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Merge pull request #375 from julianoes/hotfix_px4io_uart

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Reset baudrate after px4io update
This commit is contained in:
Lorenz Meier
2013-09-03 08:12:49 -07:00
parent 811e1151fa e301bb4d94
commit b5ec359c79
1 changed files with 15 additions and 0 deletions
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src/drivers/px4io/px4io_uploader.cpp
+15
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@@ -110,6 +110,10 @@ PX4IO_Uploader::upload(const char *filenames[])
return -errno;
}
/* save initial uart configuration to reset after the update */
struct termios t_original;
tcgetattr(_io_fd, &t_original);
/* adjust line speed to match bootloader */
struct termios t;
tcgetattr(_io_fd, &t);
@@ -122,6 +126,7 @@ PX4IO_Uploader::upload(const char *filenames[])
if (ret != OK) {
/* this is immediately fatal */
log("bootloader not responding");
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_io_fd);
_io_fd = -1;
return -EIO;
@@ -130,6 +135,7 @@ PX4IO_Uploader::upload(const char *filenames[])
struct stat st;
if (stat(filename, &st) != 0) {
log("Failed to stat %s - %d\n", filename, (int)errno);
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_io_fd);
_io_fd = -1;
return -errno;
@@ -137,6 +143,7 @@ PX4IO_Uploader::upload(const char *filenames[])
fw_size = st.st_size;
if (_fw_fd == -1) {
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_io_fd);
_io_fd = -1;
return -ENOENT;
@@ -151,6 +158,7 @@ PX4IO_Uploader::upload(const char *filenames[])
if (ret != OK) {
/* this is immediately fatal */
log("bootloader not responding");
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_io_fd);
_io_fd = -1;
return -EIO;
@@ -164,6 +172,7 @@ PX4IO_Uploader::upload(const char *filenames[])
log("found bootloader revision: %d", bl_rev);
} else {
log("found unsupported bootloader revision %d, exiting", bl_rev);
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_io_fd);
_io_fd = -1;
return OK;
@@ -199,6 +208,9 @@ PX4IO_Uploader::upload(const char *filenames[])
if (ret != OK) {
log("reboot failed");
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_io_fd);
_io_fd = -1;
return ret;
}
@@ -208,6 +220,9 @@ PX4IO_Uploader::upload(const char *filenames[])
break;
}
/* reset uart to previous/default baudrate */
tcsetattr(_io_fd, TCSANOW, &t_original);
close(_fw_fd);
close(_io_fd);
_io_fd = -1;