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navio_adc: open fd once and reuse it

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Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>
This commit is contained in:
Nicolae Rosia
2017-06-06 09:59:49 +02:00
committed by Beat Küng
parent 5f4fb744ca
commit 92ac6f0c89
1 changed files with 63 additions and 24 deletions
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src/drivers/navio_adc/navio_adc.cpp
+63 -24
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@@ -93,6 +93,7 @@ private:
int read_channel(struct adc_msg_s *adc_msg, int channel);
pthread_mutex_t _samples_lock;
int _fd[ADC_MAX_CHAN];
adc_msg_s _samples[ADC_MAX_CHAN];
};
@@ -100,11 +101,21 @@ NavioADC::NavioADC()
: DriverFramework::VirtDevObj("navio_adc", ADC0_DEVICE_PATH, ADC_BASE_DEV_PATH, 1e6 / 100)
{
pthread_mutex_init(&_samples_lock, NULL);
for (int i = 0; i < ADC_MAX_CHAN; i++) {
_fd[i] = -1;
}
}
NavioADC::~NavioADC()
{
pthread_mutex_destroy(&_samples_lock);
for (int i = 0; i < ADC_MAX_CHAN; i++) {
if (_fd[i] != -1) {
close(_fd[i]);
}
}
}
void NavioADC::_measure()
@@ -112,9 +123,20 @@ void NavioADC::_measure()
adc_msg_s tmp_samples[ADC_MAX_CHAN];
for (int i = 0; i < ADC_MAX_CHAN; ++i) {
int ret = read_channel(&tmp_samples[i], i);
int ret;
if (ret != 0) {
/* Currently we only use these channels */
if (i != NAVIO_ADC_BATTERY_VOLTAGE_CHANNEL &&
i != NAVIO_ADC_BATTERY_CURRENT_CHANNEL) {
tmp_samples[i].am_channel = i;
tmp_samples[i].am_data = 0;
continue;
}
ret = read_channel(&tmp_samples[i], i);
if (ret < 0) {
PX4_ERR("read_channel(%d): %d", i, ret);
tmp_samples[i].am_channel = i;
tmp_samples[i].am_data = 0;
@@ -140,7 +162,32 @@ int NavioADC::init()
return ret;
}
for (int i = 0; i < ADC_MAX_CHAN; i++) {
char channel_path[sizeof(ADC_SYSFS_PATH)];
strncpy(channel_path, ADC_SYSFS_PATH, sizeof(ADC_SYSFS_PATH));
channel_path[sizeof(ADC_SYSFS_PATH) - 2] += i;
_fd[i] = ::open(channel_path, O_RDONLY);
if (_fd[i] == -1) {
int err = errno;
ret = -1;
PX4_ERR("init: open: %s (%d)", strerror(err), err);
goto cleanup;
}
}
return PX4_OK;
cleanup:
for (int i = 0; i < ADC_MAX_CHAN; i++) {
if (_fd[i] != -1) {
close(_fd[i]);
}
}
return ret;
}
int NavioADC::devIOCTL(unsigned long request, unsigned long arg)
@@ -172,36 +219,31 @@ ssize_t NavioADC::devRead(void *buf, size_t count)
int NavioADC::read_channel(struct adc_msg_s *adc_msg, int channel)
{
char buffer[11]; /* 32bit max INT has maximum 10 chars */
char channel_path[sizeof(ADC_SYSFS_PATH)];
int fd;
int ret;
if (channel < 0 || channel > 5) {
if (channel < 0 || channel >= ADC_MAX_CHAN) {
return -EINVAL;
}
strncpy(channel_path, ADC_SYSFS_PATH, sizeof(ADC_SYSFS_PATH));
channel_path[sizeof(ADC_SYSFS_PATH) - 2] += channel;
fd = ::open(channel_path, O_RDONLY);
if (fd == -1) {
ret = errno;
PX4_ERR("read_channel: open: %s (%d)", strerror(ret), ret);
return ret;
}
ret = ::read(fd, buffer, sizeof(buffer) - 1);
ret = lseek(_fd[channel], 0, SEEK_SET);
if (ret == -1) {
ret = errno;
PX4_ERR("read_channel: read: %s (%d)", strerror(ret), ret);
goto cleanup;
PX4_ERR("read_channel %d: lseek: %s (%d)", channel, strerror(ret), ret);
return ret;
}
ret = ::read(_fd[channel], buffer, sizeof(buffer) - 1);
if (ret == -1) {
ret = errno;
PX4_ERR("read_channel %d: read: %s (%d)", channel, strerror(ret), ret);
return ret;
} else if (ret == 0) {
PX4_ERR("read_channel: read empty");
PX4_ERR("read_channel %d: read empty", channel);
ret = -EINVAL;
goto cleanup;
return ret;
}
buffer[ret] = 0;
@@ -210,9 +252,6 @@ int NavioADC::read_channel(struct adc_msg_s *adc_msg, int channel)
adc_msg->am_data = strtol(buffer, NULL, 10);
ret = 0;
cleanup:
::close(fd);
return ret;
}