drivers: minimize additional I2C retries

boards/freefly/can-rtk-gps/src/led.cpp

@@ -115,8 +115,6 @@ RGBLED_NCP5623C::init()
 int
 RGBLED_NCP5623C::probe()
 {
-	_retries = 4;
-
 	return write(NCP5623_LED_CURRENT, 0x00);
 }
 

src/drivers/barometer/lps22hb/LPS22HB_I2C.cpp

@@ -72,20 +72,18 @@ int LPS22HB_I2C::probe()
 {
 	uint8_t id = 0;
 
-	_retries = 10;
-
 	if (read(WHO_AM_I, &id, 1)) {
 		DEVICE_DEBUG("read_reg fail");
 		return -EIO;
 	}
 
-	_retries = 2;
-
 	if (id != LPS22HB_ID_WHO_AM_I) {
 		DEVICE_DEBUG("ID byte mismatch (%02x != %02x)", LPS22HB_ID_WHO_AM_I, id);
 		return -EIO;
 	}
 
+	_retries = 1;
+
 	return PX4_OK;
 }
 

src/drivers/barometer/lps25h/lps25h_i2c.cpp

@@ -71,20 +71,18 @@ int LPS25H_I2C::probe()
 {
 	uint8_t id;
 
-	_retries = 10;
-
 	if (read(ADDR_WHO_AM_I, &id, 1)) {
 		DEVICE_DEBUG("read_reg fail");
 		return -EIO;
 	}
 
-	_retries = 2;
-
 	if (id != ID_WHO_AM_I) {
 		DEVICE_DEBUG("ID byte mismatch (%02x != %02x)", ID_WHO_AM_I, id);
 		return -EIO;
 	}
 
+	_retries = 1;
+
 	return OK;
 }
 

src/drivers/barometer/mpl3115a2/MPL3115A2.cpp

@@ -85,18 +85,15 @@ int MPL3115A2::init()
 
 int MPL3115A2::probe()
 {
-	_retries = 10;
 	uint8_t whoami = 0;
 
 	if ((RegisterRead(MPL3115A2_REG_WHO_AM_I, &whoami) > 0) && (whoami == MPL3115A2_WHO_AM_I)) {
-		/*
-		 * Disable retries; we may enable them selectively in some cases,
-		 * but the device gets confused if we retry some of the commands.
-		 */
-		_retries = 0;
+
 		return PX4_OK;
 	}
 
+	_retries = 1;
+
 	return -EIO;
 }
 
@@ -198,11 +195,6 @@ int MPL3115A2::measure()
 	// Send the command to read the ADC for P and T.
 	unsigned addr = (MPL3115A2_CTRL_REG1 << 8) | MPL3115A2_CTRL_TRIGGER;
 
-	/*
-	 * Disable retries on this command; we can't know whether failure
-	 * means the device did or did not see the command.
-	 */
-	_retries = 0;
 	int ret = RegisterWrite((addr >> 8) & 0xff, addr & 0xff);
 
 	if (ret == -EIO) {

src/drivers/barometer/ms5611/ms5611_i2c.cpp

@@ -141,18 +141,14 @@ MS5611_I2C::ioctl(unsigned operation, unsigned &arg)
 int
 MS5611_I2C::probe()
 {
-	_retries = 10;
-
 	if ((PX4_OK == _probe_address(MS5611_ADDRESS_1)) ||
 	    (PX4_OK == _probe_address(MS5611_ADDRESS_2))) {
-		/*
-		 * Disable retries; we may enable them selectively in some cases,
-		 * but the device gets confused if we retry some of the commands.
-		 */
-		_retries = 0;
+
 		return PX4_OK;
 	}
 
+	_retries = 1;
+
 	return -EIO;
 }
 
@@ -183,7 +179,7 @@ MS5611_I2C::_reset()
 	int		result;
 
 	/* bump the retry count */
-	_retries = 10;
+	_retries = 3;
 	result = transfer(&cmd, 1, nullptr, 0);
 	_retries = old_retrycount;
 
