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AP_InertialSensor: BMI160: convert it to use Device periodic callback 

Some notes:
 - The only place that made sense to use
   suspend_timer_procs()/resume_timer_procs() calls were where we registered
   the timer process. Now there's no need for that anymore. Remove those calls
   from other place in the source too.
 - There's no need to acquire the device lock now that we are running as a
   periodic callback.
This commit is contained in:
Gustavo Jose de Sousa 2016-08-29 11:11:23 -03:00 committed by Lucas De Marchi
parent b259356703
commit b6c0e11200
2 changed files with 7 additions and 17 deletions
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20
libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp
View File

@ -145,7 +145,6 @@ void AP_InertialSensor_BMI160::start()
{
bool r;
hal.scheduler->suspend_timer_procs();
if (!_dev->get_semaphore()->take(100)) {
AP_HAL::panic("BMI160: Unable to get semaphore");
}
@ -177,10 +176,9 @@ void AP_InertialSensor_BMI160::start()
_accel_instance = _imu.register_accel(BMI160_ODR_TO_HZ(BMI160_ODR));
_gyro_instance = _imu.register_gyro(BMI160_ODR_TO_HZ(BMI160_ODR));
hal.scheduler->register_timer_process(
FUNCTOR_BIND_MEMBER(&AP_InertialSensor_BMI160::_poll_data, void));
hal.scheduler->resume_timer_procs();
/* Call _poll_data() at 1kHz */
_dev->register_periodic_callback(1000,
FUNCTOR_BIND_MEMBER(&AP_InertialSensor_BMI160::_poll_data, bool));
}
bool AP_InertialSensor_BMI160::update()
@ -407,15 +405,10 @@ read_fifo_end:
}
}
void AP_InertialSensor_BMI160::_poll_data()
bool AP_InertialSensor_BMI160::_poll_data()
{
if (!_dev->get_semaphore()->take_nonblocking()) {
return;
}
_read_fifo();
_dev->get_semaphore()->give();
return true;
}
bool AP_InertialSensor_BMI160::_hardware_init()
@ -485,10 +478,7 @@ bool AP_InertialSensor_BMI160::_init()
bool ret = false;
_dev->set_read_flag(BMI160_READ_FLAG);
hal.scheduler->suspend_timer_procs();
ret = _hardware_init();
hal.scheduler->resume_timer_procs();
if (!ret) {
hal.console->printf("BMI160: failed to init\n");
}

4
libraries/AP_InertialSensor/AP_InertialSensor_BMI160.h
View File

@ -96,9 +96,9 @@ private:
bool _configure_fifo();
/**
* Timer routine to read data from the sensors.
* Device periodic callback to read data from the sensors.
*/
void _poll_data();
bool _poll_data();
/**
* Read samples from fifo.