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AP_HAL_PX4: Clear UART buffers when opening a port

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This commit is contained in:
Michael du Breuil 2018-06-20 02:00:52 -07:00 committed by Francisco Ferreira
parent 7043738f3b
commit 512939a839
1 changed files with 12 additions and 7 deletions
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19
libraries/AP_HAL_PX4/UARTDriver.cpp
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@ -71,14 +71,16 @@ void PX4UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
thrashing of the heap once we are up. The ttyACM0 driver may not thrashing of the heap once we are up. The ttyACM0 driver may not
connect for some time after boot connect for some time after boot
*/ */
while (_in_timer) {
hal.scheduler->delay(1);
}
if (rxS != _readbuf.get_size()) { if (rxS != _readbuf.get_size()) {
_initialised = false; _initialised = false;
while (_in_timer) {
hal.scheduler->delay(1);
}
_readbuf.set_size(rxS); _readbuf.set_size(rxS);
} }
if (hal.console != this) { // don't clear USB buffers (allows early startup messages to escape)
_readbuf.clear();
}
if (b != 0) { if (b != 0) {
_baudrate = b; _baudrate = b;
@ -87,13 +89,16 @@ void PX4UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
/* /*
allocate the write buffer allocate the write buffer
*/ */
while (_in_timer) {
hal.scheduler->delay(1);
}
if (txS != _writebuf.get_size()) { if (txS != _writebuf.get_size()) {
_initialised = false; _initialised = false;
while (_in_timer) {
hal.scheduler->delay(1);
}
_writebuf.set_size(txS); _writebuf.set_size(txS);
} }
if (hal.console != this) { // don't clear USB buffers (allows early startup messages to escape)
_writebuf.clear();
}
if (_fd == -1) { if (_fd == -1) {
_fd = open(_devpath, O_RDWR); _fd = open(_devpath, O_RDWR);