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author | px4dev <px4@purgatory.org> | 2012-08-21 22:04:38 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-21 22:04:38 -0700 |
commit | 63831fa908f9deb848c20433c0235554b261bec3 (patch) | |
tree | 7b552c930f084d792b52c8949c4221a97f8e4a0c /apps/drivers/ms5611 | |
parent | a0ae2cb175b8f83ee7731335d452cc5ca30e820b (diff) | |
download | px4-firmware-63831fa908f9deb848c20433c0235554b261bec3.tar.gz px4-firmware-63831fa908f9deb848c20433c0235554b261bec3.tar.bz2 px4-firmware-63831fa908f9deb848c20433c0235554b261bec3.zip |
Fix an issue where the baro ORB topic was advertised from the wrong context and thus could not be published to.
Diffstat (limited to 'apps/drivers/ms5611')
-rw-r--r-- | apps/drivers/ms5611/ms5611.cpp | 32 |
1 files changed, 20 insertions, 12 deletions
diff --git a/apps/drivers/ms5611/ms5611.cpp b/apps/drivers/ms5611/ms5611.cpp index 6c6951d9b..187de178b 100644 --- a/apps/drivers/ms5611/ms5611.cpp +++ b/apps/drivers/ms5611/ms5611.cpp @@ -246,6 +246,7 @@ MS5611::MS5611(int bus) : _measure_phase(0), _dT(0), _temp64(0), + _baro_topic(-1), _reads(0), _measure_errors(0), _read_errors(0), @@ -277,18 +278,6 @@ MS5611::init() /* do I2C init (and probe) first */ ret = I2C::init(); - /* assuming we're good, advertise the object */ - if (ret == OK) { - struct baro_report b; - - /* if this fails (e.g. no object in the system) that's OK */ - memset(&b, 0, sizeof(b)); - _baro_topic = orb_advertise(ORB_ID(sensor_baro), &b); - - if (_baro_topic < 0) - debug("failed to create sensor_baro object"); - } - return ret; } @@ -538,6 +527,25 @@ MS5611::cycle_trampoline(void *arg) void MS5611::cycle() { + /* + * We have to publish the baro topic in the context of the workq + * in order to ensure that the descriptor is valid when we go to publish. + * + * @bug We can't really ever be torn down and restarted, since this + * descriptor will never be closed and on the restart we will be + * unable to re-advertise. + */ + if (_baro_topic == -1) { + struct baro_report b; + + /* if this fails (e.g. no object in the system) we will cope */ + memset(&b, 0, sizeof(b)); + _baro_topic = orb_advertise(ORB_ID(sensor_baro), &b); + + if (_baro_topic < 0) + debug("failed to create sensor_baro object"); + } + /* collection phase? */ if (_collect_phase) { |