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Use common, board-type-agnostic code to allocate the PX4IO interface.

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This commit is contained in:
px4dev
2013-07-14 11:50:35 -07:00
parent 5350c2be09
commit f8f6a43fea
1 changed files with 34 additions and 36 deletions
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src/drivers/px4io/px4io.cpp
+34 -36
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@@ -1598,29 +1598,42 @@ extern "C" __EXPORT int px4io_main(int argc, char *argv[]);
namespace
{
device::Device *
get_interface()
{
device::Device *interface = nullptr;
/* try for a serial interface */
if (PX4IO_serial_interface != nullptr)
interface = PX4IO_serial_interface();
if (interface != nullptr)
goto got;
/* try for an I2C interface if we haven't got a serial one */
if (PX4IO_i2c_interface != nullptr)
interface = PX4IO_i2c_interface();
if (interface != nullptr)
goto got;
errx(1, "cannot alloc interface");
got:
if (interface->init() != OK) {
delete interface;
errx(1, "interface init failed");
}
return interface;
}
void
start(int argc, char *argv[])
{
if (g_dev != nullptr)
errx(1, "already loaded");
device::Device *interface;
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
interface = PX4IO_serial_interface();
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
interface = PX4IO_i2c_interface();
#else
# error Unknown board - cannot select interface.
#endif
if (interface == nullptr)
errx(1, "cannot alloc interface");
if (interface->init()) {
delete interface;
errx(1, "interface init failed");
}
/* allocate the interface */
device::Device *interface = get_interface();
/* create the driver - it will set g_dev */
(void)new PX4IO(interface);
@@ -1741,27 +1754,12 @@ monitor(void)
void
if_test(unsigned mode)
{
device::Device *interface;
device::Device *interface = get_interface();
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
interface = PX4IO_serial_interface();
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
interface = PX4IO_i2c_interface();
#else
# error Unknown board - cannot select interface.
#endif
int result = interface->ioctl(1, mode); /* XXX magic numbers */
delete interface;
if (interface == nullptr)
errx(1, "cannot alloc interface");
if (interface->init()) {
delete interface;
errx(1, "interface init failed");
} else {
int result = interface->ioctl(1, mode); /* XXX magic numbers */
delete interface;
errx(0, "test returned %d", result);
}
errx(0, "test returned %d", result);
}
} /* namespace */