fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

sdp3x: improve robustness, try to reconfigure on transfer error

Browse Source
This commit is contained in:
Beat Küng 2020-06-23 11:12:45 +02:00 committed by Daniel Agar
parent 38fa913fed
commit 3cc394e6c7
1 changed files with 16 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
src/drivers/differential_pressure/sdp3x/SDP3X.cpp
View File

@ -127,22 +127,25 @@ SDP3X::collect()
{
perf_begin(_sample_perf);
// read 9 bytes from the sensor
// read 6 bytes from the sensor
uint8_t val[6];
int ret = transfer(nullptr, 0, &val[0], sizeof(val));
if (ret != PX4_OK) {
perf_count(_comms_errors);
return ret;
ret = write_command(SDP3X_CONT_MEAS_AVG_MODE);
if (ret != PX4_OK) {
return ret;
}
return 10000; // wait 10 ms until next measure
}
// Check the CRC
if (!crc(&val[0], 2, val[2]) || !crc(&val[3], 2, val[5])) {
perf_count(_comms_errors);
return EAGAIN;
} else {
ret = 0;
return -EAGAIN;
}
int16_t P = (((int16_t)val[0]) << 8) | val[1];
@ -162,8 +165,6 @@ SDP3X::collect()
_airspeed_pub.publish(report);
ret = OK;
perf_end(_sample_perf);
return ret;
@ -177,13 +178,17 @@ SDP3X::RunImpl()
// measurement phase
ret = collect();
if (PX4_OK != ret) {
uint32_t delay_us = CONVERSION_INTERVAL;
if (ret < 0) {
_sensor_ok = false;
DEVICE_DEBUG("measure error");
} else if (ret > 0) {
delay_us = ret;
}
// schedule a fresh cycle call when the measurement is done
ScheduleDelayed(CONVERSION_INTERVAL);
ScheduleDelayed(delay_us);
}
bool SDP3X::crc(const uint8_t data[], unsigned size, uint8_t checksum)