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fix(qurt): Added i2c uninitialize on probe failure to prevent zombie ports

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This commit is contained in:
Eric Katzfey
2026-03-18 09:43:50 -07:00
committed by Eric Katzfey
parent 36006b6d70
commit 02a31d0293
2 changed files with 8 additions and 2 deletions
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2
boards/modalai/voxl2/cmake/package.cmake
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@@ -47,7 +47,7 @@ set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
set(CPACK_INSTALL_PREFIX "/usr")
set(CPACK_SET_DESTDIR true)
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libfc-sensor (>=1.0.10), voxl-px4-params (>=0.3.10), voxl3-system-image(>=0.0.2) | voxl2-system-image(>=1.5.4) | rb5-system-image(>=1.6.2), modalai-slpi(>=1.1.16) | modalai-adsp(>=1.0.2)")
set(CPACK_DEBIAN_PACKAGE_DEPENDS "libfc-sensor (>=1.0.10), voxl-px4-params (>=0.3.10), voxl3-system-image(>=0.0.2) | voxl2-system-image(>=1.5.4) | rb5-system-image(>=1.6.2), modalai-slpi(>=1.2.2) | modalai-adsp(>=1.0.5)")
set(CPACK_DEBIAN_PACKAGE_CONFLICTS "px4-rb5-flight")
set(CPACK_DEBIAN_PACKAGE_REPLACES "px4-rb5-flight")
set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 Autopilot for ModalAI VOXL2")

8
src/lib/drivers/device/qurt/I2C.cpp
View File

@@ -48,6 +48,10 @@
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/i2c_spi_buses.h>
extern "C" {
__EXPORT void fc_uninitialize_i2c_bus(int fd);
}
namespace device
{
@@ -122,7 +126,7 @@ I2C::init()
_i2c_fd = _config_i2c_bus(get_device_bus(), get_device_address(), _frequency);
pthread_mutex_unlock(_mutex);
if (_i2c_fd == PX4_ERROR) {
if (_i2c_fd == -1) {
PX4_ERR("i2c init failed");
goto out;
}
@@ -132,6 +136,8 @@ I2C::init()
if (ret != OK) {
PX4_ERR("i2c probe failed");
fc_uninitialize_i2c_bus(_i2c_fd);
_i2c_fd = -1;
goto out;
}