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AP_HAL_Linux: use millis/micros/panic functions

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This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-11-20 12:10:58 +09:00 committed by Randy Mackay
parent f03eec59d6
commit 7675913d5b
29 changed files with 74 additions and 82 deletions
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4
libraries/AP_HAL_Linux/AnalogIn_ADS1115.cpp
View File

@ -84,7 +84,7 @@ void ADS1115AnalogIn::init(void* implspecific)
void ADS1115AnalogIn::_update()
{
if (hal.scheduler->micros() - _last_update_timestamp < 100000) {
if (AP_HAL::micros() - _last_update_timestamp < 100000) {
return;
}
@ -108,7 +108,7 @@ void ADS1115AnalogIn::_update()
}
}
_last_update_timestamp = hal.scheduler->micros();
_last_update_timestamp = AP_HAL::micros();
}
#endif

4
libraries/AP_HAL_Linux/GPIO_BBB.cpp
View File

@ -32,7 +32,7 @@ void GPIO_BBB::init()
uint8_t bank_enable[3] = { 5, 65, 105 };
int export_fd = open("/sys/class/gpio/export", O_WRONLY);
if (export_fd == -1) {
hal.scheduler->panic("unable to open /sys/class/gpio/export");
AP_HAL::panic("unable to open /sys/class/gpio/export");
}
for (uint8_t i=0; i<3; i++) {
dprintf(export_fd, "%u\n", (unsigned)bank_enable[i]);
@ -51,7 +51,7 @@ void GPIO_BBB::init()
for (uint8_t i=0; i<LINUX_GPIO_NUM_BANKS; i++) {
gpio_bank[i].base = (volatile unsigned *)mmap(0, GPIO_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, offsets[i]);
if ((char *)gpio_bank[i].base == MAP_FAILED) {
hal.scheduler->panic("unable to map GPIO bank");
AP_HAL::panic("unable to map GPIO bank");
}
gpio_bank[i].oe = gpio_bank[i].base + GPIO_OE;
gpio_bank[i].in = gpio_bank[i].base + GPIO_IN;

4
libraries/AP_HAL_Linux/GPIO_RPI.cpp
View File

@ -30,7 +30,7 @@ void GPIO_RPI::init()
uint32_t clk_address = rpi_version == 1 ? CLOCK_BASE(BCM2708_PERI_BASE) : CLOCK_BASE(BCM2709_PERI_BASE);
// open /dev/mem
if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) {
hal.scheduler->panic("Can't open /dev/mem");
AP_HAL::panic("Can't open /dev/mem");
}
// mmap GPIO
@ -64,7 +64,7 @@ void GPIO_RPI::init()
close(mem_fd); // No need to keep mem_fd open after mmap
if (gpio_map == MAP_FAILED || pwm_map == MAP_FAILED || clk_map == MAP_FAILED) {
hal.scheduler->panic("Can't open /dev/mem");
AP_HAL::panic("Can't open /dev/mem");
}
gpio = (volatile uint32_t *)gpio_map; // Always use volatile pointer!

