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AP_BoardConfig: fixed startup ordering change in canbus vs external mag

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This commit is contained in:
Andrew Tridgell 2016-09-04 09:31:39 +10:00
parent f1f8233220
commit b9c4a948d1
1 changed files with 7 additions and 1 deletions
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8
libraries/AP_BoardConfig/px4_drivers.cpp
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@ -196,6 +196,10 @@ void AP_BoardConfig::px4_setup_canbus(void)
{ {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && !defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
if (px4.can_enable >= 1) { if (px4.can_enable >= 1) {
// give time for other drivers to fully start before we start
// canbus. This prevents a race where a canbus mag comes up
// before the hmc5883
hal.scheduler->delay(500);
if (px4_start_driver(uavcan_main, "uavcan", "start")) { if (px4_start_driver(uavcan_main, "uavcan", "start")) {
hal.console->printf("UAVCAN: started\n"); hal.console->printf("UAVCAN: started\n");
// give some time for CAN bus initialisation // give some time for CAN bus initialisation
@ -203,6 +207,8 @@ void AP_BoardConfig::px4_setup_canbus(void)
} else { } else {
hal.console->printf("UAVCAN: failed to start\n"); hal.console->printf("UAVCAN: failed to start\n");
} }
// give time for canbus drivers to register themselves
hal.scheduler->delay(1000);
} }
if (px4.can_enable >= 2) { if (px4.can_enable >= 2) {
if (px4_start_driver(uavcan_main, "uavcan", "start fw")) { if (px4_start_driver(uavcan_main, "uavcan", "start fw")) {
@ -739,8 +745,8 @@ void AP_BoardConfig::px4_setup()
px4_setup_safety(); px4_setup_safety();
px4_setup_uart(); px4_setup_uart();
px4_setup_sbus(); px4_setup_sbus();
px4_setup_canbus();
px4_setup_drivers(); px4_setup_drivers();
px4_setup_canbus();
} }
#endif // HAL_BOARD_PX4 #endif // HAL_BOARD_PX4