From b55294920bf38b632e868893445b4e6a8a20dfb3 Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.demarchi@intel.com>
Date: Wed, 3 Feb 2016 01:58:10 -0200
Subject: [PATCH] AP_Compass: AK8963: remove logging on fail to get semaphore

This is the only driver doing this, using the system_initializing() from
scheduler to log selectively. Remove the check together with removal of
unused wrapper methods to semaphore.
---
 libraries/AP_Compass/AP_Compass_AK8963.cpp | 35 ++--------------------
 libraries/AP_Compass/AP_Compass_AK8963.h   |  3 --
 2 files changed, 2 insertions(+), 36 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp
index d73d9e9148..3fa15ec6fc 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK8963.cpp
@@ -236,7 +236,7 @@ void AP_Compass_AK8963::_update()
         goto end;
     }
 
-    if (!_sem_take_nonblocking()) {
+    if (!_bus_sem->take_nonblocking()) {
         goto end;
     }
 
@@ -287,7 +287,7 @@ void AP_Compass_AK8963::_update()
 
     _last_update_timestamp = AP_HAL::micros();
 fail:
-    _sem_give();
+    _bus_sem->give();
 end:
     return;
 }
@@ -335,37 +335,6 @@ bool AP_Compass_AK8963::_calibrate()
     return true;
 }
 
-bool AP_Compass_AK8963::_sem_take_blocking()
-{
-    return _bus_sem->take(10);
-}
-
-bool AP_Compass_AK8963::_sem_give()
-{
-    return _bus_sem->give();
-}
-
-bool AP_Compass_AK8963::_sem_take_nonblocking()
-{
-    static int _sem_failure_count = 0;
-
-    if (_bus_sem->take_nonblocking()) {
-        _sem_failure_count = 0;
-        return true;
-    }
-
-    if (!hal.scheduler->system_initializing() ) {
-        _sem_failure_count++;
-        if (_sem_failure_count > 100) {
-            AP_HAL::panic("PANIC: failed to take _bus->sem "
-                                 "100 times in a row, in "
-                                 "AP_Compass_AK8963");
-        }
-    }
-
-    return false;
-}
-
 void AP_Compass_AK8963::_dump_registers()
 {
 #if AK8963_DEBUG
diff --git a/libraries/AP_Compass/AP_Compass_AK8963.h b/libraries/AP_Compass/AP_Compass_AK8963.h
index f345ac90f5..d7a5187b82 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.h
+++ b/libraries/AP_Compass/AP_Compass_AK8963.h
@@ -68,9 +68,6 @@ private:
 
     void _update();
     void _dump_registers();
-    bool _sem_take_blocking();
-    bool _sem_take_nonblocking();
-    bool _sem_give();
 
     float               _magnetometer_ASA[3] {0, 0, 0};
     uint8_t             _compass_instance;