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AP_RangeFinder_PulsedLightLRF: Fix driver after I2CDevice conversion

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* Fix wrong semaphore->take check in ::get_reading
* Simplify semaphore releasing
* Fix typos and trailing whitespace
This commit is contained in:
Murilo Belluzzo 2016-07-11 19:58:29 -03:00 committed by Lucas De Marchi
parent e1342eb533
commit 0dc33410ff
1 changed files with 14 additions and 20 deletions
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34
libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
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@ -20,8 +20,8 @@
extern const AP_HAL::HAL& hal;
/*
The constructor also initialises the rangefinder. Note that this
/*
The constructor also initializes the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
@ -32,7 +32,7 @@ AP_RangeFinder_PulsedLightLRF::AP_RangeFinder_PulsedLightLRF(RangeFinder &_range
{
}
/*
/*
detect if a PulsedLight rangefinder is connected. We'll detect by
trying to take a reading on I2C. If we get a result the sensor is
there.
@ -67,38 +67,32 @@ bool AP_RangeFinder_PulsedLightLRF::start_reading()
}
// send command to take reading
if (!_dev->write_register(AP_RANGEFINDER_PULSEDLIGHTLRF_MEASURE_REG,
AP_RANGEFINDER_PULSEDLIGHTLRF_MSRREG_ACQUIRE)) {
_dev->get_semaphore()->give();
return false;
}
// return semaphore
bool ret = _dev->write_register(AP_RANGEFINDER_PULSEDLIGHTLRF_MEASURE_REG,
AP_RANGEFINDER_PULSEDLIGHTLRF_MSRREG_ACQUIRE);
_dev->get_semaphore()->give();
return true;
return ret;
}
// read - return last value measured by sensor
bool AP_RangeFinder_PulsedLightLRF::get_reading(uint16_t &reading_cm)
{
if (_dev->get_semaphore()->take(1)) {
uint8_t buff[2];
if (!_dev->get_semaphore()->take(1)) {
return false;
}
uint8_t buff[2];
// read the high and low byte distance registers
if (!_dev->read_registers(AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG, buff, sizeof(buff))) {
_dev->get_semaphore()->give();
bool ret = _dev->read_registers(AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG, buff, sizeof(buff));
_dev->get_semaphore()->give();
if (!ret) {
return false;
}
// combine results into distance
reading_cm = ((uint16_t)buff[0]) << 8 | buff[1];
// return semaphore
_dev->get_semaphore()->give();
// kick off another reading for next time
// To-Do: replace this with continuous mode
hal.scheduler->delay_microseconds(200);
@ -107,7 +101,7 @@ bool AP_RangeFinder_PulsedLightLRF::get_reading(uint16_t &reading_cm)
return true;
}
/*
/*
update the state of the sensor
*/
void AP_RangeFinder_PulsedLightLRF::update(void)