16
libraries/AP_HAL_Linux/Heat_Pwm.cpp
View File

@ -52,32 +52,32 @@ HeatPwm::HeatPwm(const char* pwm_sysfs_path, float Kp, float Ki, uint32_t period
char *run_path;
if (asprintf(&duty_path, "%s/%s", pwm_sysfs_path, HEAT_PWM_DUTY) == -1) {
hal.scheduler->panic("HeatPwm not enough memory\n");
AP_HAL::panic("HeatPwm not enough memory\n");
}
_duty_fd = open(duty_path, O_RDWR);
if (_duty_fd == -1) {
perror("opening duty");
hal.scheduler->panic("Error Initializing Pwm heat\n");
AP_HAL::panic("Error Initializing Pwm heat\n");
}
free(duty_path);
if (asprintf(&period_path, "%s/%s", pwm_sysfs_path, HEAT_PWM_PERIOD) == -1) {
hal.scheduler->panic("HeatPwm not enough memory\n");
AP_HAL::panic("HeatPwm not enough memory\n");
}
_period_fd = open(period_path, O_RDWR);
if (_period_fd == -1) {
perror("opening period");
hal.scheduler->panic("Error Initializing Pwm heat\n");
AP_HAL::panic("Error Initializing Pwm heat\n");
}
free(period_path);
if (asprintf(&run_path, "%s/%s", pwm_sysfs_path, HEAT_PWM_RUN) == -1) {
hal.scheduler->panic("HeatPwm not enough memory\n");
AP_HAL::panic("HeatPwm not enough memory\n");
}
_run_fd = open(run_path, O_RDWR);
if (_run_fd == -1) {
perror("opening run");
hal.scheduler->panic("Error Initializing Pwm heat\n");
AP_HAL::panic("Error Initializing Pwm heat\n");
}
free(run_path);
@ -90,7 +90,7 @@ void HeatPwm::set_imu_temp(float current)
{
float error, output;
if (hal.scheduler->millis() - _last_temp_update < 5) {
if (AP_HAL::millis() - _last_temp_update < 5) {
return;
}
@ -112,7 +112,7 @@ void HeatPwm::set_imu_temp(float current)
}
_set_duty(output);
_last_temp_update = hal.scheduler->millis();
_last_temp_update = AP_HAL::millis();
}
void HeatPwm::_set_duty(uint32_t duty)

6
libraries/AP_HAL_Linux/I2CDriver.cpp
View File

@ -33,7 +33,7 @@ I2CDriver::I2CDriver(AP_HAL::Semaphore* semaphore, const char *device) :
#if CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
if (!((Util*)hal.util)->is_chardev_node(_device))
hal.scheduler->panic("I2C device is not a chardev node");
AP_HAL::panic("I2C device is not a chardev node");
#endif
}
@ -51,7 +51,7 @@ I2CDriver::I2CDriver(AP_HAL::Semaphore* semaphore,
d = opendir(dirname);
if (!d)
hal.scheduler->panic("Could not get list of I2C buses");
AP_HAL::panic("Could not get list of I2C buses");
for (de = readdir(d); de; de = readdir(d)) {
const char *p, * const *t;
@ -85,7 +85,7 @@ I2CDriver::I2CDriver(AP_HAL::Semaphore* semaphore,
closedir(d);
if (!((Util*)hal.util)->is_chardev_node(_device))
hal.scheduler->panic("I2C device is not a chardev node");
AP_HAL::panic("I2C device is not a chardev node");
}
I2CDriver::~I2CDriver()

6
libraries/AP_HAL_Linux/PWM_Sysfs.cpp
View File

@ -57,7 +57,7 @@ PWM_Sysfs::PWM_Sysfs(uint8_t chip, uint8_t channel)
r = snprintf(path, sizeof(path), PWM_BASE_PATH "%u/export", _chip);
if (r < 0 || r >= (int)sizeof(path)) {
hal.scheduler->panic("LinuxPWM_Sysfs: chip=%u channel=%u "
AP_HAL::panic("LinuxPWM_Sysfs: chip=%u channel=%u "
"Error formatting pwm export: %s",
_chip, _channel, strerror(errno));
}
@ -72,14 +72,14 @@ PWM_Sysfs::PWM_Sysfs(uint8_t chip, uint8_t channel)
r = snprintf(path, sizeof(path), PWM_BASE_PATH "%u/pwm%u/duty_cycle",
_chip, _channel);
if (r < 0 || r >= (int)sizeof(path)) {
hal.scheduler->panic("LinuxPWM_Sysfs: chip=%u channel=%u "
AP_HAL::panic("LinuxPWM_Sysfs: chip=%u channel=%u "
"Error formatting channel duty cycle: %s",
_chip, _channel, strerror(errno));
}
_duty_cycle_fd = ::open(path, O_RDWR | O_CLOEXEC);
if (_duty_cycle_fd < 0) {
hal.scheduler->panic("LinuxPWM_Sysfs: chip=%u channel=%u "
AP_HAL::panic("LinuxPWM_Sysfs: chip=%u channel=%u "
"Unable to open file %s: %s",
_chip, _channel, path, strerror(errno));
}

