diff options
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 39 |
1 files changed, 28 insertions, 11 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 6f1323fce..df847a64d 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -451,7 +451,7 @@ private: namespace { -PX4IO *g_dev; +PX4IO *g_dev = nullptr; } @@ -780,8 +780,6 @@ PX4IO::task_main() hrt_abstime poll_last = 0; hrt_abstime orb_check_last = 0; - log("starting"); - _thread_mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0); /* @@ -815,8 +813,6 @@ PX4IO::task_main() fds[0].fd = _t_actuator_controls_0; fds[0].events = POLLIN; - log("ready"); - /* lock against the ioctl handler */ lock(); @@ -1679,7 +1675,18 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries) total_len++; } - int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2); + int ret; + + for (int i = 0; i < 30; i++) { + /* failed, but give it a 2nd shot */ + ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, total_len / 2); + + if (ret) { + usleep(333); + } else { + break; + } + } /* print mixer chunk */ if (debuglevel > 5 || ret) { @@ -1703,7 +1710,18 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries) msg->text[0] = '\n'; msg->text[1] = '\0'; - int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2); + int ret; + + for (int i = 0; i < 30; i++) { + /* failed, but give it a 2nd shot */ + ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2); + + if (ret) { + usleep(333); + } else { + break; + } + } if (ret) return ret; @@ -2705,6 +2723,7 @@ px4io_main(int argc, char *argv[]) printf("[px4io] loaded, detaching first\n"); /* stop the driver */ delete g_dev; + g_dev = nullptr; } PX4IO_Uploader *up; @@ -2788,10 +2807,6 @@ px4io_main(int argc, char *argv[]) delete interface; errx(1, "driver alloc failed"); } - - if (OK != g_dev->init()) { - warnx("driver init failed, still trying.."); - } } uint16_t arg = atol(argv[2]); @@ -2803,6 +2818,7 @@ px4io_main(int argc, char *argv[]) // tear down the px4io instance delete g_dev; + g_dev = nullptr; // upload the specified firmware const char *fn[2]; @@ -2861,6 +2877,7 @@ px4io_main(int argc, char *argv[]) /* stop the driver */ delete g_dev; + g_dev = nullptr; exit(0); } |