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AP_BoardConfig: added 7s timeout on uavcan startup

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This commit is contained in:
Andrew Tridgell 2016-04-12 08:09:25 +10:00
parent d8f08591d5
commit 36528965f7
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_BoardConfig/AP_BoardConfig.cpp
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@ -191,13 +191,15 @@ void AP_BoardConfig::init()
if (ret != 0) {
hal.console->printf("UAVCAN: failed to start servers\n");
} else {
uint32_t start_wait_ms = AP_HAL::millis();
fd = open("/dev/uavcan/esc", 0); // design flaw of uavcan driver, this should be /dev/uavcan/node one day
if (fd == -1) {
AP_HAL::panic("Configuration invalid - unable to open /dev/uavcan/esc");
}
// delay startup, UAVCAN still discovering nodes
while (ioctl(fd, UAVCAN_IOCG_NODEID_INPROGRESS,0) == OK) {
while (ioctl(fd, UAVCAN_IOCG_NODEID_INPROGRESS,0) == OK &&
AP_HAL::millis() - start_wait_ms < 7000) {
hal.scheduler->delay(500);
}
hal.console->printf("UAVCAN: node discovery complete\n");