From edf82d3937c776a167575d18221fc2e29569af52 Mon Sep 17 00:00:00 2001
From: Jake Dahl <jacob.dahl@tealdrones.com>
Date: Tue, 16 Oct 2018 17:39:17 -0600
Subject: [PATCH] added return values that I check for ::read and ::write
---
src/drivers/distance_sensor/pga460/pga460.cpp | 77 +++++++++++++++----
src/drivers/distance_sensor/pga460/pga460.h | 6 +-
2 files changed, 64 insertions(+), 19 deletions(-)
diff --git a/src/drivers/distance_sensor/pga460/pga460.cpp b/src/drivers/distance_sensor/pga460/pga460.cpp
index 1c8578028b..ce4e17df2d 100644
--- a/src/drivers/distance_sensor/pga460/pga460.cpp
+++ b/src/drivers/distance_sensor/pga460/pga460.cpp
@@ -145,7 +145,11 @@ int PGA460::initialize_thresholds()
uint8_t checksum = calc_checksum(&settings_buf[1], sizeof(settings_buf) - 2);
settings_buf[array_size - 1] = checksum;
- ::write(_fd, &settings_buf[0], sizeof(settings_buf));
+ int ret = ::write(_fd, &settings_buf[0], sizeof(settings_buf));
+
+ if (ret < 0) {
+ return PX4_ERROR;
+ }
// Must wait >50us per datasheet.
usleep(100);
@@ -218,13 +222,19 @@ float PGA460::calculate_object_distance(uint16_t time_of_flight)
return object_distance;
}
-void PGA460::flash_eeprom()
+int PGA460::flash_eeprom()
{
// Send same unlock code with prog bit set to 1.
uint8_t eeprom_write_buf[5] = {SYNCBYTE, SRW, EE_CNTRL_ADDR, EE_UNLOCK_ST2, 0xFF};
uint8_t checksum = calc_checksum(&eeprom_write_buf[1], sizeof(eeprom_write_buf) - 2);
eeprom_write_buf[4] = checksum;
- ::write(_fd, &eeprom_write_buf[0], sizeof(eeprom_write_buf));
+ int ret = ::write(_fd, &eeprom_write_buf[0], sizeof(eeprom_write_buf));
+
+ if (ret < 0) {
+ return PX4_ERROR;
+ }
+
+ return PX4_OK;
}
float PGA460::get_temperature()
@@ -233,13 +243,22 @@ float PGA460::get_temperature()
uint8_t checksum = calc_checksum(&buf_tx[0], 3);
buf_tx[3] = checksum;
- ::write(_fd, &buf_tx[0], sizeof(buf_tx));
+ int result = ::write(_fd, &buf_tx[0], sizeof(buf_tx));
+
+ if (result < 0) {
+ return PX4_ERROR;
+ }
// The pga460 requires a 2ms delay per the datasheet.
usleep(5000);
buf_tx[1] = TNLR;
- ::write(_fd, &buf_tx[0], sizeof(buf_tx) - 2);
+ int ret = ::write(_fd, &buf_tx[0], sizeof(buf_tx) - 2);
+
+ if (ret < 0) {
+ return PX4_ERROR;
+ }
+
usleep(10000);
uint8_t buf_rx[4] = {};
@@ -247,7 +266,7 @@ float PGA460::get_temperature()
int total_bytes = 0;
do {
- int ret = ::read(_fd, buf_rx + total_bytes, sizeof(buf_rx));
+ ret = ::read(_fd, buf_rx + total_bytes, sizeof(buf_rx));
total_bytes += ret;
@@ -506,7 +525,7 @@ int PGA460::read_eeprom()
ret = ::write(_fd, &cmd_buf[0], sizeof(cmd_buf));
if (ret < 0) {
- PX4_WARN("::write() failed.");
+ return PX4_ERROR;
}
usleep(10000);
@@ -555,7 +574,12 @@ uint8_t PGA460::read_register(const uint8_t reg)
uint8_t checksum = calc_checksum(&buf_tx[1], 2);
buf_tx[3] = checksum;
- ::write(_fd, &buf_tx[0], sizeof(buf_tx));
+ int ret = ::write(_fd, &buf_tx[0], sizeof(buf_tx));
+
+ if(ret < 0) {
+ return PX4_ERROR;
+ }
+
usleep(10000);
uint8_t buf_rx[3] = {};
@@ -563,7 +587,7 @@ uint8_t PGA460::read_register(const uint8_t reg)
int total_bytes = 0;
do {
- int ret = ::read(_fd, buf_rx + total_bytes, sizeof(buf_rx));
+ ret = ::read(_fd, buf_rx + total_bytes, sizeof(buf_rx));
total_bytes += ret;
@@ -598,7 +622,12 @@ int PGA460::read_threshold_registers()
uint8_t buf_tx[2] = {SYNCBYTE, THRBR};
- ::write(_fd, &buf_tx[0], sizeof(buf_tx));
+ int ret = ::write(_fd, &buf_tx[0], sizeof(buf_tx));
+
+ if(ret < 0) {
+ return PX4_ERROR;
+ }
+
usleep(10000);
uint8_t buf_rx[array_size + 2] = {};
@@ -606,7 +635,7 @@ int PGA460::read_threshold_registers()
int total_bytes = 0;
do {
- int ret = ::read(_fd, buf_rx + total_bytes, sizeof(buf_rx));
+ ret = ::read(_fd, buf_rx + total_bytes, sizeof(buf_rx));
total_bytes += ret;
@@ -697,14 +726,20 @@ uint8_t PGA460::set_range_mode()
return _ranging_mode;
}
-void PGA460::take_measurement(const uint8_t mode)
+int PGA460::take_measurement(const uint8_t mode)
{
// Issue a measurement command to detect one object using Preset 1 Burst/Listen.
