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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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26
libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
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@ -21,7 +21,7 @@
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
*/
@ -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)) {
bool ret = _dev->write_register(AP_RANGEFINDER_PULSEDLIGHTLRF_MEASURE_REG,
AP_RANGEFINDER_PULSEDLIGHTLRF_MSRREG_ACQUIRE);
_dev->get_semaphore()->give();
return false;
}
// return semaphore
_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))) {
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);