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ll40ls: correct a write_reg issue (#12604)

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* deprecate a goto statement
 * migrate to uniform initialization in LidarLite base class.
This commit is contained in:
Mark Sauder
2019-08-01 23:41:05 -04:00
committed by Daniel Agar
parent 8609be28a7
commit e0c85c8831
3 changed files with 20 additions and 31 deletions
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src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp
+5 -10
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@@ -137,7 +137,8 @@ LidarLiteI2C::probe()
if (read_reg(LL40LS_UNIT_ID_HIGH, id_high) == OK &&
read_reg(LL40LS_UNIT_ID_LOW, id_low) == OK) {
_unit_id = (uint16_t)((id_high << 8) | id_low) & 0xFFFF;
goto ok;
_retries = 3;
return reset_sensor();
}
PX4_DEBUG("probe failed unit_id=0x%02x", (unsigned)_unit_id);
@@ -149,22 +150,17 @@ LidarLiteI2C::probe()
*/
if (read_reg(LL40LS_HW_VERSION, _hw_version) == OK && _hw_version > 0 &&
read_reg(LL40LS_SW_VERSION, _sw_version) == OK && _sw_version > 0) {
_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE_V1);
goto ok;
_retries = 3;
return reset_sensor();
}
PX4_DEBUG("probe failed hw_version=0x%02x sw_version=0x%02x", (unsigned)_hw_version, (unsigned)_sw_version);
}
}
// not found on any address
return -EIO;
ok:
_retries = 3;
return reset_sensor();
}
int
@@ -180,8 +176,7 @@ LidarLiteI2C::measure()
/*
* Send the command to begin a measurement.
*/
const uint8_t cmd[2] = { LL40LS_MEASURE_REG, LL40LS_MSRREG_ACQUIRE };
int ret = lidar_transfer(cmd, sizeof(cmd), nullptr, 0);
int ret = write_reg(LL40LS_MEASURE_REG, LL40LS_MSRREG_ACQUIRE);
if (OK != ret) {
perf_count(_comms_errors);