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AP_Baro_MS5611: suspend timer when init to prevent other SPI drivers grabbing the bus.

This commit is contained in:
raspilot 2015-09-30 19:38:51 +08:00 committed by Andrew Tridgell
parent ba4db34c83
commit 831bb554e7
1 changed files with 7 additions and 0 deletions
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7
libraries/AP_Baro/AP_Baro_MS5611.cpp
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@ -168,6 +168,11 @@ AP_Baro_MS56XX::AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_tim
{
_instance = _frontend.register_sensor();
_serial->init();
// we need to suspend timers to prevent other SPI drivers grabbing
// the bus while we do the long initialisation
hal.scheduler->suspend_timer_procs();
if (!_serial->sem_take_blocking()){
hal.scheduler->panic(PSTR("PANIC: AP_Baro_MS56XX: failed to take serial semaphore for init"));
}
@ -200,6 +205,8 @@ AP_Baro_MS56XX::AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_tim
_serial->sem_give();
hal.scheduler->resume_timer_procs();
if (_use_timer) {
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Baro_MS56XX::_timer, void));
}