@@ -193,12 +189,6 @@ MS5611_I2C::_reset()
 int
 MS5611_I2C::_measure(unsigned addr)
 {
-	/*
-	 * Disable retries on this command; we can't know whether failure
-	 * means the device did or did not see the command.
-	 */
-	_retries = 0;
-
 	uint8_t cmd = addr;
 	return transfer(&cmd, 1, nullptr, 0);
 }

src/drivers/distance_sensor/ll40ls/LidarLiteI2C.cpp

@@ -49,8 +49,6 @@ LidarLiteI2C::LidarLiteI2C(const I2CSPIDriverConfig &config) :
 	_px4_rangefinder.set_min_distance(LL40LS_MIN_DISTANCE);
 	_px4_rangefinder.set_max_distance(LL40LS_MAX_DISTANCE);
 	_px4_rangefinder.set_fov(0.008); // Divergence 8 mRadian
-	// up the retries since the device misses the first measure attempts
-	_retries = 3;
 
 	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_LL40LS); /// TODO
 }
@@ -126,9 +124,6 @@ LidarLiteI2C::probe()
 	uint8_t id_high = 0;
 	uint8_t id_low = 0;
 
-	// more retries for detection
-	_retries = 10;
-
 	for (uint8_t i = 0; i < sizeof(addresses); i++) {
 
 		set_device_address(addresses[i]);
@@ -196,7 +191,7 @@ LidarLiteI2C::probe()
 				}
 			}
 
-			_retries = 3;
+			_retries = 1;
 			return OK;
 		}
 

src/drivers/distance_sensor/teraranger/TERARANGER.cpp

@@ -78,9 +78,6 @@ TERARANGER::TERARANGER(const I2CSPIDriverConfig &config) :
 	I2CSPIDriver(config),
 	_px4_rangefinder(get_device_id(), config.rotation)
 {
-	// up the retries since the device misses the first measure attempts
-	I2C::_retries = 3;
-
 	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_TERARANGER);
 	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER);
 }
@@ -242,6 +239,7 @@ int TERARANGER::probe()
 	// Can't use a single transfer as Teraranger needs a bit of time for internal processing.
 	if (transfer(&cmd, 1, nullptr, 0) == OK) {
 		if (transfer(nullptr, 0, &who_am_i, 1) == OK && who_am_i == TERARANGER_WHO_AM_I_REG_VAL) {
+			_retries = 1;
 			return measure();
 		}
 	}

src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp

@@ -69,8 +69,8 @@ VL53L0X::VL53L0X(const I2CSPIDriverConfig &config) :
 	_px4_rangefinder.set_max_distance(2.f);
 	_px4_rangefinder.set_fov(math::radians(25.f));
 
-	// Allow 3 retries as the device typically misses the first measure attempts.
-	I2C::_retries = 3;
+	// Allow retries as the device typically misses the first measure attempts.
+	I2C::_retries = 1;
 
 	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_VL53L0X);
 }

src/drivers/distance_sensor/vl53l1x/vl53l1x.cpp

@@ -150,9 +150,6 @@ VL53L1X::VL53L1X(const I2CSPIDriverConfig &config) :
 	_px4_rangefinder.set_max_distance(2.f);
 	_px4_rangefinder.set_fov(math::radians(25.f));
 
-	// Allow 3 retries as the device typically misses the first measure attempts.
-	I2C::_retries = 3;
-
 	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_VL53L1X);
 }
 
@@ -215,6 +212,8 @@ int VL53L1X::probe()
 		return -EIO;
 	}
 
+	_retries = 1;
+
 	return PX4_OK;
 }
 

src/drivers/lights/rgbled/rgbled.cpp

@@ -134,25 +134,13 @@ RGBLED::probe()
 	bool on, powersave;
 	uint8_t r, g, b;
 
