aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_InertialSensor: fixed another transfer without bus semaphore

Browse Source
This commit is contained in:
Andrew Tridgell 2018-02-06 17:54:19 +11:00
parent f1ce321a2f
commit d575d676b6
1 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
View File

@ -1109,6 +1109,10 @@ void AP_Invensense_AuxiliaryBus::_configure_slaves()
{
auto &backend = AP_InertialSensor_Invensense::from(_ins_backend);
if (!backend._dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
return;
}
/* Enable the I2C master to slaves on the auxiliary I2C bus*/
if (!(backend._last_stat_user_ctrl & BIT_USER_CTRL_I2C_MST_EN)) {
backend._last_stat_user_ctrl |= BIT_USER_CTRL_I2C_MST_EN;
@ -1127,6 +1131,8 @@ void AP_Invensense_AuxiliaryBus::_configure_slaves()
backend._register_write(MPUREG_I2C_MST_DELAY_CTRL,
BIT_I2C_SLV0_DLY_EN | BIT_I2C_SLV1_DLY_EN |
BIT_I2C_SLV2_DLY_EN | BIT_I2C_SLV3_DLY_EN);
backend._dev->get_semaphore()->give();
}
int AP_Invensense_AuxiliaryBus::_configure_periodic_read(AuxiliaryBusSlave *slave,