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IO driver: Set mixer ok flag once the mixer load completed

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This commit is contained in:
Lorenz Meier
2015-11-03 22:54:08 +01:00
parent 083dbbb71b
commit 1baf103ee7
1 changed files with 14 additions and 18 deletions
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src/drivers/px4io/px4io.cpp
+14 -18
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@@ -2090,12 +2090,11 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
} while (buflen > 0);
/* ensure a closing newline */
msg->text[0] = '\n';
msg->text[1] = '\0';
int ret;
/* send the closing newline */
msg->text[0] = '\n';
msg->text[1] = '\0';
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);
@@ -2108,27 +2107,24 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
}
}
if (ret) {
return ret;
if (ret == 0) {
/* success, exit */
break;
}
retries--;
DEVICE_LOG("mixer sent");
} while (retries > 0);
} while (retries > 0 && (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK)));
if (retries == 0) {
mavlink_and_console_log_info(_mavlink_fd, "[IO] mixer upload fail");
/* load must have failed for some reason */
return -EINVAL;
/* check for the mixer-OK flag */
if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) {
mavlink_log_info(_mavlink_fd, "[IO] mixer upload ok");
return 0;
} else {
/* all went well, set the mixer ok flag */
return io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_MIXER_OK);
}
DEVICE_LOG("mixer rejected by IO");
mavlink_log_info(_mavlink_fd, "[IO] mixer upload fail");
/* load must have failed for some reason */
return -EINVAL;
}
void