-	/**
-	   this may look strange, but is needed. There is a serial
-	   EEPROM (Microchip-24aa01) that responds to a bunch of I2C
-	   addresses, including the 0x55 used by this LED device. So
-	   we need to do enough operations to be sure we are talking
-	   to the right device. These 3 operations seem to be enough,
-	   as the 3rd one consistently fails if no RGBLED is on the bus.
-	 */
-
-	unsigned prevretries = _retries;
-	_retries = 4;
-
 	if ((ret = get(on, powersave, r, g, b)) != OK ||
 	    (ret = send_led_enable(false) != OK) ||
 	    (ret = send_led_enable(false) != OK)) {
 		return ret;
 	}
 
-	_retries = prevretries;
+	_retries = 1;
 
 	return ret;
 }

src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp

@@ -78,13 +78,17 @@ public:
 	void			RunImpl();
 
 private:
+	int			send_led_rgb();
+	void			update_params();
+
+	int			write(uint8_t reg, uint8_t data);
 
 	float			_brightness{1.0f};
 	float			_max_brightness{1.0f};
 
-	uint8_t			_r{0};
-	uint8_t			_g{0};
-	uint8_t			_b{0};
+	uint8_t		_r{0};
+	uint8_t		_g{0};
+	uint8_t		_b{0};
 	volatile bool		_running{false};
 	volatile bool		_should_run{true};
 	bool			_leds_enabled{true};
@@ -93,22 +97,14 @@ private:
 
 	LedController		_led_controller;
 
-	int			send_led_rgb();
-	void			update_params();
-
-	int			write(uint8_t reg, uint8_t data);
-
-	uint8_t			red;
-	uint8_t			green;
-	uint8_t			blue;
+	uint8_t		_red{NCP5623_LED_PWM0};
+	uint8_t		_green{NCP5623_LED_PWM1};
+	uint8_t		_blue{NCP5623_LED_PWM2};
 };
 
 RGBLED_NCP5623C::RGBLED_NCP5623C(const I2CSPIDriverConfig &config) :
 	I2C(config),
-	I2CSPIDriver(config),
-	red(NCP5623_LED_PWM0),
-	green(NCP5623_LED_PWM1),
-	blue(NCP5623_LED_PWM2)
+	I2CSPIDriver(config)
 {
 }
 
@@ -144,17 +140,15 @@ RGBLED_NCP5623C::init()
 int
 RGBLED_NCP5623C::probe()
 {
-	int status = PX4_ERROR;
-	_retries = 4;
-	status = write(NCP5623_LED_CURRENT, NCP5623_LED_OFF);
+	int status = write(NCP5623_LED_CURRENT, NCP5623_LED_OFF);
 
 	if (status == PX4_ERROR) {
 		set_device_address(ALT_ADDR);
 		status = write(NCP5623_LED_CURRENT, NCP5623_LED_OFF);
 
 		if (status == PX4_OK) {
-			red = NCP5623_LED_PWM2;
-			blue = NCP5623_LED_PWM0;
+			_red = NCP5623_LED_PWM2;
+			_blue = NCP5623_LED_PWM0;
 		}
 	}
 
@@ -230,14 +224,13 @@ RGBLED_NCP5623C::RunImpl()
 int
 RGBLED_NCP5623C::send_led_rgb()
 {
-
 	uint8_t msg[7] = {0x20, 0x70, 0x40, 0x70, 0x60, 0x70, 0x80};
 	uint8_t brightness = 0x1f * _max_brightness;
 
 	msg[0] = NCP5623_LED_CURRENT | (brightness & 0x1f);
-	msg[2] = red | (uint8_t(_r * _brightness) & 0x1f);
-	msg[4] = green | (uint8_t(_g * _brightness) & 0x1f);
-	msg[6] = blue | (uint8_t(_b * _brightness) & 0x1f);
+	msg[2] = _red | (uint8_t(_r * _brightness) & 0x1f);
+	msg[4] = _green | (uint8_t(_g * _brightness) & 0x1f);
+	msg[6] = _blue | (uint8_t(_b * _brightness) & 0x1f);
 
 	return transfer(&msg[0], 7, nullptr, 0);
 }

src/drivers/magnetometer/hmc5883/hmc5883_i2c.cpp

@@ -72,7 +72,7 @@ int HMC5883_I2C::probe()
 {
 	uint8_t data[3] = {0, 0, 0};
 
