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added hw test, added better io debugging

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This commit is contained in:
Lorenz Meier
2013-10-10 00:12:39 +02:00
parent d8396ca4b3
commit 13b07efc49
4 changed files with 123 additions and 3 deletions
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src/drivers/px4io/px4io.cpp
+6 -3
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@@ -1545,7 +1545,7 @@ PX4IO::print_debug()
int io_fd = -1;
if (io_fd < 0) {
io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK);
io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK | O_NOCTTY);
}
/* read IO's output */
@@ -1555,7 +1555,7 @@ PX4IO::print_debug()
fds[0].events = POLLIN;
usleep(500);
int pret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), 10);
int pret = ::poll(fds, sizeof(fds) / sizeof(fds[0]), 0);
if (pret > 0) {
int count;
@@ -1606,6 +1606,8 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
memcpy(&msg->text[0], buf, count);
buf += count;
buflen -= count;
} else {
continue;
}
/*
@@ -1644,7 +1646,8 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
/* ensure a closing newline */
msg->text[0] = '\n';
msg->text[1] = '\0';
int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, 1);
int ret = io_reg_set(PX4IO_PAGE_MIXERLOAD, 0, (uint16_t *)frame, (sizeof(px4io_mixdata) + 2) / 2);
retries--;