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AP_RAMTRON: use WITH_SEMAPHORE()

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and removed usage of hal.util->new_semaphore()
This commit is contained in:
Andrew Tridgell 2018-10-12 10:35:04 +11:00
parent 68f463b29d
commit 530138ded4
1 changed files with 7 additions and 11 deletions
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18
libraries/AP_RAMTRON/AP_RAMTRON.cpp
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@ -5,6 +5,7 @@
*/
#include "AP_RAMTRON.h"
#include <AP_Common/Semaphore.h>
extern const AP_HAL::HAL &hal;
@ -38,9 +39,10 @@ const AP_RAMTRON::ramtron_id AP_RAMTRON::ramtron_ids[] = {
bool AP_RAMTRON::init(void)
{
dev = hal.spi->get_device("ramtron");
if (!dev || !dev->get_semaphore()->take(0)) {
if (!dev) {
return false;
}
WITH_SEMAPHORE(dev->get_semaphore());
struct rdid {
uint8_t manufacturer[6];
@ -49,10 +51,8 @@ bool AP_RAMTRON::init(void)
uint8_t id2;
} rdid;
if (!dev->read_registers(RAMTRON_RDID, (uint8_t *)&rdid, sizeof(rdid))) {
dev->get_semaphore()->give();
return false;
}
dev->get_semaphore()->give();
for (uint8_t i=0; i<ARRAY_SIZE(ramtron_ids); i++) {
if (ramtron_ids[i].id1 == rdid.id1 &&
@ -93,9 +93,8 @@ bool AP_RAMTRON::read(uint32_t offset, uint8_t *buf, uint32_t size)
size -= maxread;
}
if (!dev->get_semaphore()->take(0)) {
return false;
}
WITH_SEMAPHORE(dev->get_semaphore());
dev->set_chip_select(true);
send_offset(RAMTRON_READ, offset);
@ -104,7 +103,6 @@ bool AP_RAMTRON::read(uint32_t offset, uint8_t *buf, uint32_t size)
dev->transfer(nullptr, 0, buf, size);
dev->set_chip_select(false);
dev->get_semaphore()->give();
return true;
}
@ -112,9 +110,8 @@ bool AP_RAMTRON::read(uint32_t offset, uint8_t *buf, uint32_t size)
// write to device
bool AP_RAMTRON::write(uint32_t offset, const uint8_t *buf, uint32_t size)
{
if (!dev->get_semaphore()->take(0)) {
return false;
}
WITH_SEMAPHORE(dev->get_semaphore());
// write enable
uint8_t r = RAMTRON_WREN;
dev->transfer(&r, 1, nullptr, 0);
@ -127,6 +124,5 @@ bool AP_RAMTRON::write(uint32_t offset, const uint8_t *buf, uint32_t size)
dev->set_chip_select(false);
dev->get_semaphore()->give();
return true;
}