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snapdragon_rc_pwm: allow the driver to be stopped

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This commit is contained in:
Julian Oes 2016-04-21 13:00:08 +02:00
parent 835ee4d709
commit d5cc9e0873
1 changed files with 15 additions and 11 deletions
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26
src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp
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@ -128,7 +128,7 @@ void task_main(int argc, char *argv[])
fds[0].fd = _uart_fd;
fds[0].events = POLLIN;
while (true) {
while (!_task_should_exit) {
// wait for up to 100ms for data
int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
@ -393,6 +393,8 @@ void stop()
{
// TODO - set thread exit signal to terminate the task main thread
_task_should_exit = true;
_is_running = false;
_task_handle = -1;
}
@ -428,21 +430,23 @@ int snapdragon_rc_pwm_main(int argc, char *argv[])
}
}
// Check on required arguments
if (device == NULL || strlen(device) == 0) {
snapdragon_rc_pwm::usage();
return 1;
}
memset(snapdragon_rc_pwm::_device, 0, MAX_LEN_DEV_PATH);
strncpy(snapdragon_rc_pwm::_device, device, strlen(device));
const char *verb = argv[myoptind];
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
// Check on required arguments
if (device == NULL || strlen(device) == 0) {
snapdragon_rc_pwm::usage();
return 1;
}
memset(snapdragon_rc_pwm::_device, 0, MAX_LEN_DEV_PATH);
strncpy(snapdragon_rc_pwm::_device, device, strlen(device));
if (snapdragon_rc_pwm::_is_running) {
PX4_WARN("uart_esc already running");
return 1;
@ -452,7 +456,7 @@ int snapdragon_rc_pwm_main(int argc, char *argv[])
}
else if (!strcmp(verb, "stop")) {
if (snapdragon_rc_pwm::_is_running) {
if (!snapdragon_rc_pwm::_is_running) {
PX4_WARN("snapdragon_rc_pwm is not running");
return 1;
}