -139,9 +135,10 @@ void RCOutput_Raspilot::_update(void)
     }
     _dma_packet_tx.crc = 0;
     _dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
-    _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));
 
-    _spi_sem->give();
+    _dev->get_semaphore()->give();
 }
 
 #endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT

libraries/AP_HAL_Linux/RCOutput_Raspilot.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "AP_HAL_Linux.h"
+#include <AP_HAL/SPIDevice.h>
 
 class Linux::RCOutput_Raspilot : public AP_HAL::RCOutput {
     void     init();
@@ -16,8 +17,7 @@ private:
     void reset();
     void _update(void);
     
-    AP_HAL::SPIDeviceDriver *_spi;
+    AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
-    AP_HAL::Semaphore *_spi_sem;
     
     uint32_t _last_update_timestamp;
     uint16_t _frequency;