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HAL_PX4: fixed end() on UARTs

This commit is contained in:
Andrew Tridgell 2013-09-29 10:14:11 +10:00
parent 1e786b3e20
commit 7067569103
1 changed files with 30 additions and 2 deletions
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32
libraries/AP_HAL_PX4/UARTDriver.cpp
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@ -120,13 +120,41 @@ void PX4UARTDriver::begin(uint32_t b)
}
void PX4UARTDriver::end() {}
void PX4UARTDriver::end()
{
_initialised = false;
while (_in_timer) hal.scheduler->delay(1);
if (_fd != -1) {
close(_fd);
_fd = -1;
}
if (_readbuf) {
free(_readbuf);
_readbuf = NULL;
}
if (_writebuf) {
free(_writebuf);
_writebuf = NULL;
}
_readbuf_size = _writebuf_size = 0;
_writebuf_head = 0;
_writebuf_tail = 0;
_readbuf_head = 0;
_readbuf_tail = 0;
}
void PX4UARTDriver::flush() {}
bool PX4UARTDriver::is_initialized() { return true; }
bool PX4UARTDriver::is_initialized()
{
return _initialised;
}
void PX4UARTDriver::set_blocking_writes(bool blocking)
{
_nonblocking_writes = !blocking;
}
bool PX4UARTDriver::tx_pending() { return false; }
/*