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AP_Airspeed: protect sample timestamp while get data

This commit is contained in:
liang 2019-10-11 23:19:33 -07:00 committed by Andrew Tridgell
parent fe889b6f4e
commit 194ea66912
4 changed files with 25 additions and 28 deletions
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17
libraries/AP_Airspeed/AP_Airspeed_DLVR.cpp
View File

@ -98,17 +98,16 @@ void AP_Airspeed_DLVR::timer()
// return the current differential_pressure in Pascal // return the current differential_pressure in Pascal
bool AP_Airspeed_DLVR::get_differential_pressure(float &_pressure) bool AP_Airspeed_DLVR::get_differential_pressure(float &_pressure)
{ {
WITH_SEMAPHORE(sem);
if ((AP_HAL::millis() - last_sample_time_ms) > 100) { if ((AP_HAL::millis() - last_sample_time_ms) > 100) {
return false; return false;
} }
{ if (press_count > 0) {
WITH_SEMAPHORE(sem); pressure = pressure_sum / press_count;
if (press_count > 0) { press_count = 0;
pressure = pressure_sum / press_count; pressure_sum = 0;
press_count = 0;
pressure_sum = 0;
}
} }
_pressure = pressure; _pressure = pressure;
@ -118,12 +117,12 @@ bool AP_Airspeed_DLVR::get_differential_pressure(float &_pressure)
// return the current temperature in degrees C, if available // return the current temperature in degrees C, if available
bool AP_Airspeed_DLVR::get_temperature(float &_temperature) bool AP_Airspeed_DLVR::get_temperature(float &_temperature)
{ {
WITH_SEMAPHORE(sem);
if ((AP_HAL::millis() - last_sample_time_ms) > 100) { if ((AP_HAL::millis() - last_sample_time_ms) > 100) {
return false; return false;
} }
WITH_SEMAPHORE(sem);
if (temp_count > 0) { if (temp_count > 0) {
temperature = temperature_sum / temp_count; temperature = temperature_sum / temp_count;
temp_count = 0; temp_count = 0;

8
libraries/AP_Airspeed/AP_Airspeed_MS4525.cpp
View File

@ -223,12 +223,12 @@ void AP_Airspeed_MS4525::_timer()
// return the current differential_pressure in Pascal // return the current differential_pressure in Pascal
bool AP_Airspeed_MS4525::get_differential_pressure(float &pressure) bool AP_Airspeed_MS4525::get_differential_pressure(float &pressure)
{ {
WITH_SEMAPHORE(sem);
if ((AP_HAL::millis() - _last_sample_time_ms) > 100) { if ((AP_HAL::millis() - _last_sample_time_ms) > 100) {
return false; return false;
} }
WITH_SEMAPHORE(sem);
if (_press_count > 0) { if (_press_count > 0) {
_pressure = _press_sum / _press_count; _pressure = _press_sum / _press_count;
_press_count = 0; _press_count = 0;
@ -242,12 +242,12 @@ bool AP_Airspeed_MS4525::get_differential_pressure(float &pressure)
// return the current temperature in degrees C, if available // return the current temperature in degrees C, if available
bool AP_Airspeed_MS4525::get_temperature(float &temperature) bool AP_Airspeed_MS4525::get_temperature(float &temperature)
{ {
WITH_SEMAPHORE(sem);
if ((AP_HAL::millis() - _last_sample_time_ms) > 100) { if ((AP_HAL::millis() - _last_sample_time_ms) > 100) {
return false; return false;
} }
WITH_SEMAPHORE(sem);
if (_temp_count > 0) { if (_temp_count > 0) {
_temperature = _temp_sum / _temp_count; _temperature = _temp_sum / _temp_count;
_temp_count = 0; _temp_count = 0;

8
libraries/AP_Airspeed/AP_Airspeed_MS5525.cpp
View File

@ -264,12 +264,12 @@ void AP_Airspeed_MS5525::timer()
// return the current differential_pressure in Pascal // return the current differential_pressure in Pascal
bool AP_Airspeed_MS5525::get_differential_pressure(float &_pressure) bool AP_Airspeed_MS5525::get_differential_pressure(float &_pressure)
{ {
WITH_SEMAPHORE(sem);
if ((AP_HAL::millis() - last_sample_time_ms) > 100) { if ((AP_HAL::millis() - last_sample_time_ms) > 100) {
return false; return false;
} }
WITH_SEMAPHORE(sem);
if (press_count > 0) { if (press_count > 0) {
pressure = pressure_sum / press_count; pressure = pressure_sum / press_count;
press_count = 0; press_count = 0;
@ -283,12 +283,12 @@ bool AP_Airspeed_MS5525::get_differential_pressure(float &_pressure)
// return the current temperature in degrees C, if available // return the current temperature in degrees C, if available
bool AP_Airspeed_MS5525::get_temperature(float &_temperature) bool AP_Airspeed_MS5525::get_temperature(float &_temperature)
{ {
WITH_SEMAPHORE(sem);
if ((AP_HAL::millis() - last_sample_time_ms) > 100) { if ((AP_HAL::millis() - last_sample_time_ms) > 100) {
return false; return false;
} }
WITH_SEMAPHORE(sem);
if (temp_count > 0) { if (temp_count > 0) {
temperature = temperature_sum / temp_count; temperature = temperature_sum / temp_count;
temp_count = 0; temp_count = 0;

20
libraries/AP_Airspeed/AP_Airspeed_SDP3X.cpp
View File

@ -278,18 +278,16 @@ float AP_Airspeed_SDP3X::_correct_pressure(float press)
// return the current differential_pressure in Pascal // return the current differential_pressure in Pascal
bool AP_Airspeed_SDP3X::get_differential_pressure(float &pressure) bool AP_Airspeed_SDP3X::get_differential_pressure(float &pressure)
{ {
uint32_t now = AP_HAL::millis(); WITH_SEMAPHORE(sem);
if (now - _last_sample_time_ms > 100) {
if (AP_HAL::millis() - _last_sample_time_ms > 100) {
return false; return false;
} }
{ if (_press_count > 0) {
WITH_SEMAPHORE(sem); _press = _press_sum / _press_count;
if (_press_count > 0) { _press_count = 0;
_press = _press_sum / _press_count; _press_sum = 0;
_press_count = 0;
_press_sum = 0;
}
} }
pressure = _correct_pressure(_press); pressure = _correct_pressure(_press);
@ -299,12 +297,12 @@ bool AP_Airspeed_SDP3X::get_differential_pressure(float &pressure)
// return the current temperature in degrees C, if available // return the current temperature in degrees C, if available
bool AP_Airspeed_SDP3X::get_temperature(float &temperature) bool AP_Airspeed_SDP3X::get_temperature(float &temperature)
{ {
WITH_SEMAPHORE(sem);
if ((AP_HAL::millis() - _last_sample_time_ms) > 100) { if ((AP_HAL::millis() - _last_sample_time_ms) > 100) {
return false; return false;
} }
WITH_SEMAPHORE(sem);
if (_temp_count > 0) { if (_temp_count > 0) {
_temp = _temp_sum / _temp_count; _temp = _temp_sum / _temp_count;
_temp_count = 0; _temp_count = 0;