uint8_t buf_tx[4] = {SYNCBYTE, mode, 0x01, 0xFF};
uint8_t checksum = calc_checksum(&buf_tx[1], 2);
buf_tx[3] = checksum;
- ::write(_fd, &buf_tx[0], sizeof(buf_tx));
+ int ret = ::write(_fd, &buf_tx[0], sizeof(buf_tx));
+
+ if(ret < 0) {
+ return PX4_ERROR;
+ }
+
+ return PX4_OK;
}
int PGA460::task_spawn(int argc, char *argv[])
@@ -778,14 +813,20 @@ void PGA460::uORB_publish_results(const float object_distance)
}
}
-void PGA460::unlock_eeprom()
+int PGA460::unlock_eeprom()
{
// Two step EEPROM unlock -- send unlock code w/ prog bit set to 0.
// This might actually be wrapped into command 11 (ee bulk write) but I am not sure.
uint8_t eeprom_write_buf[5] = {SYNCBYTE, SRW, EE_CNTRL_ADDR, EE_UNLOCK_ST1, 0xFF};
uint8_t checksum = calc_checksum(&eeprom_write_buf[1], sizeof(eeprom_write_buf) - 2);
eeprom_write_buf[4] = checksum;
- ::write(_fd, &eeprom_write_buf[0], sizeof(eeprom_write_buf));
+ int ret = ::write(_fd, &eeprom_write_buf[0], sizeof(eeprom_write_buf));
+
+ if(ret < 0) {
+ return PX4_ERROR;
+ }
+
+ return PX4_OK;
}
int PGA460::write_eeprom()
@@ -802,7 +843,11 @@ int PGA460::write_eeprom()
uint8_t checksum = calc_checksum(&settings_buf[1], sizeof(settings_buf) - 2);
settings_buf[45] = checksum;
- ::write(_fd, &settings_buf[0], sizeof(settings_buf));
+ int ret = ::write(_fd, &settings_buf[0], sizeof(settings_buf));
+
+ if(ret < 0) {
+ return PX4_ERROR;
+ }
// Needs time, see datasheet timing requirements.
usleep(5000);
diff --git a/src/drivers/distance_sensor/pga460/pga460.h b/src/drivers/distance_sensor/pga460/pga460.h
index 6c6f68f913..1e056e5fb6 100644
--- a/src/drivers/distance_sensor/pga460/pga460.h
+++ b/src/drivers/distance_sensor/pga460/pga460.h
@@ -337,7 +337,7 @@ private:
/**
* @brief Send the program command to the EEPROM to start the flash process.
*/
- void flash_eeprom();
+ int flash_eeprom();
/**
* @brief Writes program defined threshold defaults to the register map and checks/writes the EEPROM.
@@ -365,7 +365,7 @@ private:
/**
* @brief Commands the device to perform an ultrasonic measurement.
*/
- void take_measurement(const uint8_t mode);
+ int take_measurement(const uint8_t mode);
/*
* @brief Gets a temperature measurement in degrees C.
@@ -376,7 +376,7 @@ private:
/**
* @brief Send the unlock command to the EEPROM to enable reading and writing -- not needed w/ bulk write
*/
- void unlock_eeprom();
+ int unlock_eeprom();
/**
* @brief Commands the device to publish the measurement results to uORB.
--
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