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AP_InertialSensor: use take_blocking instead of HAL_SEMAPHORE_BLOCK_FOREVER 

this makes for cleaner and smaller code as the failure case is not
needed
This commit is contained in:
Andrew Tridgell 2020-01-19 08:42:34 +11:00
parent 67bd4ed396
commit b89c241329
7 changed files with 15 additions and 41 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp
View File

@ -152,9 +152,7 @@ void AP_InertialSensor_BMI160::start()
{
bool r;
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}
_dev->get_semaphore()->take_blocking();
r = _configure_accel();
if (!r) {
@ -428,9 +426,7 @@ bool AP_InertialSensor_BMI160::_hardware_init()
hal.scheduler->delay(BMI160_POWERUP_DELAY_MSEC);
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
_dev->get_semaphore()->take_blocking();
_dev->set_speed(AP_HAL::Device::SPEED_LOW);

14
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
View File

@ -174,9 +174,7 @@ bool AP_InertialSensor_Invensense::_has_auxiliary_bus()
void AP_InertialSensor_Invensense::start()
{
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}
_dev->get_semaphore()->take_blocking();
// initially run the bus at low speed
_dev->set_speed(AP_HAL::Device::SPEED_LOW);
@ -769,9 +767,7 @@ bool AP_InertialSensor_Invensense::_check_whoami(void)
bool AP_InertialSensor_Invensense::_hardware_init(void)
{
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
_dev->get_semaphore()->take_blocking();
// setup for register checking. We check much less often on I2C
// where the cost of the checks is higher
@ -985,10 +981,8 @@ void AP_Invensense_AuxiliaryBus::_configure_slaves()
return;
}
if (!backend._dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}
backend._dev->get_semaphore()->take_blocking();
/* Enable the I2C master to slaves on the auxiliary I2C bus*/
if (!(backend._last_stat_user_ctrl & BIT_USER_CTRL_I2C_MST_EN)) {
backend._last_stat_user_ctrl |= BIT_USER_CTRL_I2C_MST_EN;

14
libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp
View File

@ -155,9 +155,7 @@ bool AP_InertialSensor_Invensensev2::_has_auxiliary_bus()
void AP_InertialSensor_Invensensev2::start()
{
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}
_dev->get_semaphore()->take_blocking();
// initially run the bus at low speed
_dev->set_speed(AP_HAL::Device::SPEED_LOW);
@ -636,9 +634,7 @@ bool AP_InertialSensor_Invensensev2::_check_whoami(void)
bool AP_InertialSensor_Invensensev2::_hardware_init(void)
{
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
_dev->get_semaphore()->take_blocking();
// disabled setup of checked registers as it can't cope with bank switching
// _dev->setup_checked_registers(7, _dev->bus_type() == AP_HAL::Device::BUS_TYPE_I2C?200:20);
@ -835,10 +831,8 @@ void AP_Invensensev2_AuxiliaryBus::_configure_slaves()
{
auto &backend = AP_InertialSensor_Invensensev2::from(_ins_backend);
if (!backend._dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}
backend._dev->get_semaphore()->take_blocking();
/* Enable the I2C master to slaves on the auxiliary I2C bus*/
if (!(backend._last_stat_user_ctrl & BIT_USER_CTRL_I2C_MST_EN)) {
backend._last_stat_user_ctrl |= BIT_USER_CTRL_I2C_MST_EN;

4
libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
View File

@ -122,9 +122,7 @@ AP_InertialSensor_Backend *AP_InertialSensor_L3G4200D::probe(AP_InertialSensor &
bool AP_InertialSensor_L3G4200D::_init_sensor(void)
{
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
_dev->get_semaphore()->take_blocking();
// Init the accelerometer
uint8_t data = 0;

4
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
View File

@ -449,9 +449,7 @@ bool AP_InertialSensor_LSM9DS0::_init_sensor()
bool AP_InertialSensor_LSM9DS0::_hardware_init()
{
if (!_spi_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
_spi_sem->take_blocking();
uint8_t tries, whoami;

4
libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS1.cpp
View File

@ -246,9 +246,7 @@ bool AP_InertialSensor_LSM9DS1::_init_sensor()
bool AP_InertialSensor_LSM9DS1::_hardware_init()
{
if (!_spi_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
_spi_sem->take_blocking();
uint8_t tries, whoami;

8
libraries/AP_InertialSensor/AP_InertialSensor_RST.cpp
View File

@ -222,9 +222,7 @@ bool AP_InertialSensor_RST::_init_gyro(void)
{
uint8_t whoami;
if (!_dev_gyro->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
_dev_gyro->get_semaphore()->take_blocking();
// set flag for reading registers
_dev_gyro->set_read_flag(0x80);
@ -285,9 +283,7 @@ bool AP_InertialSensor_RST::_init_accel(void)
{
uint8_t whoami;
if (!_dev_accel->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
_dev_accel->get_semaphore()->take_blocking();
_dev_accel->set_speed(AP_HAL::Device::SPEED_HIGH);