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extensive orb_advert_t fixes

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The calls to orb_advertise were being mishandled throughout the code.
There were ::close() calls on memory pointers, there were checks
against < 0 when it is a pointer to a object and values larger than
0x7ffffffff are valid. Some places orb_advert_t variables were
being initialized as 0 other places as -1.

The orb_advert_t type was changed to uintptr_t so the pointer value
would not be wrapped as a negative number. This was causing a failure
on ARM.

Tests for < 0 were changed to == 0 since a null pointer is the valid
representation for error, or uninitialized.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-05-27 14:41:33 -07:00
committed by Lorenz Meier
parent 9a67303416
commit a734fc96d1
52 changed files with 202 additions and 208 deletions
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src/drivers/mpu6000/mpu6000.cpp
+4 -4
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@@ -507,7 +507,7 @@ MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev
_accel_scale{},
_accel_range_scale(0.0f),
_accel_range_m_s2(0.0f),
_accel_topic(-1),
_accel_topic(0),
_accel_orb_class_instance(-1),
_accel_class_instance(-1),
_gyro_reports(nullptr),
@@ -658,7 +658,7 @@ MPU6000::init()
_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
&_accel_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH);
if (_accel_topic < 0) {
if (_accel_topic == 0) {
warnx("ADVERT FAIL");
}
@@ -670,7 +670,7 @@ MPU6000::init()
_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
&_gyro->_gyro_orb_class_instance, (is_external()) ? ORB_PRIO_MAX : ORB_PRIO_HIGH);
if (_gyro->_gyro_topic < 0) {
if (_gyro->_gyro_topic == 0) {
warnx("ADVERT FAIL");
}
@@ -1847,7 +1847,7 @@ MPU6000::print_registers()
MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
CDev("MPU6000_gyro", path),
_parent(parent),
_gyro_topic(-1),
_gyro_topic(0),
_gyro_orb_class_instance(-1),
_gyro_class_instance(-1)
{