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AP_Baro: fixed I2C semaphore handling for BMP085 driver

This commit is contained in:
Andrew Tridgell 2013-10-08 11:22:58 +11:00
parent f286369990
commit 6fa55d101f
1 changed files with 19 additions and 0 deletions
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19
libraries/AP_Baro/AP_Baro_BMP085.cpp
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@ -78,11 +78,19 @@ bool AP_Baro_BMP085::init()
{
uint8_t buff[22];
// get pointer to i2c bus semaphore
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
// take i2c bus sempahore
if (!i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER))
return false;
hal.gpio->pinMode(BMP085_EOC, GPIO_INPUT);// End Of Conversion (PC7) input
// We read the calibration data registers
if (hal.i2c->readRegisters(BMP085_ADDRESS, 0xAA, 22, buff) != 0) {
healthy = false;
i2c_sem->give();
return false;
}
@ -110,6 +118,7 @@ bool AP_Baro_BMP085::init()
RawTemp = 0;
healthy = true;
i2c_sem->give();
return true;
}
@ -117,9 +126,17 @@ bool AP_Baro_BMP085::init()
// acumulate a new sensor reading
void AP_Baro_BMP085::accumulate(void)
{
// get pointer to i2c bus semaphore
AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
if (!BMP_DATA_READY()) {
return;
}
// take i2c bus sempahore
if (!i2c_sem->take(1))
return;
if (BMP085_State == 0) {
ReadTemp();
} else {
@ -133,6 +150,8 @@ void AP_Baro_BMP085::accumulate(void)
} else {
Command_ReadPress();
}
i2c_sem->give();
}