4 files changed, 32 insertions(+), 20 deletions(-)

M cmd/motion-control/main+gy801.ha
M sensors/ADXL345/ADXL345.ha
M sensors/L3G4200D/L3G4200D.ha
M tools/sensors-dump/main+gy801.ha

@@ 1,4 1,5 @@
 use ahrs::complementary;
+use errors;
 use fmt;
 use fs;
 use getopt;


@@ 10,7 11,6 @@ use net::ip;
 use net::udp;
 use os;
 use proto::control;
-use rt;
 use sensors::ADXL345;
 use sensors::L3G4200D;
 use strconv;


@@ 93,8 93,8 @@ export fn main() int = {
 		yield ADXL345;
 	case let err: fs::error =>
 		fmt::fatalf("Cannot open i2c device: {}", fs::strerror(err));
-	case let err: rt::errno =>
-		fmt::fatalf("Cannot ioctl i2c device: {}", rt::strerror(err));
+	case let err: errors::error =>
+		fmt::fatalf("Cannot ioctl i2c device: {}", errors::strerror(err));
 	};
 	defer ADXL345::destroy(ADXL345);
 


@@ 103,8 103,8 @@ export fn main() int = {
 		yield L3G4200D;
 	case let err: fs::error =>
 		fmt::fatalf("Cannot open i2c device: {}", fs::strerror(err));
-	case let err: rt::errno =>
-		fmt::fatalf("Cannot ioctl i2c device: {}", rt::strerror(err));
+	case let err: errors::error =>
+		fmt::fatalf("Cannot ioctl i2c device: {}", errors::strerror(err));
 	};
 	defer L3G4200D::destroy(L3G4200D);
 

@@ 1,3 1,4 @@
+use errors;
 use fmt;
 use fs;
 use i2c;


@@ 6,28 7,33 @@ use io;
 use os;
 use rt;
 
-export fn new(bus: int) (ADXL345 | fs::error | rt::errno) = {
+export fn new(bus: int) (ADXL345 | fs::error | errors::error) = {
 	const path = fmt::asprintf("/dev/i2c-{}", bus);
 	defer free(path);
 	const file = os::open(path, fs::flags::RDONLY)?;
-	rt::ioctl(file, i2c::I2C_SLAVE, 0x53)?;
+	match (rt::ioctl(file, i2c::I2C_SLAVE, 0x53)) {
+	case let e: rt::errno =>
+		return errors::errno(e);
+	case =>
+		yield;
+	};
 	return alloc(ADXL345_impl {
 		file = file,
 	});
 };
 
-export fn init(sensor: ADXL345) (void | rt::errno) = {
+export fn init(sensor: ADXL345) (void | errors::error) = {
 	i2c::smbus::write_byte_data(sensor.file, REG_POWER_CTL, POWER_CTL_MEASURE)?;
 	i2c::smbus::write_byte_data(sensor.file, REG_DATA_FORMAT, DATA_FORMAT_FULL_RES)?;
 };
 
-fn read_data(sensor: ADXL345, reg: u8) (f64 | rt::errno) = {
+fn read_data(sensor: ADXL345, reg: u8) (f64 | errors::error) = {
 	const raw = i2c::smbus::read_word_data(sensor.file, reg)?;
 	const raw = raw: i16;
 	return raw: f64 * SCALE_FACTOR_FULL_RES;
 };
 
-export fn read(sensor: ADXL345) ((f64, f64, f64) | rt::errno) = {
+export fn read(sensor: ADXL345) ((f64, f64, f64) | errors::error) = {
 	return (
 		read_data(sensor, REG_DATAX0)?,
 		read_data(sensor, REG_DATAY0)?,

@@ 1,3 1,4 @@
+use errors;
 use fmt;
 use fs;
 use i2c;


@@ 6,17 7,22 @@ use io;
 use os;
 use rt;
 
-export fn new(bus: int) (L3G4200D | fs::error | rt::errno) = {
+export fn new(bus: int) (L3G4200D | fs::error | errors::error) = {
 	const path = fmt::asprintf("/dev/i2c-{}", bus);
 	defer free(path);
 	const file = os::open(path, fs::flags::RDONLY)?;
-	rt::ioctl(file, i2c::I2C_SLAVE, 0x69)?;
+	match (rt::ioctl(file, i2c::I2C_SLAVE, 0x69)) {
+	case let e: rt::errno =>
+		return errors::errno(e);
+	case =>
+		yield;
+	};
 	return alloc(L3G4200D_impl {
 		file = file,
 	});
 };
 
-export fn init(sensor: L3G4200D) (void | rt::errno) = {
+export fn init(sensor: L3G4200D) (void | errors::error) = {
 	smbus::write_byte_data(sensor.file, REG_CTRL_REG1,
 		CTRL_REG1_PD | CTRL_REG1_Zen | CTRL_REG1_Yen | CTRL_REG1_Xen | CTRL_REG1_DR_100HZ)?;
 	smbus::write_byte_data(sensor.file, REG_CTRL_REG2, CTRL_REG2_HPCF_0_05HZ_AT_100HZ)?;


@@ 24,14 30,14 @@ export fn init(sensor: L3G4200D) (void | rt::errno) = {
 	smbus::write_byte_data(sensor.file, REG_CTRL_REG5, CTRL_REG5_OUT_HP_ONLY)?;
 };
 
-fn read_data(sensor: L3G4200D, reg: u8) (f64 | rt::errno) = {
+fn read_data(sensor: L3G4200D, reg: u8) (f64 | errors::error) = {
 	const raw = smbus::read_byte_data(sensor.file, reg)?;
 	const raw2 = smbus::read_byte_data(sensor.file, reg + 1)?;
 	const raw = (raw: u16 + (raw2: u16 << 8)): i16;
 	return raw: f64 * FS_250DPS_So;
 };
 
-export fn read(sensor: L3G4200D) ((f64, f64, f64) | rt::errno) = {
+export fn read(sensor: L3G4200D) ((f64, f64, f64) | errors::error) = {
 	return (
 		read_data(sensor, REG_OUT_X_L)?,
 		read_data(sensor, REG_OUT_Y_L)?,

@@ 1,11 1,11 @@
 use ahrs::complementary;
 use ahrs::tilt;
 use ahrs::integration;
+use errors;
 use fmt;
 use fs;
 use io;
 use os;
-use rt;
 use linux::timerfd;
 use math;
 use sensors::ADXL345;


@@ 36,8 36,8 @@ export fn main() void = {
 		yield ADXL345;
 	case let err: fs::error =>
 		fmt::fatalf("Cannot open i2c device: {}", fs::strerror(err));
-	case let err: rt::errno =>
-		fmt::fatalf("Cannot ioctl i2c device: {}", rt::strerror(err));
+	case let err: errors::error =>
+		fmt::fatalf("Cannot ioctl i2c device: {}", errors::strerror(err));
 	};
 	defer ADXL345::destroy(ADXL345);
 


@@ 46,8 46,8 @@ export fn main() void = {
 		yield L3G4200D;
 	case let err: fs::error =>
 		fmt::fatalf("Cannot open i2c device: {}", fs::strerror(err));
-	case let err: rt::errno =>
-		fmt::fatalf("Cannot ioctl i2c device: {}", rt::strerror(err));
+	case let err: errors::error =>
+		fmt::fatalf("Cannot ioctl i2c device: {}", errors::strerror(err));
 	};
 	defer L3G4200D::destroy(L3G4200D);