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Initialize null pointers correctly, always set the pointer to null after deletes. Remove some verbosity from startup and do not try to initialise IO when we just want to reboot it into the bootloader.

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This commit is contained in:
Lorenz Meier
2014-01-24 17:29:27 +01:00
parent 2f968357a3
commit 1960f7d6c5
1 changed files with 28 additions and 11 deletions
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src/drivers/px4io/px4io.cpp
+28 -11
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@@ -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);
}