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px4-firmware
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px4io: ensure upload device is closed after use 

this should release it for PWM use
This commit is contained in:
Andrew Tridgell 2013-04-25 20:11:25 +10:00
parent 421253e6db
commit fc572906b7
1 changed files with 16 additions and 1 deletions
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17
src/drivers/px4io/uploader.cpp
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@ -127,6 +127,8 @@ PX4IO_Uploader::upload(const char *filenames[])
if (ret != OK) {
/* this is immediately fatal */
log("bootloader not responding");
close(_io_fd);
_io_fd = -1;
return -EIO;
}
@ -145,18 +147,25 @@ PX4IO_Uploader::upload(const char *filenames[])
if (filename == NULL) {
log("no firmware found");
close(_io_fd);
_io_fd = -1;
return -ENOENT;
}
struct stat st;
if (stat(filename, &st) != 0) {
log("Failed to stat %s - %d\n", filename, (int)errno);
close(_io_fd);
_io_fd = -1;
return -errno;
}
fw_size = st.st_size;
if (_fw_fd == -1)
if (_fw_fd == -1) {
close(_io_fd);
_io_fd = -1;
return -ENOENT;
}
/* do the usual program thing - allow for failure */
for (unsigned retries = 0; retries < 1; retries++) {
@ -167,6 +176,8 @@ PX4IO_Uploader::upload(const char *filenames[])
if (ret != OK) {
/* this is immediately fatal */
log("bootloader not responding");
close(_io_fd);
_io_fd = -1;
return -EIO;
}
}
@ -178,6 +189,8 @@ PX4IO_Uploader::upload(const char *filenames[])
log("found bootloader revision: %d", bl_rev);
} else {
log("found unsupported bootloader revision %d, exiting", bl_rev);
close(_io_fd);
_io_fd = -1;
return OK;
}
}
@ -221,6 +234,8 @@ PX4IO_Uploader::upload(const char *filenames[])
}
close(_fw_fd);
close(_io_fd);
_io_fd = -1;
return ret;
}