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AP_HAL_Linux: remove _export_pins() method

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The initial idea was to export all pins to be used at once, so we
created _export_pins() to take all of them and a wrapper method,
_export_pin() to export a single one. However we never export more than
one pin at once.
This commit is contained in:
Lucas De Marchi 2015-12-30 19:01:17 -02:00
parent ba0ed84039
commit 47f25a0aa0
2 changed files with 26 additions and 42 deletions
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57
libraries/AP_HAL_Linux/GPIO_Sysfs.cpp
View File

@ -208,46 +208,41 @@ bool GPIO_Sysfs::usb_connected(void)
bool GPIO_Sysfs::_export_pin(uint8_t vpin)
{
uint8_t vpins[] = { vpin };
return _export_pins(vpins, 1);
}
assert_vpin(vpin, n_pins, false);
bool GPIO_Sysfs::_export_pins(uint8_t vpins[], size_t len)
{
int fd = open(GPIO_BASE_PATH "export", O_WRONLY | O_CLOEXEC);
if (fd < 0) {
hal.console->printf("GPIO_Sysfs: Unable to open " GPIO_BASE_PATH "export.");
return false;
const unsigned int pin = pin_table[vpin];
char gpio_path[GPIO_PATH_MAX];
int fd;
int r = snprintf(gpio_path, GPIO_PATH_MAX, GPIO_BASE_PATH "gpio%u", pin);
if (r < 0 || r >= (int) GPIO_PATH_MAX) {
goto fail_snprintf;
}
bool success = true;
if (access(gpio_path, F_OK) == 0) {
// Already exported
return true;
}
for (unsigned int i = 0; i < len; i++) {
if (vpins[i] >= n_pins) {
hal.console->printf("GPIO_Sysfs: Can't open pin %u\n", vpins[i]);
success = false;
break;
}
const unsigned int pin = pin_table[vpins[i]];
char gpio_path[GPIO_PATH_MAX];
fd = open(GPIO_BASE_PATH "export", O_WRONLY | O_CLOEXEC);
if (fd < 0) {
goto fail_open;
}
snprintf(gpio_path, GPIO_PATH_MAX, GPIO_BASE_PATH "gpio%u", pin);
// Verify if the pin is not already exported
if (access(gpio_path, F_OK) == 0)
continue;
int r = dprintf(fd, "%u", pin);
if (r < 0) {
hal.console->printf("GPIO_Sysfs: Unable to export pin %u.\n", pin);
success = false;
break;
}
// Try to export
if (dprintf(fd, "%u", pin) < 0) {
goto fail_export;
}
close(fd);
return true;
return success;
fail_export:
close(fd);
fail_open:
fail_snprintf:
hal.console->printf("GPIO_Sysfs: Unable to export pin %u.\n", pin);
return false;
}
#endif

11
libraries/AP_HAL_Linux/GPIO_Sysfs.h
View File

@ -77,17 +77,6 @@ protected:
* Note: the pin is ignored if already exported.
*/
static bool _export_pin(uint8_t vpin);
/*
* Make pins available for use. This function should be called before
* calling functions that use pin number as parameter.
*
* If all pins are exported successfully, true is returned. If there is an
* error for one of them, false is returned.
*
* Note: pins already exported are ignored.
*/
static bool _export_pins(uint8_t vpins[], size_t num_vpins);
};
#endif