2
libraries/AP_HAL_Linux/RCInput.cpp
View File

@ -285,7 +285,7 @@ void RCInput::_process_dsm_pulse(uint16_t width_s0, uint16_t width_s1)
}
uint16_t values[8];
uint16_t num_values=0;
if (dsm_decode(hal.scheduler->micros64(), bytes, values, &num_values, 8) &&
if (dsm_decode(AP_HAL::micros64(), bytes, values, &num_values, 8) &&
num_values >= 5) {
for (i=0; i<num_values; i++) {
_pwm_values[i] = values[i];

2
libraries/AP_HAL_Linux/RCInput_AioPRU.cpp
View File

@ -38,7 +38,7 @@ void RCInput_AioPRU::init(void*)
{
int mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
if (mem_fd == -1) {
hal.scheduler->panic("Unable to open /dev/mem");
AP_HAL::panic("Unable to open /dev/mem");
}
ring_buffer = (volatile struct ring_buffer*) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCIN_PRUSS_RAM_BASE);
close(mem_fd);

2
libraries/AP_HAL_Linux/RCInput_PRU.cpp
View File

@ -28,7 +28,7 @@ void RCInput_PRU::init(void*)
{
int mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
if (mem_fd == -1) {
hal.scheduler->panic("Unable to open /dev/mem");
AP_HAL::panic("Unable to open /dev/mem");
}
ring_buffer = (volatile struct ring_buffer*) mmap(0, 0x1000, PROT_READ|PROT_WRITE,
MAP_SHARED, mem_fd, RCIN_PRUSS_SHAREDRAM_BASE);

2
libraries/AP_HAL_Linux/RCInput_RPI.cpp
View File

@ -245,7 +245,7 @@ void RCInput_RPI::stop_dma()
void RCInput_RPI::termination_handler(int signum)
{
stop_dma();
hal.scheduler->panic("Interrupted");
AP_HAL::panic("Interrupted");
}

6
libraries/AP_HAL_Linux/RCInput_Raspilot.cpp
View File

@ -25,7 +25,7 @@ void RCInput_Raspilot::init(void*)
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
hal.scheduler->panic("PANIC: RCIutput_Raspilot did not get "
AP_HAL::panic("PANIC: RCIutput_Raspilot did not get "
"valid SPI semaphore!");
return; // never reached
}
@ -37,11 +37,11 @@ void RCInput_Raspilot::init(void*)
void RCInput_Raspilot::_poll_data(void)
{
// Throttle read rate to 100hz maximum.
if (hal.scheduler->micros() - _last_timer < 10000) {
if (AP_HAL::micros() - _last_timer < 10000) {
return;
}
_last_timer = hal.scheduler->micros();
_last_timer = AP_HAL::micros();
if (!_spi_sem->take_nonblocking()) {
return;

6
libraries/AP_HAL_Linux/RCInput_UART.cpp
View File

@ -15,15 +15,13 @@
#define MAGIC 0x55AA
static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
using namespace Linux;
RCInput_UART::RCInput_UART(const char *path)
{
_fd = open(path, O_RDONLY|O_NOCTTY|O_NONBLOCK|O_NDELAY);
if (_fd < 0) {
hal.scheduler->panic("RCInput_UART: Error opening '%s': %s",
AP_HAL::panic("RCInput_UART: Error opening '%s': %s",
path, strerror(errno));
}
}
@ -50,7 +48,7 @@ void RCInput_UART::init(void*)
options.c_oflag &= ~OPOST;
if (tcsetattr(_fd, TCSANOW, &options) != 0) {
hal.scheduler->panic("RCInput_UART: error configuring device: %s",
AP_HAL::panic("RCInput_UART: error configuring device: %s",
strerror(errno));
}

