diff options
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 27 |
1 files changed, 9 insertions, 18 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index ad0112b9b..1adefdea5 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1388,7 +1388,8 @@ PX4IO::print_status() } int -PX4IO::ioctl(file *filep, int cmd, unsigned long arg) +PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg) +/* Make it obvious that file * isn't used here */ { int ret = OK; @@ -1668,11 +1669,7 @@ start(int argc, char *argv[]) if (param_get(param_find("RC_RL1_DSM_VCC"), &dsm_vcc_ctl) == OK) { if (dsm_vcc_ctl) { g_dev->set_dsm_vcc_ctl(true); - int fd = open(GPIO_DEVICE_PATH, O_WRONLY); - if (fd < 0) - errx(1, "failed to open device"); - ioctl(fd, DSM_BIND_POWER_UP, 0); - close(fd); + g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0); } } exit(0); @@ -1681,7 +1678,7 @@ start(int argc, char *argv[]) void bind(int argc, char *argv[]) { - int fd, pulses; + int pulses; if (g_dev == nullptr) errx(1, "px4io must be started first"); @@ -1699,12 +1696,7 @@ bind(int argc, char *argv[]) else errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]); - fd = open(GPIO_DEVICE_PATH, O_WRONLY); - - if (fd < 0) - errx(1, "failed to open device"); - - ioctl(fd, DSM_BIND_START, pulses); + g_dev->ioctl(nullptr, DSM_BIND_START, pulses); /* Open console directly to grab CTRL-C signal */ int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY); @@ -1721,9 +1713,8 @@ bind(int argc, char *argv[]) if (read(console, &c, 1) == 1) { if (c == 0x03 || c == 0x63) { warnx("Done\n"); - ioctl(fd, DSM_BIND_STOP, 0); - ioctl(fd, DSM_BIND_POWER_UP, 0); - close(fd); + g_dev->ioctl(nullptr, DSM_BIND_STOP, 0); + g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0); close(console); exit(0); } @@ -1914,7 +1905,7 @@ px4io_main(int argc, char *argv[]) * We can cheat and call the driver directly, as it * doesn't reference filp in ioctl() */ - g_dev->ioctl(NULL, PX4IO_INAIR_RESTART_ENABLE, 1); + g_dev->ioctl(nullptr, PX4IO_INAIR_RESTART_ENABLE, 1); } else { errx(1, "not loaded"); } @@ -1958,7 +1949,7 @@ px4io_main(int argc, char *argv[]) /* we can cheat and call the driver directly, as it * doesn't reference filp in ioctl() */ - int ret = g_dev->ioctl(NULL, PX4IO_SET_DEBUG, level); + int ret = g_dev->ioctl(nullptr, PX4IO_SET_DEBUG, level); if (ret != 0) { printf("SET_DEBUG failed - %d\n", ret); exit(1); |