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AP_Compass: force I2C speed low in a couple more situations

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This commit is contained in:
Andrew Tridgell 2012-11-12 11:26:20 +11:00
parent d43f61de3c
commit 7868d5ed3d
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -1,4 +1,4 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*- /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/* /*
* AP_Compass_HMC5843.cpp - Arduino Library for HMC5843 I2C magnetometer * AP_Compass_HMC5843.cpp - Arduino Library for HMC5843 I2C magnetometer
* Code by Jordi Muñoz and Jose Julio. DIYDrones.com * Code by Jordi Muñoz and Jose Julio. DIYDrones.com
@ -77,6 +77,9 @@ bool AP_Compass_HMC5843::read_raw()
uint8_t buff[6]; uint8_t buff[6];
if (I2c.read(COMPASS_ADDRESS, 0x03, 6, buff) != 0) { if (I2c.read(COMPASS_ADDRESS, 0x03, 6, buff) != 0) {
if (healthy) {
I2c.setSpeed(false);
}
healthy = false; healthy = false;
return false; return false;
} }
@ -277,6 +280,7 @@ bool AP_Compass_HMC5843::read()
} }
if (!re_initialise()) { if (!re_initialise()) {
_retry_time = millis() + 1000; _retry_time = millis() + 1000;
I2c.setSpeed(false);
return false; return false;
} }
} }