2
libraries/AP_HAL_Linux/RCInput_ZYNQ.cpp
View File

@ -25,7 +25,7 @@ void RCInput_ZYNQ::init(void*)
{
int mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
if (mem_fd == -1) {
hal.scheduler->panic("Unable to open /dev/mem");
AP_HAL::panic("Unable to open /dev/mem");
}
pulse_input = (volatile uint32_t*) mmap(0, 0x1000, PROT_READ|PROT_WRITE,
MAP_SHARED, mem_fd, RCIN_ZYNQ_PULSE_INPUT_BASE);

4
libraries/AP_HAL_Linux/RCOutput_AioPRU.cpp
View File

@ -27,11 +27,9 @@
using namespace Linux;
static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static void catch_sigbus(int sig)
{
hal.scheduler->panic("RCOutputAioPRU.cpp:SIGBUS error gernerated\n");
AP_HAL::panic("RCOutputAioPRU.cpp:SIGBUS error gernerated\n");
}
void RCOutput_AioPRU::init(void* machtnicht)
{

2
libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
View File

@ -247,7 +247,7 @@ void RCOutput_Bebop::init(void* dummy)
_i2c_sem = hal.i2c1->get_semaphore();
if (_i2c_sem == NULL) {
hal.scheduler->panic("RCOutput_Bebop: can't get i2c sem");
AP_HAL::panic("RCOutput_Bebop: can't get i2c sem");
return; /* never reached */
}

2
libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp
View File

@ -84,7 +84,7 @@ void RCOutput_PCA9685::init(void* machtnicht)
{
_i2c_sem = hal.i2c->get_semaphore();
if (_i2c_sem == NULL) {
hal.scheduler->panic("PANIC: RCOutput_PCA9685 did not get "
AP_HAL::panic("PANIC: RCOutput_PCA9685 did not get "
"valid I2C semaphore!");
return; /* never reached */
}

3
libraries/AP_HAL_Linux/RCOutput_PRU.cpp
View File

@ -24,10 +24,9 @@ using namespace Linux;
static const uint8_t chan_pru_map[]= {10,8,11,9,7,6,5,4,3,2,1,0}; //chan_pru_map[CHANNEL_NUM] = PRU_REG_R30/31_NUM;
static const uint8_t pru_chan_map[]= {11,10,9,8,7,6,5,4,1,3,0,2}; //pru_chan_map[PRU_REG_R30/31_NUM] = CHANNEL_NUM;
static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static void catch_sigbus(int sig)
{
hal.scheduler->panic("RCOutput.cpp:SIGBUS error gernerated\n");
AP_HAL::panic("RCOutput.cpp:SIGBUS error gernerated\n");
}
void RCOutput_PRU::init(void* machtnicht)
{

6
libraries/AP_HAL_Linux/RCOutput_Raspilot.cpp
View File

@ -28,7 +28,7 @@ void RCOutput_Raspilot::init(void* machtnicht)
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
hal.scheduler->panic("PANIC: RCOutput_Raspilot did not get "
AP_HAL::panic("PANIC: RCOutput_Raspilot did not get "
"valid SPI semaphore!");
return; // never reached
}
@ -100,11 +100,11 @@ void RCOutput_Raspilot::_update(void)
{
int i;
if (hal.scheduler->micros() - _last_update_timestamp < 10000) {
if (AP_HAL::micros() - _last_update_timestamp < 10000) {
return;
}
_last_update_timestamp = hal.scheduler->micros();
_last_update_timestamp = AP_HAL::micros();
if (!_spi_sem->take_nonblocking()) {
return;

4
libraries/AP_HAL_Linux/RCOutput_Sysfs.cpp
View File

@ -27,8 +27,6 @@
namespace Linux {
static const AP_HAL::HAL &hal = AP_HAL::get_HAL();
RCOutput_Sysfs::RCOutput_Sysfs(uint8_t chip, uint8_t channel_count)
: _chip(chip)
, _channel_count(channel_count)
@ -50,7 +48,7 @@ void RCOutput_Sysfs::init(void *machtnichts)
for (uint8_t i = 0; i < _channel_count; i++) {
_pwm_channels[i] = new PWM_Sysfs(_chip, i);
if (!_pwm_channels[i]) {
hal.scheduler->panic("RCOutput_Sysfs_PWM: Unable to setup PWM pin.");
AP_HAL::panic("RCOutput_Sysfs_PWM: Unable to setup PWM pin.");
}
_pwm_channels[i]->enable(false);

