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AP_Baro: ICM20789: stop dev_icm being an instance variable

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This commit is contained in:
Peter Barker 2018-01-02 11:10:03 +11:00 committed by Andrew Tridgell
parent c56486a39e
commit bf95be96f3
2 changed files with 16 additions and 13 deletions
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28
libraries/AP_Baro/AP_Baro_ICM20789.cpp
View File

@ -87,6 +87,14 @@ AP_Baro_Backend *AP_Baro_ICM20789::probe(AP_Baro &baro,
bool AP_Baro_ICM20789::spi_init(void) bool AP_Baro_ICM20789::spi_init(void)
{ {
#ifdef HAL_INS_MPU60x0_NAME
AP_HAL::OwnPtr<AP_HAL::Device> dev_icm =
hal.spi->get_device(HAL_INS_MPU60x0_NAME);
if (!dev_icm->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
AP_HAL::panic("PANIC: AP_Baro_ICM20789: failed to take serial semaphore ICM");
}
dev_icm->set_read_flag(0x80); dev_icm->set_read_flag(0x80);
dev_icm->set_speed(AP_HAL::Device::SPEED_LOW); dev_icm->set_speed(AP_HAL::Device::SPEED_LOW);
@ -116,7 +124,14 @@ bool AP_Baro_ICM20789::spi_init(void)
dev_icm->write_register(0x37, 0x00); dev_icm->write_register(0x37, 0x00);
dev_icm->write_register(0x6A, 0x10); dev_icm->write_register(0x6A, 0x10);
dev_icm->get_semaphore()->give();
return true; return true;
#else
debug("ICM20789: HAL_INS_MPU60x0_NAME not defined\n");
return false;
#endif // HAL_INS_MPU60x0_NAME
} }
bool AP_Baro_ICM20789::init() bool AP_Baro_ICM20789::init()
@ -127,7 +142,6 @@ bool AP_Baro_ICM20789::init()
debug("Looking for 20789 baro\n"); debug("Looking for 20789 baro\n");
#ifdef HAL_INS_MPU60x0_NAME
if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { if (!dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
AP_HAL::panic("PANIC: AP_Baro_ICM20789: failed to take serial semaphore for init"); AP_HAL::panic("PANIC: AP_Baro_ICM20789: failed to take serial semaphore for init");
} }
@ -139,20 +153,11 @@ bool AP_Baro_ICM20789::init()
Pressure sensor data can then be accessed using the procedure described in Section 10. Pressure sensor data can then be accessed using the procedure described in Section 10.
*/ */
debug("Setting up IMU\n"); debug("Setting up IMU\n");
dev_icm = hal.spi->get_device(HAL_INS_MPU60x0_NAME);
if (!dev_icm->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
AP_HAL::panic("PANIC: AP_Baro_ICM20789: failed to take serial semaphore ICM");
}
if (!spi_init()) { if (!spi_init()) {
debug("ICM20789: failed to initialise SPI device\n"); debug("ICM20789: failed to initialise SPI device\n");
goto failed; return false;
} }
dev_icm->get_semaphore()->give();
#endif // HAL_INS_MPU60x0_NAME
if (!send_cmd16(CMD_SOFT_RESET)) { if (!send_cmd16(CMD_SOFT_RESET)) {
debug("ICM20789: reset failed\n"); debug("ICM20789: reset failed\n");
goto failed; goto failed;
@ -186,7 +191,6 @@ bool AP_Baro_ICM20789::init()
return true; return true;
failed: failed:
dev_icm->get_semaphore()->give();
dev->get_semaphore()->give(); dev->get_semaphore()->give();
return false; return false;
} }

1
libraries/AP_Baro/AP_Baro_ICM20789.h
View File

@ -42,7 +42,6 @@ private:
uint8_t instance; uint8_t instance;
AP_HAL::OwnPtr<AP_HAL::Device> dev; AP_HAL::OwnPtr<AP_HAL::Device> dev;
AP_HAL::OwnPtr<AP_HAL::Device> dev_icm;
// time last read command was sent // time last read command was sent
uint32_t last_measure_us; uint32_t last_measure_us;