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PWM_Sysfs: add an init method to do hal dependent stuff.

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When PWM_Sysfs_Base constructor is called, global variable hal may not
have been initialized resulting in NULL dereferencing error.

Move hal dependent stuff from contructor to init method.
This commit is contained in:
Mathieu OTHACEHE 2016-10-27 09:46:08 +02:00 committed by Lucas De Marchi
parent 91c4bf470f
commit 0fa441a8a5
5 changed files with 20 additions and 10 deletions
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1
libraries/AP_HAL_Linux/Heat_Pwm.cpp
View File

@ -38,6 +38,7 @@ HeatPwm::HeatPwm(uint8_t pwm_num, float Kp, float Ki, uint32_t period_ns) :
_period_ns(period_ns)
{
_pwm = new PWM_Sysfs_Bebop(pwm_num);
_pwm->init();
_pwm->set_period(_period_ns);
_pwm->set_duty_cycle(0);
_pwm->enable(true);

1
libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
View File

@ -76,6 +76,7 @@ void OpticalFlow_Onboard::init(AP_HAL::OpticalFlow::Gyro_Cb get_gyro)
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
_pwm = new PWM_Sysfs_Bebop(BEBOP_CAMV_PWM);
_pwm->init();
_pwm->set_freq(BEBOP_CAMV_PWM_FREQ);
_pwm->enable(true);

25
libraries/AP_HAL_Linux/PWM_Sysfs.cpp
View File

@ -38,6 +38,20 @@ PWM_Sysfs_Base::PWM_Sysfs_Base(char* export_path, char* polarity_path,
, _enable_path(enable_path)
, _duty_path(duty_path)
, _period_path(period_path)
, _channel(channel)
{
}
PWM_Sysfs_Base::~PWM_Sysfs_Base()
{
::close(_duty_cycle_fd);
free(_polarity_path);
free(_enable_path);
free(_period_path);
}
void PWM_Sysfs_Base::init()
{
if (_export_path == nullptr || _enable_path == nullptr ||
_period_path == nullptr || _duty_path == nullptr) {
@ -48,7 +62,7 @@ PWM_Sysfs_Base::PWM_Sysfs_Base(char* export_path, char* polarity_path,
/* Not checking the return of write_file since it will fail if
* the pwm has already been exported
*/
Util::from(hal.util)->write_file(_export_path, "%u", channel);
Util::from(hal.util)->write_file(_export_path, "%u", _channel);
free(_export_path);
_duty_cycle_fd = ::open(_duty_path, O_RDWR | O_CLOEXEC);
@ -59,15 +73,6 @@ PWM_Sysfs_Base::PWM_Sysfs_Base(char* export_path, char* polarity_path,
free(_duty_path);
}
PWM_Sysfs_Base::~PWM_Sysfs_Base()
{
::close(_duty_cycle_fd);
free(_polarity_path);
free(_enable_path);
free(_period_path);
}
void PWM_Sysfs_Base::enable(bool value)
{
if (Util::from(hal.util)->write_file(_enable_path, "%u", value) < 0) {

2
libraries/AP_HAL_Linux/PWM_Sysfs.h
View File

@ -16,6 +16,7 @@ public:
INVERSE = 1,
};
void init();
void enable(bool value);
bool is_enabled();
void set_period(uint32_t nsec_period);
@ -46,6 +47,7 @@ protected:
private:
uint32_t _nsec_duty_cycle_value = 0;
int _duty_cycle_fd = -1;
uint8_t _channel;
char *_export_path = nullptr;
char *_polarity_path = nullptr;
char *_enable_path = nullptr;

1
libraries/AP_HAL_Linux/RCOutput_Sysfs.cpp
View File

@ -51,6 +51,7 @@ void RCOutput_Sysfs::init()
if (!_pwm_channels[i]) {
AP_HAL::panic("RCOutput_Sysfs_PWM: Unable to setup PWM pin.");
}
_pwm_channels[i]->init();
_pwm_channels[i]->enable(false);
/* Set the initial frequency */