3
libraries/AP_HAL_Linux/RCOutput_ZYNQ.cpp
View File

@ -20,10 +20,9 @@ using namespace Linux;
#define PWM_CHAN_COUNT 8 // FIXME
static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static void catch_sigbus(int sig)
{
hal.scheduler->panic("RCOutput.cpp:SIGBUS error gernerated\n");
AP_HAL::panic("RCOutput.cpp:SIGBUS error gernerated\n");
}
void RCOutput_ZYNQ::init(void* machtnicht)
{

8
libraries/AP_HAL_Linux/RPIOUARTDriver.cpp
View File

@ -108,13 +108,13 @@ void RPIOUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
_spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
if (_spi == NULL) {
hal.scheduler->panic("Cannot get SPIDevice_RASPIO");
AP_HAL::panic("Cannot get SPIDevice_RASPIO");
}
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
hal.scheduler->panic("PANIC: RASPIOUARTDriver did not get "
AP_HAL::panic("PANIC: RASPIOUARTDriver did not get "
"valid SPI semaphore!");
return; // never reached
}
@ -191,7 +191,7 @@ void RPIOUARTDriver::_timer_tick(void)
if (!_initialised) return;
/* lower the update rate */
if (hal.scheduler->micros() - _last_update_timestamp < RPIOUART_POLL_TIME_INTERVAL) {
if (AP_HAL::micros() - _last_update_timestamp < RPIOUART_POLL_TIME_INTERVAL) {
return;
}
@ -287,7 +287,7 @@ void RPIOUARTDriver::_timer_tick(void)
_in_timer = false;
_last_update_timestamp = hal.scheduler->micros();
_last_update_timestamp = AP_HAL::micros();
}
#endif

6
libraries/AP_HAL_Linux/RaspilotAnalogIn.cpp
View File

@ -91,7 +91,7 @@ void RaspilotAnalogIn::init(void* implspecific)
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
hal.scheduler->panic("PANIC: RCIutput_Raspilot did not get "
AP_HAL::panic("PANIC: RCIutput_Raspilot did not get "
"valid SPI semaphore!");
return; // never reached
}
@ -103,7 +103,7 @@ void RaspilotAnalogIn::init(void* implspecific)
void RaspilotAnalogIn::_update()
{
if (hal.scheduler->micros() - _last_update_timestamp < 100000) {
if (AP_HAL::micros() - _last_update_timestamp < 100000) {
return;
}
@ -141,7 +141,7 @@ void RaspilotAnalogIn::_update()
}
_last_update_timestamp = hal.scheduler->micros();
_last_update_timestamp = AP_HAL::micros();
}
#endif

10
libraries/AP_HAL_Linux/SPIDriver.cpp
View File

@ -96,7 +96,7 @@ void SPIDeviceDriver::init()
if(_cs_pin != SPI_CS_KERNEL) {
_cs = hal.gpio->channel(_cs_pin);
if (_cs == NULL) {
hal.scheduler->panic("Unable to instantiate cs pin");
AP_HAL::panic("Unable to instantiate cs pin");
}
_cs->mode(HAL_GPIO_OUTPUT);
_cs->write(1); // do not hold the SPI bus initially
@ -150,7 +150,7 @@ void SPIDeviceManager::init(void *)
{
for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
if (_device[i]._bus >= LINUX_SPI_MAX_BUSES) {
hal.scheduler->panic("SPIDriver: invalid bus number");
AP_HAL::panic("SPIDriver: invalid bus number");
}
char path[255];
snprintf(path, sizeof(path), "/dev/spidev%u.%u",
@ -158,7 +158,7 @@ void SPIDeviceManager::init(void *)
_device[i]._fd = open(path, O_RDWR);
if (_device[i]._fd == -1) {
printf("Unable to open %s - %s\n", path, strerror(errno));
hal.scheduler->panic("SPIDriver: unable to open SPI bus");
AP_HAL::panic("SPIDriver: unable to open SPI bus");
}
#if SPI_DEBUGGING
printf("Opened %s\n", path);
@ -178,7 +178,7 @@ void SPIDeviceManager::cs_assert(enum AP_HAL::SPIDevice type)
}
}
if (i == LINUX_SPI_DEVICE_NUM_DEVICES) {
hal.scheduler->panic("Bad device type");
AP_HAL::panic("Bad device type");
}
// Kernel-mode CS handling
@ -214,7 +214,7 @@ void SPIDeviceManager::cs_release(enum AP_HAL::SPIDevice type)
}
}
if (i == LINUX_SPI_DEVICE_NUM_DEVICES) {
hal.scheduler->panic("Bad device type");
AP_HAL::panic("Bad device type");
}
// Kernel-mode CS handling

