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navio_sysfs_pwm_out: avoid dynamic memory allocation & fix a memory leak

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memory leak was in send_outputs_pwm()
This commit is contained in:
Beat Küng
2016-10-06 09:01:25 +02:00
committed by Lorenz Meier
parent b864983c5e
commit bad107a374
1 changed files with 10 additions and 14 deletions
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src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp
+10 -14
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@@ -181,19 +181,16 @@ int pwm_write_sysfs(char *path, int value)
{
int fd = ::open(path, O_WRONLY | O_CLOEXEC);
int n;
char *data;
::free(path);
char data[16];
if (fd == -1) {
return -errno;
}
n = ::asprintf(&data, "%u", value);
n = ::snprintf(data, sizeof(data), "%u", value);
if (n > 0) {
::write(fd, data, n);
::free(data);
}
::close(fd);
@@ -204,10 +201,10 @@ int pwm_write_sysfs(char *path, int value)
int pwm_initialize(const char *device)
{
int i;
char *path;
char path[128];
for (i = 0; i < NUM_PWM; ++i) {
::asprintf(&path, "%s/export", device);
::snprintf(path, sizeof(path), "%s/export", device);
if (pwm_write_sysfs(path, i) < 0) {
PX4_ERR("PWM export failed");
@@ -215,7 +212,7 @@ int pwm_initialize(const char *device)
}
for (i = 0; i < NUM_PWM; ++i) {
::asprintf(&path, "%s/pwm%u/enable", device, i);
::snprintf(path, sizeof(path), "%s/pwm%u/enable", device, i);
if (pwm_write_sysfs(path, 1) < 0) {
PX4_ERR("PWM enable failed");
@@ -223,7 +220,7 @@ int pwm_initialize(const char *device)
}
for (i = 0; i < NUM_PWM; ++i) {
::asprintf(&path, "%s/pwm%u/period", device, i);
::snprintf(path, sizeof(path), "%s/pwm%u/period", device, i);
if (pwm_write_sysfs(path, (int)1e9 / FREQUENCY_PWM)) {
PX4_ERR("PWM period failed");
@@ -231,9 +228,8 @@ int pwm_initialize(const char *device)
}
for (i = 0; i < NUM_PWM; ++i) {
::asprintf(&path, "%s/pwm%u/duty_cycle", device, i);
::snprintf(path, sizeof(path), "%s/pwm%u/duty_cycle", device, i);
_pwm_fd[i] = ::open(path, O_WRONLY | O_CLOEXEC);
::free(path);
if (_pwm_fd[i] == -1) {
PX4_ERR("PWM: Failed to open duty_cycle.");
@@ -256,11 +252,11 @@ void pwm_deinitialize()
void send_outputs_pwm(const uint16_t *pwm)
{
int n;
char *data;
char data[16];
//convert this to duty_cycle in ns
for (unsigned i = 0; i < NUM_PWM; ++i) {
n = ::asprintf(&data, "%u", pwm[i] * 1000);
n = ::snprintf(data, sizeof(data), "%u", pwm[i] * 1000);
::write(_pwm_fd[i], data, n);
}
}
@@ -462,7 +458,7 @@ int navio_sysfs_pwm_out_main(int argc, char *argv[])
switch (ch) {
case 'd':
device = myoptarg;
strncpy(navio_sysfs_pwm_out::_device, device, strlen(device));
strncpy(navio_sysfs_pwm_out::_device, device, sizeof(navio_sysfs_pwm_out::_device));
break;
}
}