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AP_Baro_MS5611: use scheduler panic

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This commit is contained in:
Pat Hickey 2012-12-17 16:28:55 -08:00 committed by Andrew Tridgell
parent a4f41c1d29
commit 2c2279722b
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Baro/AP_Baro_MS5611.cpp
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@ -114,7 +114,7 @@ bool AP_Baro_MS5611::init()
{ {
_spi = hal.spi->device(AP_HAL::SPIDevice_MS5611); _spi = hal.spi->device(AP_HAL::SPIDevice_MS5611);
if (_spi == NULL) { if (_spi == NULL) {
hal.console->println_P(PSTR("PANIC: AP_Baro_MS5611 could not get " hal.scheduler->panic(PSTR("PANIC: AP_Baro_MS5611 could not get "
"valid SPI device driver!")); "valid SPI device driver!"));
return false; return false;
} }
@ -155,7 +155,7 @@ bool AP_Baro_MS5611::init()
while (!_updated) { while (!_updated) {
hal.scheduler->delay(10); hal.scheduler->delay(10);
if (hal.scheduler->millis() - tstart > 1000) { if (hal.scheduler->millis() - tstart > 1000) {
hal.console->println_P(PSTR("PANIC: AP_Baro_MS5611 took more than " hal.scheduler->panic(PSTR("PANIC: AP_Baro_MS5611 took more than "
"1000ms to initialize")); "1000ms to initialize"));
healthy = false; healthy = false;
return false; return false;
@ -185,7 +185,7 @@ void AP_Baro_MS5611::_update(uint32_t tnow)
if (!got) { if (!got) {
semfail_ctr++; semfail_ctr++;
if (semfail_ctr > 100) { if (semfail_ctr > 100) {
hal.console->println_P(PSTR("PANIC: failed to take _spi_sem " hal.scheduler->panic(PSTR("PANIC: failed to take _spi_sem "
"100 times in AP_Baro_MS5611::_update")); "100 times in AP_Baro_MS5611::_update"));
} }
return; return;
@ -230,7 +230,7 @@ void AP_Baro_MS5611::_update(uint32_t tnow)
if (_spi_sem) { if (_spi_sem) {
bool released = _spi_sem->release((void*)&_spi_sem); bool released = _spi_sem->release((void*)&_spi_sem);
if (!released) { if (!released) {
hal.console->println_P(PSTR("PANIC: _spi_sem release failed in " hal.scheduler->panic(PSTR("PANIC: _spi_sem release failed in "
"AP_Baro_MS5611::_update")); "AP_Baro_MS5611::_update"));
} }
} }