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improvements / debugging on I2C drivers

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This commit is contained in:
Lorenz Meier
2012-08-24 14:58:14 +02:00
parent 45e178eaa3
commit d12c09cc86
9 changed files with 68 additions and 42 deletions
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apps/mavlink/mavlink.c
+11 -14
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@@ -94,7 +94,6 @@ static int mavlink_task;
/* terminate MAVLink on user request - disabled by default */
static bool mavlink_link_termination_allowed = false;
static bool mavlink_exit_requested = false;
mavlink_system_t mavlink_system = {100, 50, MAV_TYPE_FIXED_WING, 0, 0, 0}; // System ID, 1-255, Component/Subsystem ID, 1-255
static uint8_t chan = MAVLINK_COMM_0;
@@ -459,8 +458,6 @@ static void *receiveloop(void *arg)
while (!thread_should_exit) {
if (mavlink_exit_requested) break;
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
if (poll(fds, 1, timeout) > 0) {
@@ -704,7 +701,6 @@ static void *uorb_receiveloop(void *arg)
const int timeout = 1000;
while (!thread_should_exit) {
if (mavlink_exit_requested) break;
int poll_ret = poll(fds, fdsc_count, timeout);
@@ -1090,12 +1086,8 @@ void handleMessage(mavlink_message_t *msg)
fflush(stdout);
usleep(50000);
/* terminate other threads */
mavlink_exit_requested = true;
pthread_cancel(receive_thread);
pthread_cancel(uorb_receive_thread);
pthread_exit(NULL);
/* terminate other threads and this thread */
thread_should_exit = true;
} else {
@@ -1425,7 +1417,7 @@ int mavlink_thread_main(int argc, char *argv[])
if (uart < 0) {
printf("[mavlink] FAILED to open %s, terminating.\n", uart_name);
return ERROR;
goto exit_cleanup;
}
/* Flush UART */
@@ -1511,9 +1503,9 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 10000);
}
while (!thread_should_exit) {
thread_running = true;
if (mavlink_exit_requested) break;
while (!thread_should_exit) {
/* get local and global position */
orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos);
@@ -1606,9 +1598,15 @@ int mavlink_thread_main(int argc, char *argv[])
printf("[mavlink] Restored original UART config, exiting..\n");
}
exit_cleanup:
/* close uart */
close(uart);
/* close subscriptions */
close(mavlink_subs.global_pos_sub);
close(local_pos_sub);
fflush(stdout);
fflush(stderr);
@@ -1641,7 +1639,6 @@ int mavlink_main(int argc, char *argv[])
thread_should_exit = false;
mavlink_task = task_create("mavlink", SCHED_PRIORITY_DEFAULT, 4400, mavlink_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}