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| author | David Sidrane <david_s5@nscdg.com> | 2015-01-22 05:57:51 -1000 |
|---|---|---|
| committer | David Sidrane <david_s5@nscdg.com> | 2015-01-22 05:57:51 -1000 |
| commit | af5c9876c469fdf71d309eb8812359f5feba6569 (patch) | |
| tree | db919e4e33dd2af1fc2e3a69fada8e3a4fc49bfd | |
| parent | 561481f26a19021b9a13d616cc606be72663f96c (diff) | |
| parent | 527ac0dbb555e730dc1d62aa6acd1b62ed10af9b (diff) | |
| download | px4-firmware-af5c9876c469fdf71d309eb8812359f5feba6569.tar.gz px4-firmware-af5c9876c469fdf71d309eb8812359f5feba6569.tar.bz2 px4-firmware-af5c9876c469fdf71d309eb8812359f5feba6569.zip | |
Merge branch 'nuttx_bringup' of https://github.com/PX4/Firmware into nuttx_bringup
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 2 | ||||
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 9 |
2 files changed, 9 insertions, 2 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 2c9387ff0..043e0bc17 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -214,7 +214,7 @@ then if px4io forceupdate 14662 $IO_FILE then - usleep 500000 + usleep 10000 if px4io checkcrc $IO_FILE then echo "PX4IO CRC OK after updating" >> $LOG_FILE diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 556eebab6..5e3d28fe9 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -618,8 +618,15 @@ PX4IO::init() return ret; /* get some parameters */ - unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION); + unsigned protocol; + hrt_abstime start_try_time = hrt_absolute_time(); + do { + usleep(2000); + protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION); + } while (protocol == _io_reg_get_error && (hrt_elapsed_time(&start_try_time) < 700U * 1000U)); + + /* if the error still persists after timing out, we give up */ if (protocol == _io_reg_get_error) { log("failed to communicate with IO"); mavlink_log_emergency(_mavlink_fd, "[IO] failed to communicate with IO, abort."); |