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AP_ADC: uses scheduler panic

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This commit is contained in:
Pat Hickey 2012-12-17 16:29:12 -08:00 committed by Andrew Tridgell
parent d92e8045c1
commit d5a46ca1e3
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_ADC/AP_ADC_ADS7844.cpp
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@ -86,7 +86,7 @@ void AP_ADC_ADS7844::read(uint32_t tnow)
if (!got) { if (!got) {
semfail_ctr++; semfail_ctr++;
if (semfail_ctr > 100) { 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_ADC_ADS7844::read")); "100 times in AP_ADC_ADS7844::read"));
} }
return; return;
@ -131,7 +131,7 @@ void AP_ADC_ADS7844::read(uint32_t tnow)
if (_spi_sem) { if (_spi_sem) {
bool released = _spi_sem->release((void*)&_spi_sem); bool released = _spi_sem->release((void*)&_spi_sem);
if (!released) { if (!released) {
hal.console->println_P(PSTR("PANIC: _spi_sem release failed in " hal.scheduler->panic(PSTR("PANIC: _spi_sem release failed in "
"AP_ADC_ADS7844::read")); "AP_ADC_ADS7844::read"));
} }
} }
@ -150,14 +150,14 @@ void AP_ADC_ADS7844::Init()
hal.scheduler->suspend_timer_procs(); hal.scheduler->suspend_timer_procs();
_spi = hal.spi->device(AP_HAL::SPIDevice_ADS7844); _spi = hal.spi->device(AP_HAL::SPIDevice_ADS7844);
if (_spi == NULL) { if (_spi == NULL) {
hal.console->printf_P(PSTR("PANIC: AP_ADC_ADS7844 missing SPI device driver\n")); hal.scheduler->panic(PSTR("PANIC: AP_ADC_ADS7844 missing SPI device driver\n"));
} }
_spi_sem = _spi->get_semaphore(); _spi_sem = _spi->get_semaphore();
if (_spi_sem) { if (_spi_sem) {
bool taken = _spi_sem->get((void*)&_spi_sem); bool taken = _spi_sem->get((void*)&_spi_sem);
if (!taken) { if (!taken) {
hal.console->printf_P(PSTR("PANIC: failed to take _spi_sem in" hal.scheduler->panic(PSTR("PANIC: failed to take _spi_sem in"
"AP_ADC_ADS7844::Init")); "AP_ADC_ADS7844::Init"));
} }
} }
@ -178,7 +178,7 @@ void AP_ADC_ADS7844::Init()
if (_spi_sem) { if (_spi_sem) {
bool released = _spi_sem->release((void*)&_spi_sem); bool released = _spi_sem->release((void*)&_spi_sem);
if (!released) { if (!released) {
hal.console->println_P(PSTR("PANIC: failed to release_spi_sem in " hal.scheduler->panic(PSTR("PANIC: failed to release_spi_sem in "
"AP_ADC_ADS7844::Init")); "AP_ADC_ADS7844::Init"));
} }
} }