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AP_Compass: Retry reading MMC5983 ID up to 10 times

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This commit is contained in:
Willian Galvani 2022-01-05 15:56:33 -03:00
parent b51d9e665e
commit 18c214907a
1 changed files with 11 additions and 3 deletions
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14
libraries/AP_Compass/AP_Compass_MMC5xx3.cpp
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@ -78,9 +78,17 @@ bool AP_Compass_MMC5XX3::init()
dev->set_read_flag(0x80); dev->set_read_flag(0x80);
} }
uint8_t whoami; // Reading REG_PRODUCT_ID fails sometimes on SPI, so we retry up to 10 times
if (!dev->read_registers(REG_PRODUCT_ID, &whoami, 1) || uint8_t whoami = 0;
whoami != MMC5983_ID) { uint8_t tries = 10;
while (whoami == 0 && tries > 0) {
tries--;
dev->read_registers(REG_PRODUCT_ID, &whoami, 1);
hal.scheduler->delay(5);
}
if (whoami != MMC5983_ID) {
printf("MMC5983 got unexpected product id: %d, expected: %d\n", whoami, MMC5983_ID);
// not a MMC5983 // not a MMC5983
return false; return false;
} }