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AP_HAL_Linux: Export GPIO pin inside of pinMode()

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Make sure pinMode() method exports the pin before using it. Otherwise
the export method would need to be called, differently from other GPIO
implementations.

Since now export_pin and export_pins are called only internally, reduce
their visibility to protected.
This commit is contained in:
José Roberto de Souza 2015-11-19 14:35:56 -02:00 committed by Lucas De Marchi
parent 7033e4d8ed
commit 0c0d595b55
2 changed files with 12 additions and 12 deletions
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12
libraries/AP_HAL_Linux/GPIO_Sysfs.cpp
View File

@ -78,8 +78,8 @@ void GPIO_Sysfs::pinMode(uint8_t vpin, uint8_t output)
{
assert_vpin(vpin, n_pins);
unsigned pin = pin_table[vpin];
_pinMode(pin, output);
_export_pin(vpin);
_pinMode(pin_table[vpin], output);
}
void GPIO_Sysfs::_pinMode(unsigned int pin, uint8_t output)
@ -178,7 +178,7 @@ AP_HAL::DigitalSource* GPIO_Sysfs::channel(uint16_t vpin)
unsigned pin = pin_table[vpin];
int value_fd = -1;
if (export_pin(vpin)) {
if (_export_pin(vpin)) {
char value_path[PATH_MAX];
snprintf(value_path, PATH_MAX, GPIO_PATH_FORMAT "/value", pin);
@ -205,13 +205,13 @@ bool GPIO_Sysfs::usb_connected(void)
return false;
}
bool GPIO_Sysfs::export_pin(uint8_t vpin)
bool GPIO_Sysfs::_export_pin(uint8_t vpin)
{
uint8_t vpins[] = { vpin };
return export_pins(vpins, 1);
return _export_pins(vpins, 1);
}
bool GPIO_Sysfs::export_pins(uint8_t vpins[], size_t len)
bool GPIO_Sysfs::_export_pins(uint8_t vpins[], size_t len)
{
int fd = open("/sys/class/gpio/export", O_WRONLY | O_CLOEXEC);
if (fd < 0) {

12
libraries/AP_HAL_Linux/GPIO_Sysfs.h
View File

@ -64,6 +64,10 @@ public:
*/
bool usb_connected() override;
protected:
void _pinMode(unsigned int pin, uint8_t output);
int _open_pin_value(unsigned int pin, int flags);
/*
* Make pin available for use. This function should be called before
* calling functions that use the pin number as parameter.
@ -72,7 +76,7 @@ public:
*
* Note: the pin is ignored if already exported.
*/
static bool export_pin(uint8_t vpin);
static bool _export_pin(uint8_t vpin);
/*
* Make pins available for use. This function should be called before
@ -83,11 +87,7 @@ public:
*
* Note: pins already exported are ignored.
*/
static bool export_pins(uint8_t vpins[], size_t num_vpins);
protected:
void _pinMode(unsigned int pin, uint8_t output);
int _open_pin_value(unsigned int pin, int flags);
static bool _export_pins(uint8_t vpins[], size_t num_vpins);
};
#endif