Drivers: QURT I2C do not use a static mutex for all I2C drivers

PX4 · Aug 8, 2024 · 2cb1903 · 2cb1903
1 parent a294e01
commit 2cb1903
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/lib/drivers/device/qurt/I2C.cpp b/src/lib/drivers/device/qurt/I2C.cpp
@@ -55,8 +55,6 @@ I2C::_config_i2c_bus_func_t  I2C::_config_i2c_bus  = NULL;
 I2C::_set_i2c_address_func_t I2C::_set_i2c_address = NULL;
 I2C::_i2c_transfer_func_t    I2C::_i2c_transfer    = NULL;
 
-pthread_mutex_t I2C::_mutex = PTHREAD_MUTEX_INITIALIZER;
-
 I2C::I2C(uint8_t device_type, const char *name, const int bus, const uint16_t address, const uint32_t frequency) :
 	CDev(name, nullptr),
 	_frequency(frequency / 1000)
@@ -69,6 +67,8 @@ I2C::I2C(uint8_t device_type, const char *name, const int bus, const uint16_t ad
 	_device_id.devid_s.bus = bus;
 	_device_id.devid_s.address = address;
 
+    _mutex = PTHREAD_MUTEX_INITIALIZER;
+
 	PX4_INFO("*** I2C Device ID 0x%x %d", _device_id.devid, _device_id.devid);
 }
 

diff --git a/src/lib/drivers/device/qurt/I2C.hpp b/src/lib/drivers/device/qurt/I2C.hpp
@@ -127,7 +127,7 @@ class __EXPORT I2C : public CDev
 	static _config_i2c_bus_func_t  _config_i2c_bus;
 	static _set_i2c_address_func_t _set_i2c_address;
 	static _i2c_transfer_func_t    _i2c_transfer;
-	static pthread_mutex_t         _mutex;
+	pthread_mutex_t                _mutex;
 };
 
 } // namespace device