8
libraries/AP_HAL_Linux/SPIUARTDriver.cpp
View File

@ -93,14 +93,14 @@ void SPIUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
_buffer = new uint8_t[rxS];
if (_buffer == NULL) {
hal.console->printf("Not enough memory\n");
hal.scheduler->panic("Not enough memory\n");
AP_HAL::panic("Not enough memory\n");
}
}
_spi = hal.spi->device(AP_HAL::SPIDevice_Ublox);
if (_spi == NULL) {
hal.scheduler->panic("Cannot get SPIDevice_Ublox");
AP_HAL::panic("Cannot get SPIDevice_Ublox");
}
_spi_sem = _spi->get_semaphore();
@ -230,13 +230,13 @@ void SPIUARTDriver::_timer_tick(void)
return;
}
/* lower the update rate */
if (hal.scheduler->micros() - _last_update_timestamp < 10000) {
if (AP_HAL::micros() - _last_update_timestamp < 10000) {
return;
}
UARTDriver::_timer_tick();
_last_update_timestamp = hal.scheduler->micros();
_last_update_timestamp = AP_HAL::micros();
}
#endif

4
libraries/AP_HAL_Linux/Semaphores.cpp
View File

@ -21,13 +21,13 @@ bool Semaphore::take(uint32_t timeout_ms)
if (take_nonblocking()) {
return true;
}
uint64_t start = hal.scheduler->micros64();
uint64_t start = AP_HAL::micros64();
do {
hal.scheduler->delay_microseconds(200);
if (take_nonblocking()) {
return true;
}
} while ((hal.scheduler->micros64() - start) < timeout_ms*1000);
} while ((AP_HAL::micros64() - start) < timeout_ms*1000);
return false;
}

12
libraries/AP_HAL_Linux/Storage.cpp
View File

@ -35,12 +35,12 @@ void Storage::_storage_create(void)
unlink(STORAGE_FILE);
int fd = open(STORAGE_FILE, O_RDWR|O_CREAT, 0666);
if (fd == -1) {
hal.scheduler->panic("Failed to create " STORAGE_FILE);
AP_HAL::panic("Failed to create " STORAGE_FILE);
}
for (uint16_t loc=0; loc<sizeof(_buffer); loc += LINUX_STORAGE_MAX_WRITE) {
if (write(fd, &_buffer[loc], LINUX_STORAGE_MAX_WRITE) != LINUX_STORAGE_MAX_WRITE) {
perror("write");
hal.scheduler->panic("Error filling " STORAGE_FILE);
AP_HAL::panic("Error filling " STORAGE_FILE);
}
}
// ensure the directory is updated with the new size
@ -60,7 +60,7 @@ void Storage::_storage_open(void)
_storage_create();
fd = open(STORAGE_FILE, O_RDWR);
if (fd == -1) {
hal.scheduler->panic("Failed to open " STORAGE_FILE);
AP_HAL::panic("Failed to open " STORAGE_FILE);
}
}
memset(_buffer, 0, sizeof(_buffer));
@ -71,7 +71,7 @@ void Storage::_storage_open(void)
ssize_t ret = read(fd, _buffer, sizeof(_buffer));
if (ret == 4096 && ret != sizeof(_buffer)) {
if (ftruncate(fd, sizeof(_buffer)) != 0) {
hal.scheduler->panic("Failed to expand " STORAGE_FILE);
AP_HAL::panic("Failed to expand " STORAGE_FILE);
}
ret = sizeof(_buffer);
}
@ -80,10 +80,10 @@ void Storage::_storage_open(void)
_storage_create();
fd = open(STORAGE_FILE, O_RDONLY);
if (fd == -1) {
hal.scheduler->panic("Failed to open " STORAGE_FILE);
AP_HAL::panic("Failed to open " STORAGE_FILE);
}
if (read(fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
hal.scheduler->panic("Failed to read " STORAGE_FILE);
AP_HAL::panic("Failed to read " STORAGE_FILE);
}
}
close(fd);

