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sf0x: avoid reopening the UART on startup

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And:
- return correct return code in SF0X::init()
- remove unneeded SF0X::probe()
This commit is contained in:
Beat Küng
2018-09-25 07:53:29 +02:00
parent 52967bd654
commit babe300960
1 changed files with 34 additions and 48 deletions
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src/drivers/distance_sensor/sf0x/sf0x.cpp
+34 -48
View File
@@ -96,9 +96,6 @@ public:
*/ */
void print_info(); void print_info();
protected:
virtual int probe();
private: private:
char _port[20]; char _port[20];
uint8_t _rotation; uint8_t _rotation;
@@ -196,40 +193,6 @@ SF0X::SF0X(const char *port, uint8_t rotation) :
/* enforce null termination */ /* enforce null termination */
_port[sizeof(_port) - 1] = '\0'; _port[sizeof(_port) - 1] = '\0';
/* open fd */
_fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK);
if (_fd < 0) {
PX4_ERR("open failed (%i)", errno);
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
tcgetattr(_fd, &uart_config);
/* clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* no parity, one stop bit */
uart_config.c_cflag &= ~(CSTOPB | PARENB);
unsigned speed = B9600;
/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
PX4_ERR("CFG: %d ISPD", termios_state);
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
PX4_ERR("CFG: %d OSPD", termios_state);
}
if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) {
PX4_ERR("baud %d ATTR", termios_state);
}
} }
SF0X::~SF0X() SF0X::~SF0X()
@@ -330,17 +293,7 @@ SF0X::init()
} while (0); } while (0);
/* close the fd */ return ret;
::close(_fd);
_fd = -1;
return OK;
}
int
SF0X::probe()
{
return measure();
} }
void void
@@ -660,6 +613,39 @@ SF0X::cycle()
if (_fd < 0) { if (_fd < 0) {
/* open fd */ /* open fd */
_fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK); _fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK);
if (_fd < 0) {
PX4_ERR("open failed (%i)", errno);
return;
}
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
tcgetattr(_fd, &uart_config);
/* clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* no parity, one stop bit */
uart_config.c_cflag &= ~(CSTOPB | PARENB);
unsigned speed = B9600;
/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
PX4_ERR("CFG: %d ISPD", termios_state);
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
PX4_ERR("CFG: %d OSPD", termios_state);
}
if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) {
PX4_ERR("baud %d ATTR", termios_state);
}
} }
/* collection phase? */ /* collection phase? */