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AP_Airspeed: AP_Airspeed_I2C: use I2CDevice interface

This commit is contained in:
Luiz Ywata 2016-04-19 14:16:19 -03:00 committed by Lucas De Marchi
parent 5ef1568137
commit 6c87b2aa7c
2 changed files with 10 additions and 11 deletions
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19
libraries/AP_Airspeed/AP_Airspeed_I2C.cpp
View File

@ -31,18 +31,17 @@ extern const AP_HAL::HAL &hal;
// probe and initialise the sensor
bool AP_Airspeed_I2C::init()
{
// get pointer to i2c bus semaphore
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
_dev = hal.i2c_mgr->get_device(1, I2C_ADDRESS_MS4525DO);
// take i2c bus sempahore
if (!i2c_sem->take(200)) {
if (!_dev->get_semaphore()->take(200)) {
return false;
}
_measure();
hal.scheduler->delay(10);
_collect();
i2c_sem->give();
_dev->get_semaphore()->give();
if (_last_sample_time_ms != 0) {
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Airspeed_I2C::_timer, void));
return true;
@ -54,7 +53,7 @@ bool AP_Airspeed_I2C::init()
void AP_Airspeed_I2C::_measure()
{
_measurement_started_ms = 0;
if (hal.i2c->writeRegisters(I2C_ADDRESS_MS4525DO, 0, 0, NULL) == 0) {
if (_dev->transfer(0, 1, nullptr, 0)) {
_measurement_started_ms = AP_HAL::millis();
}
}
@ -66,7 +65,7 @@ void AP_Airspeed_I2C::_collect()
_measurement_started_ms = 0;
if (hal.i2c->read(I2C_ADDRESS_MS4525DO, 4, data) != 0) {
if (_dev->transfer(nullptr, 0, data, sizeof(data))) {
return;
}
@ -103,15 +102,13 @@ void AP_Airspeed_I2C::_collect()
// 1kHz timer
void AP_Airspeed_I2C::_timer()
{
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
if (!i2c_sem->take_nonblocking()) {
if (!_dev->get_semaphore()->take_nonblocking()) {
return;
}
if (_measurement_started_ms == 0) {
_measure();
i2c_sem->give();
_dev->get_semaphore()->give();
return;
}
if ((AP_HAL::millis() - _measurement_started_ms) > 10) {
@ -119,7 +116,7 @@ void AP_Airspeed_I2C::_timer()
// start a new measurement
_measure();
}
i2c_sem->give();
_dev->get_semaphore()->give();
}
// return the current differential_pressure in Pascal

2
libraries/AP_Airspeed/AP_Airspeed_I2C.h
View File

@ -23,6 +23,7 @@
#include <AP_HAL/AP_HAL.h>
#include "AP_Airspeed_Backend.h"
#include <AP_HAL/I2CDevice.h>
class AP_Airspeed_I2C : public AP_Airspeed_Backend
{
@ -44,4 +45,5 @@ private:
float _pressure;
uint32_t _last_sample_time_ms;
uint32_t _measurement_started_ms;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
};