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AP_Radio: use take_blocking instead of HAL_SEMAPHORE_BLOCK_FOREVER

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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 0d44d666d0
commit 1cee9bea28
4 changed files with 9 additions and 12 deletions
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4
libraries/AP_Radio/AP_Radio_cc2500.cpp
View File

@ -320,9 +320,7 @@ const uint16_t CRCTable[] = {
bool AP_Radio_cc2500::probe(void)
{
auto dev = hal.spi->get_device("cc2500");
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
dev->get_semaphore()->take_blocking();
uint8_t r1=0, r2=0;
if (!dev->read_registers(CC2500_30_PARTNUM | CC2500_READ_BURST | CC2500_READ_SINGLE, &r1, 1) || r1 != 0x80 ||
!dev->read_registers(CC2500_31_VERSION | CC2500_READ_BURST | CC2500_READ_SINGLE, &r2, 1) || r2 != 0x03) {

9
libraries/AP_Radio/AP_Radio_cypress.cpp
View File

@ -282,9 +282,7 @@ bool AP_Radio_cypress::init(void)
*/
bool AP_Radio_cypress::reset(void)
{
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
dev->get_semaphore()->take_blocking();
/*
to reset radio hold reset high for 0.5s, then low for 0.5s
@ -1439,10 +1437,7 @@ void AP_Radio_cypress::dsm_choose_channel(void)
*/
void AP_Radio_cypress::start_recv_bind(void)
{
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
// shouldn't be possible
return;
}
dev->get_semaphore()->take_blocking();
Debug(1, "Cypress: start_recv_bind\n");

2
libraries/AP_Radio/driver_bk2425.h
View File

@ -373,7 +373,7 @@ public:
Radio_Beken(AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev);
bool lock_bus(void)
{
return dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER);
return dev->get_semaphore()->take_blocking();
}
void unlock_bus(void)
{

6
libraries/AP_Radio/driver_cc2500.h
View File

@ -157,7 +157,11 @@ public:
bool lock_bus(void)
{
return dev && dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER);
if (!dev) {
return false;
}
dev->get_semaphore()->take_blocking();
return true;
}
void unlock_bus(void)
{