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AP_InertialSensor: MPU6000 uses scheduler panic

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This commit is contained in:
Pat Hickey 2012-12-17 16:28:45 -08:00 committed by Andrew Tridgell
parent 90670cb499
commit a4f41c1d29
1 changed files with 3 additions and 4 deletions
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7
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -251,10 +251,9 @@ bool AP_InertialSensor_MPU6000::update( void )
uint32_t tstart = hal.scheduler->micros();
while (_count == 0) {
if (hal.scheduler->micros() - tstart > 50000) {
hal.console->println_P(
hal.scheduler->panic(
PSTR("PANIC: AP_InertialSensor_MPU6000::update "
"waited 50ms for data from interrupt"));
return false;
}
}
@ -322,7 +321,7 @@ void AP_InertialSensor_MPU6000::read(uint32_t)
if (!got) {
semfail_ctr++;
if (semfail_ctr > 100) {
hal.console->println_P(PSTR("PANIC: failed to take _spi_sem "
hal.scheduler->panic(PSTR("PANIC: failed to take _spi_sem "
"100 times in AP_InertialSensor_MPU6000::read"));
}
return;
@ -356,7 +355,7 @@ void AP_InertialSensor_MPU6000::read(uint32_t)
if (_spi_sem) {
bool released = _spi_sem->release((void*)&_spi_sem);
if (!released) {
hal.console->println_P(PSTR("PANIC: _spi_sem release failed in "
hal.scheduler->panic(PSTR("PANIC: _spi_sem release failed in "
"AP_InertialSensor_MPU6000::read"));
}
}