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HAL_PX4: split I2C transfers 

this avoids SCL low with a stop condition, which doesn't work with
some devices
This commit is contained in:
Andrew Tridgell 2016-11-12 08:59:16 +11:00
parent 0c7dd99d7e
commit 41018feb3a
1 changed files with 16 additions and 2 deletions
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18
libraries/AP_HAL_PX4/I2CDevice.cpp
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@ -76,8 +76,22 @@ bool PX4_I2C::do_transfer(uint8_t address, const uint8_t *send, uint32_t send_le
if (!init_ok) {
return false;
}
bool ret = (transfer(send, send_len, recv, recv_len) == OK);
return ret;
/*
splitting the transfer() into two pieces avoids a stop condition
with SCL low which is not supported on some devices (such as
LidarLite blue label)
*/
if (send && send_len) {
if (transfer(send, send_len, nullptr, 0) != OK) {
return false;
}
}
if (recv && recv_len) {
if (transfer(nullptr, 0, recv, recv_len) != OK) {
return false;
}
}
return true;
}
I2CDevice::I2CDevice(uint8_t bus, uint8_t address) :