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HAL_Linux: Improve error handling SPIDriver

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This commit is contained in:
Víctor Mayoral Vilches 2014-06-05 12:27:03 +02:00 committed by Andrew Tridgell
parent d330cbecb3
commit 245618e298
1 changed files with 24 additions and 0 deletions
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24
libraries/AP_HAL_Linux/SPIDriver.cpp
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@ -12,6 +12,8 @@
#include <linux/spi/spidev.h>
#include "GPIO.h"
#define SPI_DEBUGGING 1
using namespace Linux;
extern const AP_HAL::HAL& hal;
@ -30,36 +32,57 @@ void LinuxSPIDeviceDriver::init()
{
_fd = open(_spipath, O_RDWR);
if (_fd == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver failed opening _spipath\n");
#endif
return;
}
int ret;
ret = ioctl(_fd, SPI_IOC_WR_MODE, &_mode);
if (ret == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver ioctl SPI_IOC_WR_MODE failed\n");
#endif
goto failed;
}
ret = ioctl(_fd, SPI_IOC_RD_MODE, &_mode);
if (ret == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver ioctl SPI_IOC_RD_MODE failed\n");
#endif
goto failed;
}
ret = ioctl(_fd, SPI_IOC_WR_BITS_PER_WORD, &_bitsPerWord);
if (ret == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver ioctl SPI_IOC_WR_BITS_PER_WORD failed\n");
#endif
goto failed;
}
ret = ioctl(_fd, SPI_IOC_RD_BITS_PER_WORD, &_bitsPerWord);
if (ret == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver ioctl SPI_IOC_RD_BITS_PER_WORD failed\n");
#endif
goto failed;
}
ret = ioctl(_fd, SPI_IOC_WR_MAX_SPEED_HZ, &_speed);
if (ret == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver ioctl SPI_IOC_WR_MAX_SPEED_HZ failed\n");
#endif
goto failed;
}
ret = ioctl(_fd, SPI_IOC_RD_MAX_SPEED_HZ, &_speed);
if (ret == -1) {
#if SPI_DEBUGGING
hal.console->printf("LinuxSPIDeviceDriver ioctl SPI_IOC_RD_MAX_SPEED_HZ failed\n");
#endif
goto failed;
}
@ -72,6 +95,7 @@ void LinuxSPIDeviceDriver::init()
failed:
close(_fd);
_fd = -1;
hal.scheduler->panic("SPI init failed");
}
AP_HAL::Semaphore* LinuxSPIDeviceDriver::get_semaphore()