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AP_Baro: use new scheduler API

This commit is contained in:
Andrew Tridgell 2013-09-28 16:30:26 +10:00
parent 6134d9d0d7
commit 20b1131059
2 changed files with 4 additions and 3 deletions
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5
libraries/AP_Baro/AP_Baro_MS5611.cpp
View File

@ -264,7 +264,7 @@ bool AP_Baro_MS5611::init()
_d1_count = 0;
_d2_count = 0;
hal.scheduler->register_timer_process( AP_Baro_MS5611::_update );
hal.scheduler->register_timer_process( reinterpret_cast<AP_HAL::TimedProc>(&AP_Baro_MS5611::_update), this );
_serial->sem_give();
// wait for at least one value to be read
@ -287,8 +287,9 @@ bool AP_Baro_MS5611::init()
// Read the sensor. This is a state machine
// We read one time Temperature (state=1) and then 4 times Pressure (states 2-5)
// temperature does not change so quickly...
void AP_Baro_MS5611::_update(uint32_t tnow)
void AP_Baro_MS5611::_update(void)
{
uint32_t tnow = hal.scheduler->micros();
// Throttle read rate to 100hz maximum.
// note we use 9500us here not 10000us
// the read rate will end up at exactly 100hz because the Periodic Timer fires at 1khz

2
libraries/AP_Baro/AP_Baro_MS5611.h
View File

@ -87,7 +87,7 @@ public:
private:
/* Asynchronous handler functions: */
static void _update(uint32_t );
void _update();
/* Asynchronous state: */
static volatile bool _updated;
static volatile uint8_t _d1_count;