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tap_esc: improve error handling & reporting

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This commit is contained in:
Beat Küng
2016-07-28 08:50:59 +02:00
committed by Lorenz Meier
parent a8e28c7232
commit 3f9f320f18
1 changed files with 18 additions and 10 deletions
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src/drivers/tap_esc/tap_esc.cpp
+18 -10
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@@ -114,7 +114,7 @@ private:
// It needs to support the numbe of ESC
int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
px4_pollfd_struct_t _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
pollfd _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
@@ -155,7 +155,7 @@ actuator_armed_s TAP_ESC::_armed = {};
namespace
{
TAP_ESC *tap_esc;
TAP_ESC *tap_esc = nullptr;
}
# define TAP_ESC_DEVICE_PATH "/dev/tap_esc"
@@ -292,7 +292,7 @@ TAP_ESC::init()
}
}
if (retries == 0 || !valid) {
if (!valid) {
return -EIO;
}
}
@@ -921,6 +921,7 @@ int tap_esc_start(void)
ret = tap_esc->init();
if (ret != OK) {
PX4_ERR("failed to initialize tap_esc (%i)", ret);
delete tap_esc;
tap_esc = nullptr;
}
@@ -946,7 +947,7 @@ int tap_esc_stop(void)
int initialise_uart()
{
// open uart
_uart_fd = px4_open(_device, O_RDWR | O_NOCTTY | O_NONBLOCK);
_uart_fd = open(_device, O_RDWR | O_NOCTTY | O_NONBLOCK);
int termios_state = -1;
if (_uart_fd < 0) {
@@ -964,14 +965,14 @@ int initialise_uart()
// set baud rate
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
warnx("ERR SET BAUD %s: %d\n", _device, termios_state);
::close(_uart_fd);
PX4_ERR("failed to set baudrate for %s: %d\n", _device, termios_state);
close(_uart_fd);
return -1;
}
if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) {
PX4_WARN("ERR SET CONF %s\n", _device);
px4_close(_uart_fd);
PX4_ERR("tcsetattr failed for %s\n", _device);
close(_uart_fd);
return -1;
}
@@ -1027,7 +1028,9 @@ void task_main(int argc, char *argv[])
}
if (tap_esc_start() != OK) {
PX4_ERR("Failed to start TAP_ESC.");
PX4_ERR("failed to start tap_esc.");
_is_running = false;
return;
}
@@ -1062,7 +1065,8 @@ void start()
nullptr);
if (_task_handle < 0) {
warn("task start failed");
PX4_ERR("task start failed");
_task_handle = -1;
return;
}
}
@@ -1119,6 +1123,10 @@ int tap_esc_main(int argc, char *argv[])
}
}
if (!tap_esc && tap_esc_drv::_task_handle != -1) {
tap_esc_drv::_task_handle = -1;
}
// Start/load the driver.
if (!strcmp(verb, "start")) {
if (tap_esc_drv::_is_running) {