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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-08 20:40:26 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-08 20:40:26 +0200 |
| commit | 2d6dfe2a9e1fc04a9cadc3e4defa3e9cd615db1f (patch) | |
| tree | f0675f8185e0ba886555ee3bae337e5fce8a6432 /src/drivers/px4io/px4io.cpp | |
| parent | 88ad9fc25b17e2b61233da28ec76e0bef4976738 (diff) | |
| download | px4-firmware-2d6dfe2a9e1fc04a9cadc3e4defa3e9cd615db1f.tar.gz px4-firmware-2d6dfe2a9e1fc04a9cadc3e4defa3e9cd615db1f.tar.bz2 px4-firmware-2d6dfe2a9e1fc04a9cadc3e4defa3e9cd615db1f.zip | |
Allow px4io detect to be run when IO is already running
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 32 |
1 files changed, 17 insertions, 15 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index c88abe59a..78d1d3e63 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -487,25 +487,27 @@ PX4IO::detect() { int ret; - ASSERT(_task == -1); + if (_task == -1) { - /* do regular cdev init */ - ret = CDev::init(); - if (ret != OK) - return ret; + /* do regular cdev init */ + ret = CDev::init(); + if (ret != OK) + return ret; - /* get some parameters */ - unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION); - if (protocol != PX4IO_PROTOCOL_VERSION) { - if (protocol == _io_reg_get_error) { - log("IO not installed"); - } else { - log("IO version error"); - mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!"); + /* get some parameters */ + unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION); + if (protocol != PX4IO_PROTOCOL_VERSION) { + if (protocol == _io_reg_get_error) { + log("IO not installed"); + } else { + log("IO version error"); + mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!"); + } + + return -1; } - - return -1; } + log("IO found"); return 0; |