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AP_Compass: added retries on init in BMM150

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This commit is contained in:
Andrew Tridgell 2017-06-14 16:26:30 +10:00
parent 9b093c4a33
commit 68460144df
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_Compass/AP_Compass_BMM150.cpp
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@ -133,6 +133,9 @@ bool AP_Compass_BMM150::init()
return false; return false;
} }
// 10 retries for init
_dev->set_retries(10);
/* Do a soft reset */ /* Do a soft reset */
ret = _dev->write_register(POWER_AND_OPERATIONS_REG, SOFT_RESET); ret = _dev->write_register(POWER_AND_OPERATIONS_REG, SOFT_RESET);
if (!ret) { if (!ret) {
@ -194,6 +197,9 @@ bool AP_Compass_BMM150::init()
_perf_err = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "BMM150_err"); _perf_err = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "BMM150_err");
// 2 retries for run
_dev->set_retries(2);
_dev->register_periodic_callback(MEASURE_TIME_USEC, _dev->register_periodic_callback(MEASURE_TIME_USEC,
FUNCTOR_BIND_MEMBER(&AP_Compass_BMM150::_update, void)); FUNCTOR_BIND_MEMBER(&AP_Compass_BMM150::_update, void));