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AP_Compass: fixed HMC5883's initialisation code

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Staroselskii Georgii 2014-11-13 14:30:20 +03:00 committed by Andrew Tridgell
parent f7d0a930c2
commit 7f00dd413f
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -180,6 +180,7 @@ AP_Compass_HMC5843::init()
uint16_t expected_yz = 715; uint16_t expected_yz = 715;
float gain_multiple = 1.0; float gain_multiple = 1.0;
hal.scheduler->suspend_timer_procs();
hal.scheduler->delay(10); hal.scheduler->delay(10);
_i2c_sem = hal.i2c->get_semaphore(); _i2c_sem = hal.i2c->get_semaphore();
@ -193,6 +194,7 @@ AP_Compass_HMC5843::init()
!read_register(ConfigRegA, &_base_config)) { !read_register(ConfigRegA, &_base_config)) {
_healthy[0] = false; _healthy[0] = false;
_i2c_sem->give(); _i2c_sem->give();
hal.scheduler->resume_timer_procs();
return false; return false;
} }
if ( _base_config == (SampleAveraging_8<<5 | DataOutputRate_75HZ<<2 | NormalOperation)) { if ( _base_config == (SampleAveraging_8<<5 | DataOutputRate_75HZ<<2 | NormalOperation)) {
@ -212,6 +214,7 @@ AP_Compass_HMC5843::init()
} else { } else {
// not behaving like either supported compass type // not behaving like either supported compass type
_i2c_sem->give(); _i2c_sem->give();
hal.scheduler->resume_timer_procs();
return false; return false;
} }
@ -298,10 +301,12 @@ AP_Compass_HMC5843::init()
// leave test mode // leave test mode
if (!re_initialise()) { if (!re_initialise()) {
_i2c_sem->give(); _i2c_sem->give();
hal.scheduler->resume_timer_procs();
return false; return false;
} }
_i2c_sem->give(); _i2c_sem->give();
hal.scheduler->resume_timer_procs();
_initialised = true; _initialised = true;
// perform an initial read // perform an initial read