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AP_ADC: uses new semaphore interface

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This commit is contained in:
Pat Hickey 2013-01-03 10:49:28 -08:00
parent 390e96311e
commit a556a95565
1 changed files with 26 additions and 35 deletions
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61
libraries/AP_ADC/AP_ADC_ADS7844.cpp
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@ -81,19 +81,18 @@ void AP_ADC_ADS7844::read(uint32_t tnow)
static int semfail_ctr = 0;
uint8_t ch;
if (_spi_sem) {
bool got = _spi_sem->get((void*)&_spi_sem);
if (!got) {
semfail_ctr++;
if (semfail_ctr > 100) {
hal.scheduler->panic(PSTR("PANIC: failed to take _spi_sem "
"100 times in AP_ADC_ADS7844::read"));
}
return;
} else {
semfail_ctr = 0;
}
}
/** Take nonblocking: ::read happens from the TimerProcess context! */
bool got = _spi_sem->take_nonblocking();
if (!got) {
semfail_ctr++;
if (semfail_ctr > 100) {
hal.scheduler->panic(PSTR("PANIC: failed to take _spi_sem "
"100 times in AP_ADC_ADS7844::read"));
}
return;
} else {
semfail_ctr = 0;
}
uint8_t rx[17];
_spi->transaction(adc_cmd, rx, 17);
@ -118,13 +117,7 @@ void AP_ADC_ADS7844::read(uint32_t tnow)
_sum[ch] += (v >> 3);
}
if (_spi_sem) {
bool released = _spi_sem->release((void*)&_spi_sem);
if (!released) {
hal.scheduler->panic(PSTR("PANIC: _spi_sem release failed in "
"AP_ADC_ADS7844::read"));
}
}
_spi_sem->give();
// record time of this sample
_ch6_last_sample_time_micros = hal.scheduler->micros();
@ -140,16 +133,20 @@ void AP_ADC_ADS7844::Init()
hal.scheduler->suspend_timer_procs();
_spi = hal.spi->device(AP_HAL::SPIDevice_ADS7844);
if (_spi == NULL) {
hal.scheduler->panic(PSTR("PANIC: AP_ADC_ADS7844 missing SPI device driver\n"));
hal.scheduler->panic(PSTR("PANIC: AP_ADC_ADS7844 missing SPI device "
"driver\n"));
}
_spi_sem = _spi->get_semaphore();
if (_spi_sem) {
bool taken = _spi_sem->get((void*)&_spi_sem);
if (!taken) {
hal.scheduler->panic(PSTR("PANIC: failed to take _spi_sem in"
"AP_ADC_ADS7844::Init"));
}
if (_spi_sem == NULL) {
hal.scheduler->panic(PSTR("PANIC: AP_ADC_ADS7844 missing SPI device "
"semaphore"));
}
if (!_spi_sem->take(0)) {
hal.scheduler->panic(PSTR("PANIC: failed to take _spi_sem in"
"AP_ADC_ADS7844::Init"));
}
_spi->cs_assert();
@ -165,13 +162,7 @@ void AP_ADC_ADS7844::Init()
_spi->cs_release();
if (_spi_sem) {
bool released = _spi_sem->release((void*)&_spi_sem);
if (!released) {
hal.scheduler->panic(PSTR("PANIC: failed to release_spi_sem in "
"AP_ADC_ADS7844::Init"));
}
}
_spi_sem->give();
_ch6_last_sample_time_micros = hal.scheduler->micros();