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AP_Compass: AK8963: remove fallback to timer thread 

Now that the bus thread from the AuxiliaryBus is implemented we can
remove the fallback.
This commit is contained in:
Lucas De Marchi 2017-08-02 09:08:34 -07:00
parent 06fe5ce8ba
commit d5f57fdd93
2 changed files with 1 additions and 28 deletions
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27
libraries/AP_Compass/AP_Compass_AK8963.cpp
View File

@ -167,11 +167,7 @@ bool AP_Compass_AK8963::init()
bus_sem->give();
/* timer needs to be called every 10ms so set the freq_div to 10 */
if (!_bus->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update, void))) {
// fallback to timer
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update_timer, void));
}
_bus->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update, void));
return true;
@ -264,27 +260,6 @@ void AP_Compass_AK8963::_update()
}
}
/*
update from timer callback
*/
void AP_Compass_AK8963::_update_timer()
{
uint32_t now = AP_HAL::micros();
if (now - _last_update_timestamp < 10000) {
return;
}
if (!_bus->get_semaphore()->take_nonblocking()) {
return;
}
_update();
_last_update_timestamp = now;
_bus->get_semaphore()->give();
}
bool AP_Compass_AK8963::_check_id()
{
for (int i = 0; i < 5; i++) {

2
libraries/AP_Compass/AP_Compass_AK8963.h
View File

@ -51,7 +51,6 @@ private:
bool _calibrate();
void _update();
void _update_timer();
AP_AK8963_BusDriver *_bus;
@ -60,7 +59,6 @@ private:
float _mag_y_accum;
float _mag_z_accum;
uint32_t _accum_count;
uint32_t _last_update_timestamp;
uint8_t _compass_instance;
bool _initialized;