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AP_Compass: ensure we check we got the semaphore

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This commit is contained in:
Andrew Tridgell 2013-01-09 20:42:20 +11:00
parent e76c77e86a
commit 8f424cdf21
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -112,7 +112,10 @@ void AP_Compass_HMC5843::accumulate(void)
return; return;
} }
_i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER); if (!_i2c_sem->take(5)) {
// the bus is busy - try again later
return;
}
bool result = read_raw(); bool result = read_raw();
_i2c_sem->give(); _i2c_sem->give();
@ -164,7 +167,9 @@ AP_Compass_HMC5843::init()
hal.scheduler->delay(10); hal.scheduler->delay(10);
_i2c_sem = hal.i2c->get_semaphore(); _i2c_sem = hal.i2c->get_semaphore();
_i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER); if (!_i2c_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
hal.scheduler->panic(PSTR("Failed to get HMC5843 semaphore"));
}
// determine if we are using 5843 or 5883L // determine if we are using 5843 or 5883L
if (!write_register(ConfigRegA, SampleAveraging_8<<5 | DataOutputRate_75HZ<<2 | NormalOperation) || if (!write_register(ConfigRegA, SampleAveraging_8<<5 | DataOutputRate_75HZ<<2 | NormalOperation) ||