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HAL_PX4: retry opening UARTs up to 5 times

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this seems to help a lot with the USB port on PX4
This commit is contained in:
Andrew Tridgell 2013-07-11 13:46:58 +10:00
parent ae2ee399c2
commit 0916388ab5
1 changed files with 17 additions and 1 deletions
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18
libraries/AP_HAL_PX4/UARTDriver.cpp
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@ -36,12 +36,28 @@ extern const AP_HAL::HAL& hal;
void PX4UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
{
if (!_initialised) {
_fd = open(_devpath, O_RDWR);
uint8_t retries = 0;
while (retries < 5) {
_fd = open(_devpath, O_RDWR);
if (_fd != -1) {
break;
}
// sleep a bit and retry. There seems to be a NuttX bug
// that can cause ttyACM0 to not be available immediately,
// but a small delay can fix it
hal.scheduler->delay(100);
retries++;
}
if (_fd == -1) {
fprintf(stdout, "Failed to open UART device %s - %s\n",
_devpath, strerror(errno));
return;
}
if (retries != 0) {
fprintf(stdout, "WARNING: took %u retries to open UART %s\n",
(unsigned)retries, _devpath);
return;
}
if (rxS == 0) {
rxS = 128;