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AP_InertialSensor: fixed a bug where bus semaphore not held 

during init of the invensense driver we could do a transfer without
the bus semaphore held. That violates the locking rules for the bus
This commit is contained in:
Andrew Tridgell 2018-02-06 17:44:22 +11:00
parent fa68210210
commit 2ffb8d1583
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -966,10 +966,10 @@ bool AP_InertialSensor_Invensense::_hardware_init(void)
}
_dev->set_speed(AP_HAL::Device::SPEED_HIGH);
_dev->get_semaphore()->give();
if (tries == 5) {
hal.console->printf("Failed to boot Invensense 5 times\n");
_dev->get_semaphore()->give();
return false;
}
@ -978,6 +978,7 @@ bool AP_InertialSensor_Invensense::_hardware_init(void)
// this avoids a sensor bug, see description above
_register_write(MPUREG_ICM_UNDOC1, MPUREG_ICM_UNDOC1_VALUE, true);
}
_dev->get_semaphore()->give();
return true;
}