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AP_Airspeed: I2C: fix after conversion to I2CDevice

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- Allow to fail init
This commit is contained in:
Lucas De Marchi 2016-07-12 02:56:25 -03:00
parent 6c87b2aa7c
commit de5025a46f
1 changed files with 8 additions and 5 deletions
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13
libraries/AP_Airspeed/AP_Airspeed_I2C.cpp
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@ -26,15 +26,16 @@
extern const AP_HAL::HAL &hal;
#define I2C_ADDRESS_MS4525DO 0x28
#define MS4525D0_I2C_BUS 1
#define MS4525D0_I2C_ADDR 0x28
// probe and initialise the sensor
bool AP_Airspeed_I2C::init()
{
_dev = hal.i2c_mgr->get_device(1, I2C_ADDRESS_MS4525DO);
_dev = hal.i2c_mgr->get_device(MS4525D0_I2C_BUS, MS4525D0_I2C_ADDR);
// take i2c bus sempahore
if (!_dev->get_semaphore()->take(200)) {
if (!_dev || !_dev->get_semaphore()->take(200)) {
return false;
}
@ -42,6 +43,7 @@ bool AP_Airspeed_I2C::init()
hal.scheduler->delay(10);
_collect();
_dev->get_semaphore()->give();
if (_last_sample_time_ms != 0) {
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Airspeed_I2C::_timer, void));
return true;
@ -53,7 +55,8 @@ bool AP_Airspeed_I2C::init()
void AP_Airspeed_I2C::_measure()
{
_measurement_started_ms = 0;
if (_dev->transfer(0, 1, nullptr, 0)) {
uint8_t cmd = 0;
if (_dev->transfer(&cmd, 1, nullptr, 0)) {
_measurement_started_ms = AP_HAL::millis();
}
}
@ -65,7 +68,7 @@ void AP_Airspeed_I2C::_collect()
_measurement_started_ms = 0;
if (_dev->transfer(nullptr, 0, data, sizeof(data))) {
if (!_dev->transfer(nullptr, 0, data, sizeof(data))) {
return;
}