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AP_ADC: more robust semaphores

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This commit is contained in:
Pat Hickey 2012-12-05 17:18:47 -08:00 committed by Andrew Tridgell
parent bfd03ab40c
commit 09c14f3807
1 changed files with 28 additions and 5 deletions
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33
libraries/AP_ADC/AP_ADC_ADS7844.cpp
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@ -75,13 +75,24 @@ static volatile uint32_t _ch6_last_sample_time_micros = 0;
AP_HAL::SPIDeviceDriver* AP_ADC_ADS7844::_spi = NULL;
AP_HAL::Semaphore* AP_ADC_ADS7844::_spi_sem = NULL;
void AP_ADC_ADS7844::read(uint32_t tnow)
{
static int semfail_ctr = 0;
uint8_t ch;
if (_spi_sem) {
bool got = _spi_sem->get((void*)&_spi_sem);
if (!got) return;
if (!got) {
semfail_ctr++;
if (semfail_ctr > 100) {
hal.console->println_P(PSTR("PANIC: failed to take _spi_sem "
"100 times in AP_ADC_ADS7844::read"));
}
return;
} else {
semfail_ctr = 0;
}
}
_spi->cs_assert();
@ -118,7 +129,11 @@ void AP_ADC_ADS7844::read(uint32_t tnow)
_spi->cs_release();
if (_spi_sem) {
_spi_sem->release((void*)&_spi_sem);
bool released = _spi_sem->release((void*)&_spi_sem);
if (!released) {
hal.console->println_P(PSTR("PANIC: _spi_sem release failed in "
"AP_ADC_ADS7844::read"));
}
}
// record time of this sample
@ -140,7 +155,11 @@ void AP_ADC_ADS7844::Init()
_spi_sem = _spi->get_semaphore();
if (_spi_sem) {
while (!_spi_sem->get((void*)&_spi_sem));
bool taken = _spi_sem->get((void*)&_spi_sem);
if (!taken) {
hal.console->printf_P(PSTR("PANIC: failed to take _spi_sem in"
"AP_ADC_ADS7844::Init"));
}
}
_spi->cs_assert();
@ -157,13 +176,17 @@ void AP_ADC_ADS7844::Init()
_spi->cs_release();
if (_spi_sem) {
_spi_sem->release((void*)&_spi_sem);
bool released = _spi_sem->release((void*)&_spi_sem);
if (!released) {
hal.console->println_P(PSTR("PANIC: failed to release_spi_sem in "
"AP_ADC_ADS7844::Init"));
}
}
_ch6_last_sample_time_micros = hal.scheduler->micros();
hal.scheduler->resume_timer_procs();
hal.scheduler->register_timer_process( AP_ADC_ADS7844::read );
hal.scheduler->resume_timer_procs();
}