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AP_RangeFinder_MaxsonarI2CXL: Fix driver after I2CDevice conversion

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* Simplify semaphore releasing logic
* Fix typo
This commit is contained in:
Murilo Belluzzo 2016-07-11 20:05:51 -03:00 committed by Lucas De Marchi
parent c167364fa0
commit f2d5eb9a97
1 changed files with 13 additions and 19 deletions
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32
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
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@ -30,7 +30,7 @@
extern const AP_HAL::HAL& hal;
/*
The constructor also initialises the rangefinder. Note that this
The constructor also initializes the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
@ -75,40 +75,34 @@ bool AP_RangeFinder_MaxsonarI2CXL::start_reading()
uint8_t tosend[] = {AP_RANGE_FINDER_MAXSONARI2CXL_COMMAND_TAKE_RANGE_READING};
// send command to take reading
if (!_dev->transfer(tosend, sizeof(tosend), nullptr, 0)) {
_dev->get_semaphore()->give();
return false;
}
// return semaphore
bool ret = _dev->transfer(tosend, sizeof(tosend), nullptr, 0);
_dev->get_semaphore()->give();
return true;
return ret;
}
// read - return last value measured by sensor
bool AP_RangeFinder_MaxsonarI2CXL::get_reading(uint16_t &reading_cm)
{
uint8_t buff[2];
// exit immediately if we can't take the semaphore
if (!_dev->get_semaphore()->take(1)) {
return false;
}
uint8_t buff[2];
// take range reading and read back results
if (!_dev->transfer(nullptr, 0, buff, sizeof(buff))) {
_dev->get_semaphore()->give();
return false;
}
bool ret = _dev->transfer(nullptr, 0, buff, sizeof(buff));
_dev->get_semaphore()->give();
// combine results into distance
reading_cm = ((uint16_t)buff[0]) << 8 | buff[1];
if (ret) {
// combine results into distance
reading_cm = ((uint16_t)buff[0]) << 8 | buff[1];
// trigger a new reading
start_reading();
// trigger a new reading
start_reading();
}
return true;
return ret;
}