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AP_Baro: use take_blocking instead of HAL_SEMAPHORE_BLOCK_FOREVER

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this makes for cleaner and smaller code as the failure case is not
needed
This commit is contained in:
Andrew Tridgell 2020-01-19 08:42:32 +11:00
parent 2e5fe75aa7
commit 8c563ef1bf
7 changed files with 14 additions and 28 deletions
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3
libraries/AP_Baro/AP_Baro_DPS280.cpp
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@ -131,9 +131,10 @@ void AP_Baro_DPS280::set_config_registers(void)
bool AP_Baro_DPS280::init() bool AP_Baro_DPS280::init()
{ {
if (!dev || !dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { if (!dev) {
return false; return false;
} }
dev->get_semaphore()->take_blocking();
// setup to allow reads on SPI // setup to allow reads on SPI
if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) { if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {

3
libraries/AP_Baro/AP_Baro_FBM320.cpp
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@ -100,9 +100,10 @@ bool AP_Baro_FBM320::read_calibration(void)
bool AP_Baro_FBM320::init() bool AP_Baro_FBM320::init()
{ {
if (!dev || !dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { if (!dev) {
return false; return false;
} }
dev->get_semaphore()->take_blocking();
dev->set_speed(AP_HAL::Device::SPEED_HIGH); dev->set_speed(AP_HAL::Device::SPEED_HIGH);

8
libraries/AP_Baro/AP_Baro_ICM20789.cpp
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@ -94,9 +94,7 @@ AP_Baro_Backend *AP_Baro_ICM20789::probe(AP_Baro &baro,
*/ */
bool AP_Baro_ICM20789::imu_spi_init(void) bool AP_Baro_ICM20789::imu_spi_init(void)
{ {
if (!dev_imu->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { dev_imu->get_semaphore()->take_blocking();
AP_HAL::panic("PANIC: AP_Baro_ICM20789: failed to take serial semaphore ICM");
}
dev_imu->set_read_flag(0x80); dev_imu->set_read_flag(0x80);
@ -172,9 +170,7 @@ bool AP_Baro_ICM20789::init()
debug("Looking for 20789 baro\n"); debug("Looking for 20789 baro\n");
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { dev->get_semaphore()->take_blocking();
AP_HAL::panic("PANIC: AP_Baro_ICM20789: failed to take serial semaphore for init");
}
debug("Setting up IMU\n"); debug("Setting up IMU\n");
if (dev_imu->bus_type() != AP_HAL::Device::BUS_TYPE_I2C) { if (dev_imu->bus_type() != AP_HAL::Device::BUS_TYPE_I2C) {

4
libraries/AP_Baro/AP_Baro_KellerLD.cpp
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@ -67,9 +67,7 @@ bool AP_Baro_KellerLD::_init()
return false; return false;
} }
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { _dev->get_semaphore()->take_blocking();
AP_HAL::panic("PANIC: AP_Baro_KellerLD: failed to take serial semaphore for init");
}
// high retries for init // high retries for init
_dev->set_retries(10); _dev->set_retries(10);

7
libraries/AP_Baro/AP_Baro_LPS2XH.cpp
View File

@ -106,9 +106,7 @@ AP_Baro_Backend *AP_Baro_LPS2XH::probe_InvensenseIMU(AP_Baro &baro,
*/ */
bool AP_Baro_LPS2XH::_imu_i2c_init(uint8_t imu_address) bool AP_Baro_LPS2XH::_imu_i2c_init(uint8_t imu_address)
{ {
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { _dev->get_semaphore()->take_blocking();
return false;
}
// as the baro device is already locked we need to re-use it, // as the baro device is already locked we need to re-use it,
// changing its address to match the IMU address // changing its address to match the IMU address
@ -138,9 +136,10 @@ bool AP_Baro_LPS2XH::_imu_i2c_init(uint8_t imu_address)
bool AP_Baro_LPS2XH::_init() bool AP_Baro_LPS2XH::_init()
{ {
if (!_dev || !_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { if (!_dev) {
return false; return false;
} }
_dev->get_semaphore()->take_blocking();
_has_sample = false; _has_sample = false;

4
libraries/AP_Baro/AP_Baro_MS5611.cpp
View File

@ -82,9 +82,7 @@ bool AP_Baro_MS56XX::_init()
return false; return false;
} }
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { _dev->get_semaphore()->take_blocking();
AP_HAL::panic("PANIC: AP_Baro_MS56XX: failed to take serial semaphore for init");
}
// high retries for init // high retries for init
_dev->set_retries(10); _dev->set_retries(10);

13
libraries/AP_Baro/examples/ICM20789/ICM20789.cpp
View File

@ -221,9 +221,7 @@ static bool read_calibration_data(void)
// initialise baro on i2c // initialise baro on i2c
static void i2c_init(void) static void i2c_init(void)
{ {
if (!i2c_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { i2c_dev->get_semaphore()->take_blocking();
AP_HAL::panic("Failed to get baro semaphore");
}
if (send_cmd16(CMD_READ_ID)) { if (send_cmd16(CMD_READ_ID)) {
printf("ICM20789: read ID ******\n"); printf("ICM20789: read ID ******\n");
@ -249,9 +247,7 @@ static void i2c_init(void)
i2c_dev->get_semaphore()->give(); i2c_dev->get_semaphore()->give();
printf("checking baro\n"); printf("checking baro\n");
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { dev->get_semaphore()->take_blocking();
AP_HAL::panic("Failed to get device semaphore");
}
uint8_t regs[3] = { 0xC0, 0xC1, 0xC2 }; uint8_t regs[3] = { 0xC0, 0xC1, 0xC2 };
for (uint8_t i=0; i<ARRAY_SIZE(regs); i++) { for (uint8_t i=0; i<ARRAY_SIZE(regs); i++) {
@ -274,10 +270,7 @@ void setup()
#ifdef HAL_INS_MPU60x0_NAME #ifdef HAL_INS_MPU60x0_NAME
spi_dev = std::move(hal.spi->get_device(HAL_INS_MPU60x0_NAME)); spi_dev = std::move(hal.spi->get_device(HAL_INS_MPU60x0_NAME));
if (!spi_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { spi_dev->get_semaphore()->take_blocking();
AP_HAL::panic("Failed to get spi semaphore");
}
i2c_dev = std::move(hal.i2c_mgr->get_device(1, 0x63)); i2c_dev = std::move(hal.i2c_mgr->get_device(1, 0x63));
dev = std::move(hal.i2c_mgr->get_device(1, 0x29)); dev = std::move(hal.i2c_mgr->get_device(1, 0x29));