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AP_OpticalFlow_ADNS3080: has private AP_Semaphore* _semaphore

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Semaphore can be null, handled correctly if it is. Rather than check for
which SPI bus the sensor is using, just check whether semaphore is not null
before using it. More general and flexible.
This commit is contained in:
Pat Hickey 2012-10-09 11:35:59 -07:00
parent 6fc0d22671
commit 26ba391cd4
2 changed files with 18 additions and 15 deletions
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25
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
View File

@ -41,7 +41,8 @@ union NumericIntType
};
// Constructors ////////////////////////////////////////////////////////////////
AP_OpticalFlow_ADNS3080::AP_OpticalFlow_ADNS3080(int16_t cs_pin, int16_t reset_pin) :
AP_OpticalFlow_ADNS3080::AP_OpticalFlow_ADNS3080(AP_Semaphore* semaphore, int16_t cs_pin, int16_t reset_pin) :
_semaphore(semaphore),
_cs_pin(cs_pin),
_reset_pin(reset_pin),
_spi_bus(ADNS3080_SPI_UNKNOWN)
@ -181,10 +182,10 @@ AP_OpticalFlow_ADNS3080::read_register(byte address)
uint8_t result = 0;
uint8_t junk = 0;
// get spi3 semaphore if required
if( _spi_bus == ADNS3080_SPIBUS_3 ) {
// get spi semaphore if required
if( _semaphore != NULL) {
// if failed to get semaphore then just quietly fail
if( !AP_Semaphore_spi3.get(this) ) {
if( !_semaphore->get(this) ) {
return 0;
}
}
@ -209,9 +210,9 @@ AP_OpticalFlow_ADNS3080::read_register(byte address)
restore_spi_settings();
// get spi3 semaphore if required
if( _spi_bus == ADNS3080_SPIBUS_3 ) {
AP_Semaphore_spi3.release(this);
// get spi semaphore if required
if( _semaphore != NULL) {
_semaphore->release(this);
}
return result;
@ -223,10 +224,10 @@ AP_OpticalFlow_ADNS3080::write_register(byte address, byte value)
{
byte junk = 0;
// get spi3 semaphore if required
if( _spi_bus == ADNS3080_SPIBUS_3 ) {
// get spi semaphore if required
if( _semaphore != NULL) {
// if failed to get semaphore then just quietly fail
if( !AP_Semaphore_spi3.get(this) ) {
if( !_semaphore->get(this) ) {
Serial.println("Optflow: failed to get spi3 semaphore!");
return;
}
@ -253,8 +254,8 @@ AP_OpticalFlow_ADNS3080::write_register(byte address, byte value)
restore_spi_settings();
// get spi3 semaphore if required
if( _spi_bus == ADNS3080_SPIBUS_3 ) {
AP_Semaphore_spi3.release(this);
if( _semaphore != NULL) {
_semaphore->release(this);
}
}

8
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
View File

@ -1,6 +1,7 @@
#ifndef AP_OPTICALFLOW_ADNS3080_H
#define AP_OPTICALFLOW_ADNS3080_H
#ifndef __AP_OPTICALFLOW_ADNS3080_H__
#define __AP_OPTICALFLOW_ADNS3080_H__
#include <AP_Semaphore.h>
#include "AP_OpticalFlow.h"
// default pin settings
@ -82,7 +83,7 @@
class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
{
public:
AP_OpticalFlow_ADNS3080(int16_t cs_pin = ADNS3080_CHIP_SELECT, int16_t reset_pin = ADNS3080_RESET);
AP_OpticalFlow_ADNS3080(AP_Semaphore* semaphore, int16_t cs_pin = ADNS3080_CHIP_SELECT, int16_t reset_pin = ADNS3080_RESET);
bool init(bool initCommAPI, AP_PeriodicProcess *scheduler); // parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface)
uint8_t read_register(uint8_t address);
void write_register(uint8_t address, uint8_t value);
@ -138,6 +139,7 @@ private:
bool _motion; // true if there has been motion
bool _overflow; // true if the x or y data buffers overflowed
uint8_t _spi_bus; // 0 = unknown, 1 = using SPI, 3 = using SPI3
AP_Semaphore* _semaphore;
};
#endif