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Fix handling of register read operation errors.

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px4dev
2013-07-17 09:19:17 -07:00
parent 72f58829c3
commit 5679a1b2b1
1 changed files with 17 additions and 13 deletions
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src/drivers/px4io/px4io.cpp
+16 -12
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@@ -256,7 +256,7 @@ private:
* @param offset Register offset to start writing at. * @param offset Register offset to start writing at.
* @param values Pointer to array of values to write. * @param values Pointer to array of values to write.
* @param num_values The number of values to write. * @param num_values The number of values to write.
* @return Zero if all values were successfully written. * @return OK if all values were successfully written.
*/ */
int io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values); int io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
@@ -266,7 +266,7 @@ private:
* @param page Register page to write to. * @param page Register page to write to.
* @param offset Register offset to write to. * @param offset Register offset to write to.
* @param value Value to write. * @param value Value to write.
* @return Zero if the value was written successfully. * @return OK if the value was written successfully.
*/ */
int io_reg_set(uint8_t page, uint8_t offset, const uint16_t value); int io_reg_set(uint8_t page, uint8_t offset, const uint16_t value);
@@ -277,7 +277,7 @@ private:
* @param offset Register offset to start reading from. * @param offset Register offset to start reading from.
* @param values Pointer to array where values should be stored. * @param values Pointer to array where values should be stored.
* @param num_values The number of values to read. * @param num_values The number of values to read.
* @return Zero if all values were successfully read. * @return OK if all values were successfully read.
*/ */
int io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values); int io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_values);
@@ -1149,9 +1149,11 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned
} }
int ret = _interface->write((page << 8) | offset, (void *)values, num_values); int ret = _interface->write((page << 8) | offset, (void *)values, num_values);
if (ret != num_values) if (ret != num_values) {
debug("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, ret); debug("io_reg_set(%u,%u,%u): error %d", page, offset, num_values, ret);
return ret; return -1;
}
return OK;
} }
int int
@@ -1170,9 +1172,11 @@ PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_v
} }
int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values); int ret = _interface->read((page << 8) | offset, reinterpret_cast<void *>(values), num_values);
if (ret != num_values) if (ret != num_values) {
debug("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, ret); debug("io_reg_get(%u,%u,%u): data error %d", page, offset, num_values, ret);
return ret; return -1;
}
return OK;
} }
uint32_t uint32_t
@@ -1180,7 +1184,7 @@ PX4IO::io_reg_get(uint8_t page, uint8_t offset)
{ {
uint16_t value; uint16_t value;
if (io_reg_get(page, offset, &value, 1)) if (io_reg_get(page, offset, &value, 1) != OK)
return _io_reg_get_error; return _io_reg_get_error;
return value; return value;
@@ -1193,7 +1197,7 @@ PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t
uint16_t value; uint16_t value;
ret = io_reg_get(page, offset, &value, 1); ret = io_reg_get(page, offset, &value, 1);
if (ret) if (ret != OK)
return ret; return ret;
value &= ~clearbits; value &= ~clearbits;
value |= setbits; value |= setbits;
@@ -1500,9 +1504,9 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0); unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
uint32_t value = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel); *(uint32_t *)arg = io_reg_get(PX4IO_PAGE_PWM_INFO, PX4IO_RATE_MAP_BASE + channel);
if (*(uint32_t *)arg == _io_reg_get_error)
*(uint32_t *)arg = value; ret = -EIO;
break; break;
} }