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AP_RangeFinder: fix hard fault with LightWareI2C

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This commit is contained in:
Jonathan Challinger 2016-12-06 12:02:58 -08:00 committed by Andrew Tridgell
parent 556993d7f0
commit 6e47bed97d
2 changed files with 11 additions and 6 deletions
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16
libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
View File

@ -28,12 +28,7 @@ extern const AP_HAL::HAL& hal;
*/
AP_RangeFinder_LightWareI2C::AP_RangeFinder_LightWareI2C(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_RangeFinder_Backend(_ranger, instance, _state)
, _dev(std::move(dev))
{
// call timer() at 20Hz
_dev->register_periodic_callback(50000,
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_LightWareI2C::timer, bool));
}
, _dev(std::move(dev)) {}
/*
detect if a Lightware rangefinder is connected. We'll detect by
@ -60,9 +55,18 @@ AP_RangeFinder_Backend *AP_RangeFinder_LightWareI2C::detect(RangeFinder &_ranger
sensor->_dev->get_semaphore()->give();
}
sensor->init();
return sensor;
}
void AP_RangeFinder_LightWareI2C::init()
{
// call timer() at 20Hz
_dev->register_periodic_callback(50000,
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_LightWareI2C::timer, bool));
}
// read - return last value measured by sensor
bool AP_RangeFinder_LightWareI2C::get_reading(uint16_t &reading_cm)
{

1
libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h
View File

@ -18,6 +18,7 @@ private:
// constructor
AP_RangeFinder_LightWareI2C(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
void init();
bool timer();
// get a reading