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Rewrote init function to backoff and try again if failed.

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This commit is contained in:
Phil-Engljaehringer
2025-10-23 13:22:22 +02:00
parent 65c5bd6906
commit 22ae8ab0c9
1 changed files with 13 additions and 4 deletions
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src/drivers/pca9685_pwm_out/main.cpp
+13 -4
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@@ -121,18 +121,27 @@ PCA9685Wrapper::~PCA9685Wrapper()
perf_free(_cycle_perf);
}
/*The PCA9685 takes about 4 seconds to respond to I2C messages. When you try to send an I2C probe message before this time, you will receive a NACK. Upond receiving a NACK, this function simply sleeps for 0.5 seconds before it tries again.
If no ACK is received within 10 seconds, we abort the initialization */
int PCA9685Wrapper::init()
{
int ret = pca9685->init();
int ret{-1};
if (ret != PX4_OK) { return ret; }
for (int i = 0; i < 20; i++) {
ret = pca9685->init();
if (ret == PX4_OK) { break; }
px4_usleep(500000);
}
if (ret != PX4_OK) {
PX4_ERR("PCA9685 polling failed after 10s");
return ret;
}
this->ChangeWorkQueue(px4::device_bus_to_wq(pca9685->get_device_id()));
PX4_INFO("running on I2C bus %d address 0x%.2x", pca9685->get_device_bus(), pca9685->get_device_address());
ScheduleNow();
return PX4_OK;
}