mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
490841a814
By opening with O_CLOEXEC we make sure we don't leak the file descriptor when we are exec'ing or calling out subprograms. Right now we currently don't do it so there's no harm, but it's good practice in Linux to have it.
77 lines
1.5 KiB
C++
77 lines
1.5 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
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#include <cstdio>
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#include <unistd.h>
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#include <fcntl.h>
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#include <cstdlib>
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#include <AP_Common/AP_Common.h>
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#include "RCInput_Navio2.h"
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using namespace Linux;
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extern const AP_HAL::HAL& hal;
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#define RCIN_SYSFS_PATH "/sys/kernel/rcio/rcin"
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void RCInput_Navio2::init()
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{
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for (size_t i = 0; i < ARRAY_SIZE(channels); i++) {
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channels[i] = open_channel(i);
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if (channels[i] < 0) {
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AP_HAL::panic("[RCInput_Navio2]: failed to open channels\n");
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}
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}
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}
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void RCInput_Navio2::_timer_tick(void)
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{
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if (AP_HAL::micros() - _last_timestamp < 10000) {
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return;
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}
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char buffer[12];
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for (size_t i = 0; i < ARRAY_SIZE(channels); i++) {
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if (::pread(channels[i], buffer, sizeof(buffer) - 1, 0) <= 0) {
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/* We ignore error in order not to spam the console */
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continue;
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}
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buffer[sizeof(buffer) - 1] = '\0';
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periods[i] = atoi(buffer);
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}
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_update_periods(periods, ARRAY_SIZE(periods));
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_last_timestamp = AP_HAL::micros();
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}
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RCInput_Navio2::RCInput_Navio2()
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{
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}
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RCInput_Navio2::~RCInput_Navio2()
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{
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}
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int RCInput_Navio2::open_channel(int channel)
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{
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char *channel_path;
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if (asprintf(&channel_path, "%s/ch%d", RCIN_SYSFS_PATH, channel) == -1) {
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AP_HAL::panic("[RCInput_Navio2]: not enough memory\n");
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}
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int fd = ::open(channel_path, O_RDONLY|O_CLOEXEC);
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free(channel_path);
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return fd;
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}
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#endif
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