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AP_HAL_Linux: PWM_Sysfs: minor changes to Bebop/mainline integration 

- Make error path in constructor shorter and earlier. It's calling
    panic() so there's no reason to do anything else

  - We don't need to check variable for NULL when calling free()

  - Change set/get_polarity to use a virtual function; this allows us
    not to fail silently if _polarity_path is NULL for PWM_Sysfs.
    PWM_Sysfs_Bebop just overrides this method and implement an empty
    version.
This commit is contained in:
Lucas De Marchi 2015-11-30 10:54:34 -02:00 committed by Andrew Tridgell
parent 8733f34ce1
commit 04f601d42f
2 changed files with 16 additions and 28 deletions
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34
libraries/AP_HAL_Linux/PWM_Sysfs.cpp
View File

@ -44,8 +44,11 @@ PWM_Sysfs_Base::PWM_Sysfs_Base(char* export_path, char* polarity_path,
, _duty_path(duty_path)
, _period_path(period_path)
{
if (_export_path == NULL) {
AP_HAL::panic("PWM_Sysfs : export path = NULL\n");
if (_export_path == NULL || _enable_path == NULL ||
_period_path == NULL || _duty_path == NULL) {
AP_HAL::panic("PWM_Sysfs: export=%p enable=%p period=%p duty=%p"
" required path is NULL", _export_path, _enable_path,
_period_path, _duty_path);
}
/* Not checking the return of write_file since it will fail if
* the pwm has already been exported
@ -53,19 +56,7 @@ PWM_Sysfs_Base::PWM_Sysfs_Base(char* export_path, char* polarity_path,
Util::from(hal.util)->write_file(_export_path, "%u", channel);
free(_export_path);
if (_enable_path == NULL) {
AP_HAL::panic("PWM_Sysfs : enable path = NULL\n");
}
if (_period_path == NULL) {
AP_HAL::panic("PWM_Sysfs : period path = NULL\n");
}
if (_duty_path == NULL) {
AP_HAL::panic("PWM_Sysfs : duty path = NULL");
}
_duty_cycle_fd = ::open(_duty_path, O_RDWR | O_CLOEXEC);
if (_duty_cycle_fd < 0) {
AP_HAL::panic("LinuxPWM_Sysfs:Unable to open file %s: %s",
_duty_path, strerror(errno));
@ -76,12 +67,8 @@ PWM_Sysfs_Base::PWM_Sysfs_Base(char* export_path, char* polarity_path,
PWM_Sysfs_Base::~PWM_Sysfs_Base()
{
::close(_duty_cycle_fd);
/* The only path that is supposed to be NULL with the current
* implementations is polarity
*/
if (_polarity_path != NULL) {
free(_polarity_path);
}
free(_polarity_path);
free(_enable_path);
free(_period_path);
}
@ -153,8 +140,7 @@ uint32_t PWM_Sysfs_Base::get_duty_cycle()
void PWM_Sysfs_Base::set_polarity(PWM_Sysfs_Base::Polarity polarity)
{
if ((_polarity_path != NULL) &&
Util::from(hal.util)->write_file(_polarity_path, "%s",
if (Util::from(hal.util)->write_file(_polarity_path, "%s",
polarity == NORMAL ?
"normal" : "inversed") < 0) {
hal.console->printf("LinuxPWM_Sysfs: %s Unable to set polarity\n",
@ -166,10 +152,6 @@ PWM_Sysfs_Base::Polarity PWM_Sysfs_Base::get_polarity()
{
char polarity[16];
if (_polarity_path == NULL) {
return NORMAL;
}
if (Util::from(hal.util)->read_file(_polarity_path, "%s", polarity) < 0) {
hal.console->printf("LinuxPWM_Sysfs: %s Unable to get polarity\n",
_polarity_path);

10
libraries/AP_HAL_Linux/PWM_Sysfs.h
View File

@ -34,8 +34,8 @@ public:
*/
uint32_t get_duty_cycle();
void set_polarity(PWM_Sysfs_Base::Polarity polarity);
PWM_Sysfs_Base::Polarity get_polarity();
virtual void set_polarity(PWM_Sysfs_Base::Polarity polarity);
virtual PWM_Sysfs_Base::Polarity get_polarity();
protected:
PWM_Sysfs_Base(char *export_path, char *polarity_path,
@ -74,4 +74,10 @@ private:
char *_generate_duty_path(uint8_t channel);
char *_generate_period_path(uint8_t channel);
void set_polarity(PWM_Sysfs_Base::Polarity polarity) override { }
PWM_Sysfs_Base::Polarity get_polarity() override
{
return PWM_Sysfs::NORMAL;
}
};