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lightware_laser_i2c: fix unreliable startup detection

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In rare occasions asking for the protocol values after setting it returned
[0, 0]. I did not see any documentation for having to wait, but adding a
short wait period fixes it.
This commit is contained in:
Beat Küng 2023-01-17 15:16:39 +01:00 committed by Daniel Agar
parent 05d828642d
commit 98705ced2f
1 changed files with 17 additions and 8 deletions
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25
src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
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@ -259,17 +259,26 @@ int LightwareLaser::enableI2CBinaryProtocol()
return ret;
}
// now read and check against the expected values
uint8_t value[2];
ret = transfer(cmd, 1, value, sizeof(value));
// Now read and check against the expected values
for (int i = 0; i < 2; ++i) {
uint8_t value[2];
ret = transfer(cmd, 1, value, sizeof(value));
if (ret != 0) {
return ret;
if (ret != 0) {
return ret;
}
PX4_DEBUG("protocol values: 0x%" PRIx8 " 0x%" PRIx8, value[0], value[1]);
if (value[0] == 0xcc && value[1] == 0x00) {
return 0;
}
// Occasionally the previous transfer returns ret == value[0] == value[1] == 0. If so, wait a bit and retry
px4_usleep(1000);
}
PX4_DEBUG("protocol values: 0x%" PRIx8 " 0x%" PRIx8, value[0], value[1]);
return (value[0] == 0xcc && value[1] == 0x00) ? 0 : -1;
return -1;
}
int LightwareLaser::configure()