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Working on restart resilience, hunting down multi-load mixer issue (still present)

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Lorenz Meier
2013-03-07 19:47:43 +01:00
parent 7013eb5e10
commit ebac51cad8
5 changed files with 49 additions and 14 deletions
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apps/drivers/px4io/px4io.cpp
+27 -11
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@@ -1556,7 +1556,7 @@ px4io_main(int argc, char *argv[])
errx(1, "already loaded");
/* create the driver - it will set g_dev */
(void)new PX4IO;
(void)new PX4IO();
if (g_dev == nullptr)
errx(1, "driver alloc failed");
@@ -1567,7 +1567,7 @@ px4io_main(int argc, char *argv[])
}
/* look for the optional pwm update rate for the supported modes */
if (strcmp(argv[2], "-u") == 0 || strcmp(argv[2], "--update-rate") == 0) {
if (argc > 2 && strcmp(argv[2], "-u") == 0 || strcmp(argv[2], "--update-rate") == 0) {
if (argc > 2 + 1) {
#warning implement this
} else {
@@ -1579,16 +1579,31 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "recovery")) {
if (g_dev != nullptr) {
/*
* Enable in-air restart support.
* We can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
g_dev->ioctl(NULL, PWM_SERVO_INAIR_RESTART_ENABLE, 0);
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (g_dev != nullptr) {
/* stop the driver */
delete g_dev;
} else {
errx(1, "not loaded");
}
exit(0);
if (g_dev != nullptr) {
/* stop the driver */
delete g_dev;
} else {
errx(1, "not loaded");
}
exit(0);
}
if (!strcmp(argv[1], "status")) {
@@ -1613,8 +1628,9 @@ px4io_main(int argc, char *argv[])
exit(1);
}
uint8_t level = atoi(argv[2]);
// we can cheat and call the driver directly, as it
// doesn't reference filp in ioctl()
/* we can cheat and call the driver directly, as it
* doesn't reference filp in ioctl()
*/
int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_DEBUG, level);
if (ret != 0) {
printf("SET_DEBUG failed - %d\n", ret);