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Sensors: Use ADC handle correctly

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This commit is contained in:
Lorenz Meier
2015-12-04 21:19:17 +01:00
parent 1d05ad2cf1
commit d97592e853
1 changed files with 7 additions and 12 deletions
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src/modules/sensors/sensors.cpp
+7 -12
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@@ -65,7 +65,6 @@
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
#include <px4_adc.h> #include <px4_adc.h>
//#include <nuttx/analog/adc.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h> #include <drivers/drv_accel.h>
@@ -199,7 +198,7 @@ private:
void rc_poll(); void rc_poll();
/* XXX should not be here - should be own driver */ /* XXX should not be here - should be own driver */
int _fd_adc; /**< ADC driver handle */ DevHandle _h_adc; /**< ADC driver handle */
hrt_abstime _last_adc; /**< last time we took input from the ADC */ hrt_abstime _last_adc; /**< last time we took input from the ADC */
bool _task_should_exit; /**< if true, sensor task should exit */ bool _task_should_exit; /**< if true, sensor task should exit */
@@ -489,7 +488,7 @@ Sensors *g_sensors = nullptr;
} }
Sensors::Sensors() : Sensors::Sensors() :
_fd_adc(-1), _h_adc(),
_last_adc(0), _last_adc(0),
_task_should_exit(true), _task_should_exit(true),
@@ -1025,11 +1024,10 @@ int
Sensors::adc_init() Sensors::adc_init()
{ {
DevHandle h_adc; DevMgr::getHandle(ADC0_DEVICE_PATH, _h_adc);
DevMgr::getHandle(ADC0_DEVICE_PATH, h_adc);
if (!h_adc.isValid()) { if (!_h_adc.isValid()) {
warnx("FATAL: no ADC found: %s (%d)", ADC0_DEVICE_PATH, h_adc.getError()); warnx("FATAL: no ADC found: %s (%d)", ADC0_DEVICE_PATH, _h_adc.getError());
return ERROR; return ERROR;
} }
@@ -1619,7 +1617,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
/* make space for a maximum of twelve channels (to ensure reading all channels at once) */ /* make space for a maximum of twelve channels (to ensure reading all channels at once) */
struct adc_msg_s buf_adc[12]; struct adc_msg_s buf_adc[12];
/* read all channels available */ /* read all channels available */
int ret = px4_read(_fd_adc, &buf_adc, sizeof(buf_adc)); int ret = _h_adc.read(&buf_adc, sizeof(buf_adc));
if (ret >= (int)sizeof(buf_adc[0])) { if (ret >= (int)sizeof(buf_adc[0])) {
@@ -2058,10 +2056,7 @@ Sensors::task_main()
warnx("sensor initialization failed"); warnx("sensor initialization failed");
_sensors_task = -1; _sensors_task = -1;
if (_fd_adc >= 0) { DevMgr::releaseHandle(_h_adc);
px4_close(_fd_adc);
_fd_adc = -1;
}
return; return;
} }