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AP_Notify: ToshibaLED_I2C: Fix driver after I2CDevice conversion

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- Add missing semaphore take on bus
    - Initialize device on init function rather than constructor: the
      constructor may run before I2CDeviceManager is initialized since our
      AP_Notify objects are static so it can't be used.
This commit is contained in:
Lucas De Marchi 2016-07-11 15:04:54 -03:00
parent 0b69e43464
commit 5618008935
2 changed files with 15 additions and 12 deletions
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30
libraries/AP_Notify/ToshibaLED_I2C.cpp
View File

@ -17,6 +17,8 @@
*/
#include "ToshibaLED_I2C.h"
#include <utility>
#include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal;
@ -29,15 +31,12 @@ extern const AP_HAL::HAL& hal;
#define TOSHIBA_LED_PWM2 0x03 // pwm2 register
#define TOSHIBA_LED_ENABLE 0x04 // enable register
ToshibaLED_I2C::ToshibaLED_I2C()
: _dev(hal.i2c_mgr->get_device(TOSHIBA_LED_I2C_BUS, TOSHIBA_LED_I2C_ADDR))
{
}
bool ToshibaLED_I2C::hw_init()
{
_dev = std::move(hal.i2c_mgr->get_device(TOSHIBA_LED_I2C_BUS, TOSHIBA_LED_I2C_ADDR));
// take i2c bus sempahore
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
if (!_dev || !_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
@ -57,11 +56,16 @@ bool ToshibaLED_I2C::hw_init()
// set_rgb - set color as a combination of red, green and blue values
bool ToshibaLED_I2C::hw_set_rgb(uint8_t red, uint8_t green, uint8_t blue)
{
// update the red value
uint8_t val[4] = { TOSHIBA_LED_PWM0, (uint8_t)(blue>>4), (uint8_t)(green>>4), (uint8_t)(red>>4) };
bool success = _dev->transfer(val, sizeof(val), nullptr, 0);
// give back i2c semaphore
_dev->get_semaphore()->give();
return success;
if (!_dev || !_dev->get_semaphore()->take(5)) {
return false;
}
/* 4-bit for each color */
uint8_t val[4] = { TOSHIBA_LED_PWM0, (uint8_t)(blue >> 4),
(uint8_t)(green / 16), (uint8_t)(red / 16) };
bool ret = _dev->transfer(val, sizeof(val), nullptr, 0);
_dev->get_semaphore()->give();
return ret;
}

1
libraries/AP_Notify/ToshibaLED_I2C.h
View File

@ -22,7 +22,6 @@
class ToshibaLED_I2C : public ToshibaLED
{
public:
ToshibaLED_I2C();
bool hw_init(void);
bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b);