-	_retries = 10;
+	_retries = 1;
 
 	if (read(ADDR_ID_A, &data[0], 1) ||
 	    read(ADDR_ID_B, &data[1], 1) ||
@@ -81,8 +81,6 @@ int HMC5883_I2C::probe()
 		return -EIO;
 	}
 
-	_retries = 2;
-
 	if ((data[0] != ID_A_WHO_AM_I) ||
 	    (data[1] != ID_B_WHO_AM_I) ||
 	    (data[2] != ID_C_WHO_AM_I)) {

src/drivers/magnetometer/isentek/ist8308/IST8308.cpp

@@ -86,12 +86,11 @@ void IST8308::print_status()
 
 int IST8308::probe()
 {
-	_retries = 2;
-
 	for (int retry = 0; retry < 3; retry++) {
 		const uint8_t WAI = RegisterRead(Register::WAI);
 
 		if (WAI == Device_ID) {
+			_retries = 1;
 			return PX4_OK;
 
 		} else {

src/drivers/magnetometer/lis2mdl/lis2mdl_i2c.cpp

@@ -86,15 +86,13 @@ LIS2MDL_I2C::probe()
 {
 	uint8_t data = 0;
 
-	_retries = 10;
+	_retries = 1;
 
 	if (read(ADDR_WHO_AM_I, &data, 1)) {
 		DEVICE_DEBUG("read_reg fail");
 		return -EIO;
 	}
 
-	_retries = 2;
-
 	if (data != ID_WHO_AM_I) {
 		DEVICE_DEBUG("LIS2MDL bad ID: %02x", data);
 		return -EIO;

src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp

@@ -85,20 +85,18 @@ int LIS3MDL_I2C::probe()
 {
 	uint8_t data = 0;
 
-	_retries = 10;
-
 	if (read(ADDR_WHO_AM_I, &data, 1)) {
 		DEVICE_DEBUG("read_reg fail");
 		return -EIO;
 	}
 
-	_retries = 2;
-
 	if (data != ID_WHO_AM_I) {
 		DEVICE_DEBUG("LIS3MDL bad ID: %02x", data);
 		return -EIO;
 	}
 
+	_retries = 1;
+
 	return OK;
 }
 

src/drivers/magnetometer/rm3100/rm3100_i2c.cpp

@@ -84,20 +84,18 @@ int RM3100_I2C::probe()
 {
 	uint8_t data = 0;
 
-	_retries = 10;
-
 	if (read(ADDR_REVID, &data, 1)) {
 		DEVICE_DEBUG("RM3100 read_reg fail");
 		return -EIO;
 	}
 
-	_retries = 2;
-
 	if (data != RM3100_REVID) {
 		DEVICE_DEBUG("RM3100 bad ID: %02x", data);
 		return -EIO;
 	}
 
+	_retries = 1;
+
 	return OK;
 }
 

src/drivers/telemetry/bst/bst.cpp

@@ -185,9 +185,6 @@ BST::BST(const I2CSPIDriverConfig &config) :
 
 int BST::probe()
 {
-	int retries_prev = _retries;
-	_retries = 3;
-
 	BSTPacket<BSTDeviceInfoRequest> dev_info_req = {};
 	dev_info_req.type = 0x0A;
 	dev_info_req.payload.cmd = 0x04;
@@ -213,7 +210,7 @@ int BST::probe()
 		  (int)swap_uint32(dev_info_reply.payload.hw_id), (int)swap_uint16(dev_info_reply.payload.fw_id),
 		  dev_info_reply.payload.dev_name);
 
-	_retries = retries_prev;
+	_retries = 1;
 
 	return OK;
 }

src/lib/drivers/airspeed/airspeed.cpp

@@ -104,11 +104,9 @@ Airspeed::probe()
 	   for detection. Once it is running the number of retries can
 	   be reduced
 	*/
-	_retries = 4;
+	_retries = 1;
 	int ret = measure();
 
-	// drop back to 2 retries once initialised
-	_retries = 2;
 	return ret;
 }