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Allow px4io detect to be run when IO is already running

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This commit is contained in:
Lorenz Meier 2013-09-08 20:40:26 +02:00
parent 88ad9fc25b
commit 2d6dfe2a9e
1 changed files with 17 additions and 15 deletions
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32
src/drivers/px4io/px4io.cpp
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@ -487,25 +487,27 @@ PX4IO::detect()
{
int ret;
ASSERT(_task == -1);
if (_task == -1) {
/* do regular cdev init */
ret = CDev::init();
if (ret != OK)
return ret;
/* do regular cdev init */
ret = CDev::init();
if (ret != OK)
return ret;
/* get some parameters */
unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
if (protocol != PX4IO_PROTOCOL_VERSION) {
if (protocol == _io_reg_get_error) {
log("IO not installed");
} else {
log("IO version error");
mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
/* get some parameters */
unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
if (protocol != PX4IO_PROTOCOL_VERSION) {
if (protocol == _io_reg_get_error) {
log("IO not installed");
} else {
log("IO version error");
mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
}
return -1;
}
return -1;
}
log("IO found");
return 0;