12
libraries/AP_HAL_Linux/Storage_FRAM.cpp
View File

@ -34,11 +34,11 @@ void Storage_FRAM::_storage_create(void)
hal.console->println("Storage: FRAM is getting reset to default values");
if (fd == -1) {
hal.scheduler->panic("Failed to load FRAM");
AP_HAL::panic("Failed to load FRAM");
}
for (uint16_t loc=0; loc<sizeof(_buffer); loc += LINUX_STORAGE_MAX_WRITE) {
if (write(fd, &_buffer[loc], LINUX_STORAGE_MAX_WRITE) != LINUX_STORAGE_MAX_WRITE) {
hal.scheduler->panic("Error filling FRAM");
AP_HAL::panic("Error filling FRAM");
}
}
@ -60,7 +60,7 @@ void Storage_FRAM::_storage_open(void)
_storage_create();
fd = open();
if (fd == -1) {
hal.scheduler->panic("Failed to access FRAM");
AP_HAL::panic("Failed to access FRAM");
}
}
@ -68,10 +68,10 @@ void Storage_FRAM::_storage_open(void)
_storage_create();
fd = open();
if (fd == -1) {
hal.scheduler->panic("Failed to access FRAM");
AP_HAL::panic("Failed to access FRAM");
}
if (read(fd, _buffer, sizeof(_buffer)) != sizeof(_buffer)) {
hal.scheduler->panic("Failed to read FRAM");
AP_HAL::panic("Failed to read FRAM");
}
}
_initialised = true;
@ -150,7 +150,7 @@ int8_t Storage_FRAM::open()
hal.scheduler->delay(1000);
}
if(i==4){
hal.scheduler->panic("FRAM: Failed to receive Manufacturer ID 5 times");
AP_HAL::panic("FRAM: Failed to receive Manufacturer ID 5 times");
}
}

8
libraries/AP_HAL_Linux/TCPServerDevice.cpp
View File

@ -64,23 +64,23 @@ bool TCPServerDevice::open()
listener.reuseaddress();
if (!listener.bind(_ip, _port)) {
if (hal.scheduler->millis() - _last_bind_warning > 5000) {
if (AP_HAL::millis() - _last_bind_warning > 5000) {
::printf("bind failed on %s port %u - %s\n",
_ip,
_port,
strerror(errno));
_last_bind_warning = hal.scheduler->millis();
_last_bind_warning = AP_HAL::millis();
}
return false;
}
if (!listener.listen(1)) {
if (hal.scheduler->millis() - _last_bind_warning > 5000) {
if (AP_HAL::millis() - _last_bind_warning > 5000) {
::printf("listen failed on %s port %u - %s\n",
_ip,
_port,
strerror(errno));
_last_bind_warning = hal.scheduler->millis();
_last_bind_warning = AP_HAL::millis();
}
return false;
}

2
libraries/AP_HAL_Linux/ToneAlarmDriver.cpp
View File

@ -89,7 +89,7 @@ void ToneAlarm::stop()
bool ToneAlarm::play()
{
uint16_t cur_time = hal.scheduler->millis();
uint16_t cur_time = AP_HAL::millis();
if(tune_num != prev_tune_num){
tune_changed = true;
return true;