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AP_Compass: added retries during init for i2c devices

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higher in init, lower for run
This commit is contained in:
Andrew Tridgell 2016-12-01 15:00:34 +11:00
parent 28a318145c
commit 4f1f6ec019
3 changed files with 18 additions and 0 deletions
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6
libraries/AP_Compass/AP_Compass_HMC5843.cpp
View File

@ -159,6 +159,9 @@ bool AP_Compass_HMC5843::init()
return false; return false;
} }
// high retries for init
_bus->set_retries(10);
if (!_bus->configure()) { if (!_bus->configure()) {
hal.console->printf("HMC5843: Could not configure the bus\n"); hal.console->printf("HMC5843: Could not configure the bus\n");
goto errout; goto errout;
@ -185,6 +188,9 @@ bool AP_Compass_HMC5843::init()
_initialised = true; _initialised = true;
// lower retries for run
_bus->set_retries(3);
bus_sem->give(); bus_sem->give();
// perform an initial read // perform an initial read

6
libraries/AP_Compass/AP_Compass_HMC5843.h
View File

@ -89,6 +89,8 @@ public:
// return 24 bit bus identifier // return 24 bit bus identifier
virtual uint32_t get_bus_id(void) const = 0; virtual uint32_t get_bus_id(void) const = 0;
virtual void set_retries(uint8_t retries) {}
}; };
class AP_HMC5843_BusDriver_HALDevice : public AP_HMC5843_BusDriver class AP_HMC5843_BusDriver_HALDevice : public AP_HMC5843_BusDriver
@ -113,6 +115,10 @@ public:
uint32_t get_bus_id(void) const override { uint32_t get_bus_id(void) const override {
return _dev->get_bus_id(); return _dev->get_bus_id();
} }
void set_retries(uint8_t retries) override {
return _dev->set_retries(retries);
}
private: private:
AP_HAL::OwnPtr<AP_HAL::Device> _dev; AP_HAL::OwnPtr<AP_HAL::Device> _dev;

6
libraries/AP_Compass/AP_Compass_LIS3MDL.cpp
View File

@ -86,6 +86,9 @@ bool AP_Compass_LIS3MDL::init()
dev->set_read_flag(0xC0); dev->set_read_flag(0xC0);
} }
// high retries for init
dev->set_retries(10);
uint8_t whoami; uint8_t whoami;
if (!dev->read_registers(ADDR_WHO_AM_I, &whoami, 1) || if (!dev->read_registers(ADDR_WHO_AM_I, &whoami, 1) ||
whoami != ID_WHO_AM_I) { whoami != ID_WHO_AM_I) {
@ -100,6 +103,9 @@ bool AP_Compass_LIS3MDL::init()
dev->write_register(ADDR_CTRL_REG3, 0, true); // continuous dev->write_register(ADDR_CTRL_REG3, 0, true); // continuous
dev->write_register(ADDR_CTRL_REG4, 0x0C, true); // z-axis ultra high perf dev->write_register(ADDR_CTRL_REG4, 0x0C, true); // z-axis ultra high perf
dev->write_register(ADDR_CTRL_REG5, 0x40, true); // block-data-update dev->write_register(ADDR_CTRL_REG5, 0x40, true); // block-data-update
// lower retries for run
dev->set_retries(3);
dev->get_semaphore()->give(); dev->get_semaphore()->give();