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author | Julian Oes <julian@oes.ch> | 2013-09-03 17:07:41 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-09-03 17:07:41 +0200 |
commit | e301bb4d9425bbe460384afcc029dac6fa63f3e1 (patch) | |
tree | a2abf18af6ef49d4a2ab9ad5d777d9fc03dc9fb9 /src/drivers/px4io/px4io_uploader.cpp | |
parent | 1c5ceb17e87a953da3528750682f27f305cae6c2 (diff) | |
download | px4-firmware-e301bb4d9425bbe460384afcc029dac6fa63f3e1.tar.gz px4-firmware-e301bb4d9425bbe460384afcc029dac6fa63f3e1.tar.bz2 px4-firmware-e301bb4d9425bbe460384afcc029dac6fa63f3e1.zip |
Reset baudrate after px4io update
Diffstat (limited to 'src/drivers/px4io/px4io_uploader.cpp')
-rw-r--r-- | src/drivers/px4io/px4io_uploader.cpp | 15 |
1 files changed, 15 insertions, 0 deletions
diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp index 7db28ecad..fe8561a0b 100644 --- a/src/drivers/px4io/px4io_uploader.cpp +++ b/src/drivers/px4io/px4io_uploader.cpp @@ -110,6 +110,10 @@ PX4IO_Uploader::upload(const char *filenames[]) return -errno; } + /* save initial uart configuration to reset after the update */ + struct termios t_original; + tcgetattr(_io_fd, &t_original); + /* adjust line speed to match bootloader */ struct termios t; tcgetattr(_io_fd, &t); @@ -122,6 +126,7 @@ PX4IO_Uploader::upload(const char *filenames[]) if (ret != OK) { /* this is immediately fatal */ log("bootloader not responding"); + tcsetattr(_io_fd, TCSANOW, &t_original); close(_io_fd); _io_fd = -1; return -EIO; @@ -130,6 +135,7 @@ PX4IO_Uploader::upload(const char *filenames[]) struct stat st; if (stat(filename, &st) != 0) { log("Failed to stat %s - %d\n", filename, (int)errno); + tcsetattr(_io_fd, TCSANOW, &t_original); close(_io_fd); _io_fd = -1; return -errno; @@ -137,6 +143,7 @@ PX4IO_Uploader::upload(const char *filenames[]) fw_size = st.st_size; if (_fw_fd == -1) { + tcsetattr(_io_fd, TCSANOW, &t_original); close(_io_fd); _io_fd = -1; return -ENOENT; @@ -151,6 +158,7 @@ PX4IO_Uploader::upload(const char *filenames[]) if (ret != OK) { /* this is immediately fatal */ log("bootloader not responding"); + tcsetattr(_io_fd, TCSANOW, &t_original); close(_io_fd); _io_fd = -1; return -EIO; @@ -164,6 +172,7 @@ PX4IO_Uploader::upload(const char *filenames[]) log("found bootloader revision: %d", bl_rev); } else { log("found unsupported bootloader revision %d, exiting", bl_rev); + tcsetattr(_io_fd, TCSANOW, &t_original); close(_io_fd); _io_fd = -1; return OK; @@ -199,6 +208,9 @@ PX4IO_Uploader::upload(const char *filenames[]) if (ret != OK) { log("reboot failed"); + tcsetattr(_io_fd, TCSANOW, &t_original); + close(_io_fd); + _io_fd = -1; return ret; } @@ -208,6 +220,9 @@ PX4IO_Uploader::upload(const char *filenames[]) break; } + /* reset uart to previous/default baudrate */ + tcsetattr(_io_fd, TCSANOW, &t_original); + close(_fw_fd); close(_io_fd); _io_fd = -1; |