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Better sanity checking and error handling.

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px4dev
2013-01-23 18:56:03 -08:00
parent 9a4d6455fc
commit 3244bb83ea
1 changed files with 20 additions and 12 deletions
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apps/drivers/px4io/px4io.cpp
+20 -12
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@@ -320,13 +320,13 @@ PX4IO::init()
_max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT);
_max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER);
_max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT);
if ((_max_actuators < 1) || (_max_actuators == _io_reg_get_error) ||
(_max_relays < 1) || (_max_relays == _io_reg_get_error) ||
(_max_relays < 16) || (_max_relays == _io_reg_get_error) ||
(_max_rc_input < 1) || (_max_rc_input == _io_reg_get_error)) {
if ((_max_actuators < 1) || (_max_actuators > 255) ||
(_max_relays < 1) || (_max_relays > 255) ||
(_max_relays < 16) || (_max_relays > 255) ||
(_max_rc_input < 1) || (_max_rc_input > 255)) {
log("failed getting parameters from PX4IO");
return ret;
return -1;
}
if (_max_rc_input > RC_INPUT_MAX_CHANNELS)
_max_rc_input = RC_INPUT_MAX_CHANNELS;
@@ -640,7 +640,7 @@ PX4IO::io_get_status()
int ret;
/* get STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT in that order */
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, regs, sizeof(regs) / sizeof(regs[0]));
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &regs[0], sizeof(regs) / sizeof(regs[0]));
if (ret != OK)
return ret;
@@ -679,7 +679,7 @@ PX4IO::io_get_status()
int
PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
{
uint16_t channel_count;
uint32_t channel_count;
int ret;
input_rc.timestamp = hrt_absolute_time();
@@ -701,9 +701,11 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
* XXX can we do this more cheaply? If we knew we had DMA, it would
* almost certainly be better to just get all the inputs...
*/
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &channel_count, 1);
if (ret != OK)
channel_count = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
if (channel_count == _io_reg_get_error)
return ret;
if (channel_count > RC_INPUT_MAX_CHANNELS)
channel_count = RC_INPUT_MAX_CHANNELS;
input_rc.channel_count = channel_count;
if (channel_count > 0)
@@ -846,7 +848,10 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned
msgv[1].buffer = (uint8_t *)(values);
msgv[1].length = num_values * sizeof(*values);
return transfer(msgv, 2);
int ret = transfer(msgv, 2);
if (ret != OK)
debug("io_reg_set: %d", ret);
return ret;
}
int
@@ -872,7 +877,10 @@ PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_v
msgv[1].buffer = (uint8_t *)values;
msgv[1].length = num_values * sizeof(*values);
return transfer(msgv, 2);
int ret = transfer(msgv, 2);
if (ret != OK)
debug("io_reg_get: %d", ret);
return ret;
}
uint32_t
@@ -898,7 +906,7 @@ PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t
value &= ~clearbits;
value |= setbits;
return io_reg_set(page, offset, &value, 1);
return io_reg_set(page, offset, value);
}
int