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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
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@ -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_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) : AP_RangeFinder_Backend(_ranger, instance, _state)
, _dev(std::move(dev)) , _dev(std::move(dev)) {}
{
// call timer() at 20Hz
_dev->register_periodic_callback(50000,
FUNCTOR_BIND_MEMBER(&AP_RangeFinder_LightWareI2C::timer, bool));
}
/* /*
detect if a Lightware rangefinder is connected. We'll detect by 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->_dev->get_semaphore()->give();
} }
sensor->init();
return sensor; 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 // read - return last value measured by sensor
bool AP_RangeFinder_LightWareI2C::get_reading(uint16_t &reading_cm) 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 // constructor
AP_RangeFinder_LightWareI2C(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); AP_RangeFinder_LightWareI2C(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
void init();
bool timer(); bool timer();
// get a reading // get a reading