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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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24
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
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@ -30,7 +30,7 @@
extern const AP_HAL::HAL& hal; 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 constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder 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}; uint8_t tosend[] = {AP_RANGE_FINDER_MAXSONARI2CXL_COMMAND_TAKE_RANGE_READING};
// send command to take reading // send command to take reading
if (!_dev->transfer(tosend, sizeof(tosend), nullptr, 0)) { bool ret = _dev->transfer(tosend, sizeof(tosend), nullptr, 0);
_dev->get_semaphore()->give(); _dev->get_semaphore()->give();
return false; return ret;
}
// return semaphore
_dev->get_semaphore()->give();
return true;
} }
// read - return last value measured by sensor // read - return last value measured by sensor
bool AP_RangeFinder_MaxsonarI2CXL::get_reading(uint16_t &reading_cm) bool AP_RangeFinder_MaxsonarI2CXL::get_reading(uint16_t &reading_cm)
{ {
uint8_t buff[2];
// exit immediately if we can't take the semaphore // exit immediately if we can't take the semaphore
if (!_dev->get_semaphore()->take(1)) { if (!_dev->get_semaphore()->take(1)) {
return false; return false;
} }
uint8_t buff[2];
// take range reading and read back results // take range reading and read back results
if (!_dev->transfer(nullptr, 0, buff, sizeof(buff))) { bool ret = _dev->transfer(nullptr, 0, buff, sizeof(buff));
_dev->get_semaphore()->give();
return false;
}
_dev->get_semaphore()->give(); _dev->get_semaphore()->give();
if (ret) {
// combine results into distance // combine results into distance
reading_cm = ((uint16_t)buff[0]) << 8 | buff[1]; reading_cm = ((uint16_t)buff[0]) << 8 | buff[1];
// trigger a new reading // trigger a new reading
start_reading(); start_reading();
}
return true; return ret;
} }