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AP_Compass: 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 08:42:33 +11:00
parent 8f867ddb2b
commit 4ee6fb9cdf
13 changed files with 18 additions and 35 deletions
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7
libraries/AP_Compass/AP_Compass_AK09916.cpp
View File

@ -104,9 +104,7 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2
return nullptr;
}
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return nullptr;
}
dev->get_semaphore()->take_blocking();
/* Allow ICM20x48 to shortcut auxiliary bus and host bus */
uint8_t rval;
@ -192,9 +190,10 @@ bool AP_Compass_AK09916::init()
{
AP_HAL::Semaphore *bus_sem = _bus->get_semaphore();
if (!bus_sem || !_bus->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
if (!bus_sem) {
return false;
}
_bus->get_semaphore()->take_blocking();
if (!_bus->configure()) {
hal.console->printf("AK09916: Could not configure the bus\n");

3
libraries/AP_Compass/AP_Compass_AK8963.cpp
View File

@ -122,10 +122,11 @@ bool AP_Compass_AK8963::init()
{
AP_HAL::Semaphore *bus_sem = _bus->get_semaphore();
if (!bus_sem || !_bus->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
if (!bus_sem) {
hal.console->printf("AK8963: Unable to get bus semaphore\n");
return false;
}
_bus->get_semaphore()->take_blocking();
if (!_bus->configure()) {
hal.console->printf("AK8963: Could not configure the bus\n");

5
libraries/AP_Compass/AP_Compass_BMM150.cpp
View File

@ -142,10 +142,7 @@ bool AP_Compass_BMM150::init()
uint8_t val = 0;
bool ret;
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
hal.console->printf("BMM150: Unable to get bus semaphore\n");
return false;
}
_dev->get_semaphore()->take_blocking();
// 10 retries for init
_dev->set_retries(10);

3
libraries/AP_Compass/AP_Compass_HMC5843.cpp
View File

@ -152,10 +152,11 @@ bool AP_Compass_HMC5843::init()
{
AP_HAL::Semaphore *bus_sem = _bus->get_semaphore();
if (!bus_sem || !bus_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
if (!bus_sem) {
hal.console->printf("HMC5843: Unable to get bus semaphore\n");
return false;
}
bus_sem->take_blocking();
// high retries for init
_bus->set_retries(10);

4
libraries/AP_Compass/AP_Compass_IST8308.cpp
View File

@ -109,9 +109,7 @@ bool AP_Compass_IST8308::init()
{
uint8_t reset_count = 0;
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
_dev->get_semaphore()->take_blocking();
// high retries for init
_dev->set_retries(10);

4
libraries/AP_Compass/AP_Compass_IST8310.cpp
View File

@ -105,9 +105,7 @@ bool AP_Compass_IST8310::init()
{
uint8_t reset_count = 0;
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
_dev->get_semaphore()->take_blocking();
// high retries for init
_dev->set_retries(10);

4
libraries/AP_Compass/AP_Compass_LIS3MDL.cpp
View File

@ -75,9 +75,7 @@ AP_Compass_LIS3MDL::AP_Compass_LIS3MDL(AP_HAL::OwnPtr<AP_HAL::Device> _dev,
bool AP_Compass_LIS3MDL::init()
{
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
dev->get_semaphore()->take_blocking();
if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
dev->set_read_flag(0xC0);

4
libraries/AP_Compass/AP_Compass_LSM303D.cpp
View File

@ -282,9 +282,7 @@ bool AP_Compass_LSM303D::init(enum Rotation rotation)
bool AP_Compass_LSM303D::_hardware_init()
{
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
AP_HAL::panic("LSM303D: Unable to get semaphore");
}
_dev->get_semaphore()->take_blocking();
// initially run the bus at low speed
_dev->set_speed(AP_HAL::Device::SPEED_LOW);

3
libraries/AP_Compass/AP_Compass_LSM9DS1.cpp
View File

@ -83,10 +83,11 @@ bool AP_Compass_LSM9DS1::init()
{
AP_HAL::Semaphore *bus_sem = _dev->get_semaphore();
if (!bus_sem || !bus_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
if (!bus_sem) {
hal.console->printf("LSM9DS1: Unable to get bus semaphore\n");
return false;
}
bus_sem->take_blocking();
if (!_check_id()) {
hal.console->printf("LSM9DS1: Could not check id\n");

4
libraries/AP_Compass/AP_Compass_MAG3110.cpp
View File

@ -135,9 +135,7 @@ bool AP_Compass_MAG3110::_hardware_init()
{
AP_HAL::Semaphore *bus_sem = _dev->get_semaphore();
if (!bus_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
AP_HAL::panic("MAG3110: Unable to get semaphore");
}
bus_sem->take_blocking();
// initially run the bus at low speed
_dev->set_speed(AP_HAL::Device::SPEED_LOW);

4
libraries/AP_Compass/AP_Compass_MMC3416.cpp
View File

@ -68,9 +68,7 @@ AP_Compass_MMC3416::AP_Compass_MMC3416(AP_HAL::OwnPtr<AP_HAL::Device> _dev,
bool AP_Compass_MMC3416::init()
{
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
dev->get_semaphore()->take_blocking();
dev->set_retries(10);

4
libraries/AP_Compass/AP_Compass_QMC5883L.cpp
View File

@ -85,9 +85,7 @@ AP_Compass_QMC5883L::AP_Compass_QMC5883L(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool AP_Compass_QMC5883L::init()
{
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
_dev->get_semaphore()->take_blocking();
_dev->set_retries(10);

4
libraries/AP_Compass/AP_Compass_RM3100.cpp
View File

@ -93,9 +93,7 @@ AP_Compass_RM3100::AP_Compass_RM3100(AP_HAL::OwnPtr<AP_HAL::Device> _dev,
bool AP_Compass_RM3100::init()
{
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return false;
}
dev->get_semaphore()->take_blocking();
if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
// read has high bit set for SPI