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AP_HAL: AP_HAL_Linux: perfect I2CDevice::transfer()

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According to man 3 ioctl, ioctl returns other values than -1 on success.
So loop while ioctl returns -1.

Furthermore, there is no necessity to initialise r with -EINVAL,

Signed-off-by: Ralf Ramsauer <ralf.ramsauer@othr.de>
This commit is contained in:
Ralf Ramsauer 2016-08-11 17:36:17 +02:00 committed by Lucas De Marchi
parent 9eca21c26a
commit 25c7e8bf60
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_HAL_Linux/I2CDevice.cpp
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@ -177,13 +177,13 @@ bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
i2c_data.msgs = msgs;
i2c_data.nmsgs = nmsgs;
int r = -EINVAL;
int r;
unsigned retries = _retries;
do {
r = ::ioctl(_bus.fd, I2C_RDWR, &i2c_data);
} while (r < 0 && retries-- > 0);
} while (r == -1 && retries-- > 0);
return r >= 0;
return r != -1;
}
bool I2CDevice::read_registers_multiple(uint8_t first_reg, uint8_t *recv,