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AP_RangeFinder: fix PulsedLightLRF detection 

- Most of the boards use bus 1 for first I2C
    - If the bus doesn't exist, let the detect() method fail when it
      call start_reading(), because _dev would be invalid
This commit is contained in:
Lucas De Marchi 2016-07-12 18:22:18 -03:00
parent d653139c5d
commit a372f33cc0
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
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@ -30,7 +30,7 @@ extern const AP_HAL::HAL& hal;
AP_RangeFinder_PulsedLightLRF::AP_RangeFinder_PulsedLightLRF(RangeFinder &_ranger, uint8_t instance,
RangeFinder::RangeFinder_State &_state)
: AP_RangeFinder_Backend(_ranger, instance, _state)
, _dev(hal.i2c_mgr->get_device(0, AP_RANGEFINDER_PULSEDLIGHTLRF_ADDR))
, _dev(hal.i2c_mgr->get_device(1, AP_RANGEFINDER_PULSEDLIGHTLRF_ADDR))
{
}
@ -44,8 +44,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_PulsedLightLRF::detect(RangeFinder &_rang
{
AP_RangeFinder_PulsedLightLRF *sensor
= new AP_RangeFinder_PulsedLightLRF(_ranger, instance, _state);
if (!sensor->start_reading()) {
if (!sensor || !sensor->start_reading()) {
delete sensor;
return nullptr;
}
@ -64,7 +63,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_PulsedLightLRF::detect(RangeFinder &_rang
// start_reading() - ask sensor to make a range reading
bool AP_RangeFinder_PulsedLightLRF::start_reading()
{
if (!_dev->get_semaphore()->take(1)) {
if (!_dev || !_dev->get_semaphore()->take(1)) {
return false;
}
@ -72,6 +71,7 @@ bool AP_RangeFinder_PulsedLightLRF::start_reading()
bool ret = _dev->write_register(AP_RANGEFINDER_PULSEDLIGHTLRF_MEASURE_REG,
AP_RANGEFINDER_PULSEDLIGHTLRF_MSRREG_ACQUIRE);
_dev->get_semaphore()->give();
return ret;
}