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AP_Baro_MS5611: Don't panic if taking semaphore fails during init.

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- The MPU6000 holds on to the I2C semaphore for quite some time during
  init, which caused a panic when the MS5611 is also on I2C.
This commit is contained in:
James Bielman 2013-01-10 14:22:41 -08:00
parent edfddbab57
commit 25d078e2bd
1 changed files with 14 additions and 8 deletions
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22
libraries/AP_Baro/AP_Baro_MS5611.cpp
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@ -119,10 +119,13 @@ bool AP_Baro_MS5611_SPI::sem_take_nonblocking()
static int semfail_ctr = 0;
bool got = _spi_sem->take_nonblocking();
if (!got) {
semfail_ctr++;
if (semfail_ctr > 100) {
hal.scheduler->panic(PSTR("PANIC: failed to take _spi_sem "
"100 times in a row, in AP_Baro_MS5611::_update"));
if (!hal.scheduler->system_initializing()) {
semfail_ctr++;
if (semfail_ctr > 100) {
hal.scheduler->panic(PSTR("PANIC: failed to take _spi_sem "
"100 times in a row, in "
"AP_Baro_MS5611::_update"));
}
}
return false; /* never reached */
} else {
@ -189,10 +192,13 @@ bool AP_Baro_MS5611_I2C::sem_take_nonblocking()
static int semfail_ctr = 0;
bool got = _i2c_sem->take_nonblocking();
if (!got) {
semfail_ctr++;
if (semfail_ctr > 100) {
hal.scheduler->panic(PSTR("PANIC: failed to take _i2c_sem "
"100 times in a row, in AP_Baro_MS5611::_update"));
if (!hal.scheduler->system_initializing()) {
semfail_ctr++;
if (semfail_ctr > 100) {
hal.scheduler->panic(PSTR("PANIC: failed to take _i2c_sem "
"100 times in a row, in "
"AP_Baro_MS5611::_update"));
}
}
return false; /* never reached */
} else {