dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

px4io:Ensure proper lifecycle of registration of cdev

This commit is contained in:
David Sidrane 2021-09-24 13:52:27 -07:00 committed by Daniel Agar
parent 9ad0e5b357
commit f01cab3be1
1 changed files with 9 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
src/drivers/px4io/px4io.cpp
View File

@ -510,6 +510,14 @@ PX4IO::~PX4IO()
delete _interface; delete _interface;
} }
/* In the case the task did not exit
* clean up the alternate device node
*/
if (_primary_pwm_device) {
unregister_driver(PWM_OUTPUT0_DEVICE_PATH);
_primary_pwm_device = false;
}
/* deallocate perfs */ /* deallocate perfs */
perf_free(_perf_update); perf_free(_perf_update);
perf_free(_perf_write); perf_free(_perf_write);
@ -1217,6 +1225,7 @@ out:
/* clean up the alternate device node */ /* clean up the alternate device node */
if (_primary_pwm_device) { if (_primary_pwm_device) {
unregister_driver(PWM_OUTPUT0_DEVICE_PATH); unregister_driver(PWM_OUTPUT0_DEVICE_PATH);
_primary_pwm_device = false;
} }
/* tell the dtor that we are exiting */ /* tell the dtor that we are exiting */