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AP_BoardConfig: wait for UAVCAN initialization complete signal

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This commit is contained in:
Holger Steinhaus 2016-03-04 08:42:28 +01:00 committed by Andrew Tridgell
parent 503e196546
commit d2b6eb7700
1 changed files with 17 additions and 3 deletions
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18
libraries/AP_BoardConfig/AP_BoardConfig.cpp
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@ -99,6 +99,12 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
#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)
extern "C" int uavcan_main(int argc, const char *argv[]); extern "C" int uavcan_main(int argc, const char *argv[]);
#define _UAVCAN_IOCBASE (0x4000) // IOCTL base for module UAVCAN
#define _UAVCAN_IOC(_n) (_IOC(_UAVCAN_IOCBASE, _n))
#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1) // query if node identification is in progress
#endif #endif
void AP_BoardConfig::init() void AP_BoardConfig::init()
@ -159,10 +165,18 @@ void AP_BoardConfig::init()
if (ret != 0) { if (ret != 0) {
hal.console->printf("UAVCAN: failed to start servers\n"); hal.console->printf("UAVCAN: failed to start servers\n");
} else { } else {
hal.console->printf("UAVCAN: servers started\n"); fd = open("/dev/uavcan/esc", 0); // design flaw of uavcan driver, this should be /dev/uavcan/node one day
// give some time for CAN bus initialisation 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) {
hal.scheduler->delay(500); hal.scheduler->delay(500);
} }
hal.console->printf("UAVCAN: node discovery complete\n");
close(fd);
}
} }
#endif #endif