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I2C:: catch some more types of I2C errors for error count

This commit is contained in:
Andrew Tridgell 2012-11-12 11:25:07 +11:00
parent 8c2dadc12f
commit 27ff999319
1 changed files with 32 additions and 13 deletions
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45
libraries/I2C/I2C.cpp
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@ -31,13 +31,8 @@
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include <inttypes.h>
#include <AP_Common.h>
#include "I2C.h"
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
@ -392,32 +387,56 @@ uint8_t I2C::read(uint8_t address, uint8_t registerAddress, uint8_t numberBytes,
nack = numberBytes - 1;
returnStatus = 0;
returnStatus = start();
if(returnStatus) {return(returnStatus); }
if (returnStatus) {
_lockup_count++;
return(returnStatus);
}
returnStatus = sendAddress(SLA_W(address));
if(returnStatus) {return(returnStatus); }
if(returnStatus) {
_lockup_count++;
return(returnStatus);
}
returnStatus = sendByte(registerAddress);
if(returnStatus) {return(returnStatus); }
if(returnStatus) {
_lockup_count++;
return(returnStatus);
}
returnStatus = start();
if(returnStatus) {return(returnStatus); }
if(returnStatus) {
_lockup_count++;
return(returnStatus);
}
returnStatus = sendAddress(SLA_R(address));
if(returnStatus) {return(returnStatus); }
if(returnStatus) {
_lockup_count++;
return(returnStatus);
}
for(uint8_t i = 0; i < numberBytes; i++)
{
if( i == nack )
{
returnStatus = receiveByte(0);
if(returnStatus != MR_DATA_NACK) {return(returnStatus); }
if (returnStatus != MR_DATA_NACK) {
_lockup_count++;
return(returnStatus);
}
}
else
{
returnStatus = receiveByte(1);
if(returnStatus != MR_DATA_ACK) {return(returnStatus); }
if (returnStatus != MR_DATA_ACK) {
_lockup_count++;
return(returnStatus);
}
}
dataBuffer[i] = TWDR;
bytesAvailable = i+1;
totalBytes = i+1;
}
returnStatus = stop();
if (returnStatus) {
_lockup_count++;
}
return(returnStatus);
}