From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 3 Feb 2019 05:49:03 +0000 (-0200)
Subject: Change tty initialization.
X-Git-Tag: f1~5
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=5874ec1302e521e920afba4b48e2f968504e290d;p=bno055.git

Change tty initialization.
---

diff --git a/include/bno055_tty.h b/include/bno055_tty.h
index 61e8688..5a6e342 100644
--- a/include/bno055_tty.h
+++ b/include/bno055_tty.h
@@ -49,18 +49,18 @@ extern s8 BNO055_tty_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt);
 
 /*
  *	\Brief: TTY initilization routine
- *	\Return: status of the initialization
- *	\param fd: tty device file descriptor	
+ *	\Return: 0 on success, -1 on failure and set errno to indicate the error
+ *	\param dev_name: tty device name	
  *	\param bno055: pointer to a bno055 structure
 */
-extern s8 BNO055_tty_init(int fd,struct bno055_t *bno055);
+extern int BNO055_tty_init(const char *dev_name,struct bno055_t *bno055);
 
 /*
  *	\Brief: TTY close routine
- *	\Return: status of the close
+ *	\Return: 0 on success, -1 on failure and set errno to indicate the error
  *	\param bno055: pointer to a bno055 structure
 */
-extern s8 BNO055_tty_close(struct bno055_t *bno055);
+extern int BNO055_tty_close(struct bno055_t *bno055);
 
 
 #ifdef __cplusplus
diff --git a/lib/bno055_tty.c b/lib/bno055_tty.c
index 4476599..8e08f71 100644
--- a/lib/bno055_tty.c
+++ b/lib/bno055_tty.c
@@ -20,6 +20,7 @@
 *******************************************************************************/
 
 #include <errno.h>
+#include <fcntl.h>
 #include <termios.h>
 #include <unistd.h>
 #include <sys/ioctl.h>
@@ -41,28 +42,30 @@
 but the Bosch BNO055_driver is already non-reentrant */
 static struct termios old_tty;
 
-s8 BNO055_tty_init(int fd,struct bno055_t *bno055)
+int BNO055_tty_init(const char *dev_name,struct bno055_t *bno055)
 {
 	struct termios tty;
 	int status;
+	int fd;
 	
-	if(tcgetattr(fd,&tty)) return BNO055_ERROR;
+	if((fd=open(dev_name,O_RDWR | O_NOCTTY))==-1) return -1;
+	if(tcgetattr(fd,&tty)) return -1;
 	old_tty=tty;
-        if(cfsetspeed(&tty,B115200)) return BNO055_OUT_OF_RANGE;
+        if(cfsetspeed(&tty,B115200)) return -1;
 	cfmakeraw(&tty);
 	tty.c_cflag&=~CRTSCTS;
 	tty.c_cflag|=CLOCAL;
 	tty.c_cc[VMIN]=0;
 	tty.c_cc[VTIME]=10; /* 1 s timeout */
-        if(tcsetattr(fd,TCSANOW,&tty)) return BNO055_ERROR;
+        if(tcsetattr(fd,TCSANOW,&tty)) return -1;
 
         /* nRESET low */
 	status=TIOCM_DTR | TIOCM_RTS;
-	ioctl(fd,TIOCMBIS,&status);
+	if(ioctl(fd,TIOCMBIS,&status)) return -1;
 	usleep(1);
 	/* nRESET high */
 	status=TIOCM_DTR | TIOCM_RTS;
-	ioctl(fd,TIOCMBIC,&status);
+	if(ioctl(fd,TIOCMBIC,&status)) return -1;
 	/* Wait BNO055 Power on Reset time */
 	usleep(650000);
 
@@ -71,19 +74,23 @@ s8 BNO055_tty_init(int fd,struct bno055_t *bno055)
 	bno055->delay_msec=BNO055_delay;
 	bno055->dev_addr=fd;
 	
-	return BNO055_SUCCESS;
+	return 0;
 }
 
-s8 BNO055_tty_close(struct bno055_t *bno055)
+int BNO055_tty_close(struct bno055_t *bno055)
 {
-        if(tcsetattr(bno055->dev_addr,TCSANOW,&old_tty)) return BNO055_ERROR;
+	int fd=bno055->dev_addr;
+	
+        if(tcsetattr(fd,TCSANOW,&old_tty)) return -1;
 
 	bno055->bus_write=NULL;
 	bno055->bus_read=NULL;
 	bno055->delay_msec=NULL;
 	bno055->dev_addr=0;
+	
+	if(close(fd)) return -1;
 
-	return BNO055_SUCCESS;
+	return 0;
 }
 
 s8 BNO055_tty_write(u8 dev_addr,u8 reg_addr,u8 *reg_data,u8 cnt)
diff --git a/test/bno055_test.c b/test/bno055_test.c
index f353a0f..d4d7577 100644
--- a/test/bno055_test.c
+++ b/test/bno055_test.c
@@ -19,7 +19,6 @@
 *******************************************************************************/
 
 #include <errno.h>
-#include <fcntl.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
@@ -36,7 +35,6 @@ void usage_help(const char *name)
 int main(int argc,char *argv[])
 {
 	int opt;
-	int fd;
 	struct bno055_t bno055;
 
 	struct bno055_accel_t accel;
@@ -74,13 +72,11 @@ int main(int argc,char *argv[])
 		
 			case 't':	
 				/* TTY interface */
-				if((fd=open(optarg,O_RDWR | O_NOCTTY))==-1)
+				if(BNO055_tty_init(optarg,&bno055))
 				{
-					perror(argv[0]);
+					perror("Error while initializing tty interface");
 					return -errno;
 				}
-				if(BNO055_tty_init(fd,&bno055) != BNO055_SUCCESS)
-					fprintf(stderr,"Error while initializing tty interface.\n");
 				break;
 			
 			default:
@@ -181,6 +177,6 @@ int main(int argc,char *argv[])
 	else fprintf(stderr,"Error while reading temperature in degrees Celsius.\n");
 
 	BNO055_tty_close(&bno055);
-	close(fd);
+
 	return 0;
 }