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AP_InertialSensor: don't print error when probing non-existant BMI270

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fix device locking at startup on BMI270
This commit is contained in:
Andy Piper 2022-06-04 12:56:10 +01:00 committed by Andrew Tridgell
parent eb834fbfa3
commit c328d9a531
1 changed files with 14 additions and 13 deletions
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27
libraries/AP_InertialSensor/AP_InertialSensor_BMI270.cpp
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@ -482,11 +482,12 @@ void AP_InertialSensor_BMI270::poll_data()
bool AP_InertialSensor_BMI270::hardware_init()
{
bool ret = false;
bool init = false;
bool read_chip_id = false;
hal.scheduler->delay(BMI270_POWERUP_DELAY_MSEC);
_dev->get_semaphore()->take_blocking();
WITH_SEMAPHORE(_dev->get_semaphore());
_dev->set_speed(AP_HAL::Device::SPEED_LOW);
@ -512,6 +513,9 @@ bool AP_InertialSensor_BMI270::hardware_init()
continue;
}
// successfully identified the chip, proceed with initialisation
read_chip_id = true;
// disable power save
write_register(BMI270_REG_PWR_CONF, 0x00);
hal.scheduler->delay(1); // needs to be at least 450us
@ -532,7 +536,7 @@ bool AP_InertialSensor_BMI270::hardware_init()
read_registers(BMI270_REG_INTERNAL_STATUS, &status, 1);
if ((status & 1) == 1) {
ret = true;
init = true;
hal.console->printf("BMI270 initialized after %d retries\n", i+1);
break;
}
@ -540,19 +544,16 @@ bool AP_InertialSensor_BMI270::hardware_init()
_dev->set_speed(AP_HAL::Device::SPEED_HIGH);
_dev->get_semaphore()->give();
return ret;
if (read_chip_id && !init) {
hal.console->printf("BMI270: failed to init\n");
}
return init;
}
bool AP_InertialSensor_BMI270::init()
{
bool ret = false;
_dev->set_read_flag(0x80);
ret = hardware_init();
if (!ret) {
hal.console->printf("BMI270: failed to init\n");
}
return ret;
}
return hardware_init();
}