From: Keith Packard <keithp@keithp.com>
Date: Sun, 21 Apr 2013 03:05:01 +0000 (-0500)
Subject: libaltos: Try Bluetooth open 5 times on EBUSY
X-Git-Url: https://git.gag.com/?a=commitdiff_plain;h=af7a28494cb6c858013aba305061f73192b12b10;p=fw%2Faltos

libaltos: Try Bluetooth open 5 times on EBUSY

After closing Bluetooth, it can take a second before the device is up
for another connection. Hang around retrying a few times.

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/libaltos/libaltos.c b/libaltos/libaltos.c
index ad03e638..69a6735f 100644
--- a/libaltos/libaltos.c
+++ b/libaltos/libaltos.c
@@ -736,30 +736,35 @@ struct altos_file *
 altos_bt_open(struct altos_bt_device *device)
 {
 	struct sockaddr_rc addr = { 0 };
-	int	s, status;
+	int	status, i;
 	struct altos_file *file;
 
 	file = calloc(1, sizeof (struct altos_file));
 	if (!file)
 		goto no_file;
-	file->fd = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
-	if (file->fd < 0) {
-		altos_set_last_posix_error();
-		goto no_sock;
-	}
-
 	addr.rc_family = AF_BLUETOOTH;
 	addr.rc_channel = 1;
 	str2ba(device->addr, &addr.rc_bdaddr);
 
-	status = connect(file->fd,
-			 (struct sockaddr *)&addr,
-			 sizeof(addr));
+	for (i = 0; i < 5; i++) {
+		file->fd = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
+		if (file->fd < 0) {
+			altos_set_last_posix_error();
+			goto no_sock;
+		}
+
+		status = connect(file->fd,
+				 (struct sockaddr *)&addr,
+				 sizeof(addr));
+		if (status >= 0 || errno != EBUSY)
+			break;
+		close(file->fd);
+		usleep(100 * 1000);
+	}
 	if (status < 0) {
 		altos_set_last_posix_error();
 		goto no_link;
 	}
-	sleep(1);
 
 #ifdef USE_POLL
 	pipe(file->pipe);
@@ -768,7 +773,7 @@ altos_bt_open(struct altos_bt_device *device)
 #endif
 	return file;
 no_link:
-	close(s);
+	close(file->fd);
 no_sock:
 	free(file);
 no_file:
diff --git a/src/stm-bringup/Makefile b/src/stm-bringup/Makefile
index 5cc94bd9..f4e77046 100644
--- a/src/stm-bringup/Makefile
+++ b/src/stm-bringup/Makefile
@@ -8,8 +8,10 @@ endif
 CC=arm-none-eabi-gcc
 OBJCOPY=arm-none-eabi-objcopy
 
-PDCLIB=/home/keithp/sat
-C_LIB=$(PDCLIB)/lib/pdclib.a
+#PDCLIB=/home/keithp/sat
+#C_LIB=$(PDCLIB)/lib/pdclib.a
+PDCLIB=/opt/sat
+C_LIB=$(PDCLIB)/lib/pdclib-cortex-m3.a
 C_INC=-I$(PDCLIB)/include
 
 DEF_CFLAGS=-g -std=gnu99 -Os -mlittle-endian -mthumb -ffreestanding -nostdlib -I. -I../../src/stm $(C_INC)
diff --git a/src/stm/Makefile.defs b/src/stm/Makefile.defs
index 04404cdc..e4a154c5 100644
--- a/src/stm/Makefile.defs
+++ b/src/stm/Makefile.defs
@@ -8,8 +8,10 @@ vpath matrix.5c ../kalman
 vpath ao-make-product.5c ../util
 
 CC=arm-none-eabi-gcc
-SAT=/home/keithp/sat
-SAT_CLIB=$(SAT)/lib/pdclib.a
+#SAT=/home/keithp/sat
+#SAT_CLIB=$(SAT)/lib/pdclib.a
+SAT=/opt/sat
+SAT_CLIB=$(SAT)/lib/pdclib-cortex-m3.a
 SAT_CFLAGS=-I$(SAT)/include
 
 ifndef VERSION