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Allow px4io detect to be run when IO is already running

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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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src/drivers/px4io/px4io.cpp
+17 -15
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@@ -487,25 +487,27 @@ PX4IO::detect()
{ {
int ret; int ret;
ASSERT(_task == -1); if (_task == -1) {
/* do regular cdev init */ /* do regular cdev init */
ret = CDev::init(); ret = CDev::init();
if (ret != OK) if (ret != OK)
return ret; return ret;
/* get some parameters */ /* get some parameters */
unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION); unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
if (protocol != PX4IO_PROTOCOL_VERSION) { if (protocol != PX4IO_PROTOCOL_VERSION) {
if (protocol == _io_reg_get_error) { if (protocol == _io_reg_get_error) {
log("IO not installed"); log("IO not installed");
} else { } else {
log("IO version error"); log("IO version error");
mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!"); mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
}
return -1;
} }
return -1;
} }
log("IO found"); log("IO found");
return 0; return 0;