WIP

src/drivers/magnetometer/akm/ak09916/AK09916.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019-2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -87,21 +87,26 @@ void AK09916::print_status()
 
 int AK09916::probe()
 {
-	const uint8_t WIA1 = RegisterRead(Register::WIA1);
+	for (int retry = 0; retry < 3; retry++) {
+		const uint8_t WIA1 = RegisterRead(Register::WIA1);
+		const uint8_t WIA2 = RegisterRead(Register::WIA2);
 
-	if (WIA1 != Company_ID) {
-		DEVICE_DEBUG("unexpected WIA1 0x%02x", WIA1);
-		return PX4_ERROR;
+		if ((WIA1 == Company_ID) && (WIA2 == Device_ID)) {
+			return PX4_OK;
+
+		} else if (WIA1 != Company_ID) {
+			DEVICE_DEBUG("unexpected WIA1 0x%02x", WIA1);
+
+		} else if (WIA2 != Device_ID) {
+			DEVICE_DEBUG("unexpected WIA2 0x%02x", WIA2);
+		}
+
+		if (retry > 0) {
+			_retries = 1;
+		}
 	}
 
-	const uint8_t WIA2 = RegisterRead(Register::WIA2);
-
-	if (WIA2 != Device_ID) {
-		DEVICE_DEBUG("unexpected WIA2 0x%02x", WIA2);
-		return PX4_ERROR;
-	}
-
-	return PX4_OK;
+	return PX4_ERROR;
 }
 
 void AK09916::RunImpl()

src/drivers/magnetometer/akm/ak8963/AK8963.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -87,14 +87,22 @@ void AK8963::print_status()
 
 int AK8963::probe()
 {
-	const uint8_t WIA = RegisterRead(Register::WIA);
+	for (int retry = 0; retry < 3; retry++) {
+		const uint8_t WIA = RegisterRead(Register::WIA);
 
-	if (WIA != Device_ID) {
-		DEVICE_DEBUG("unexpected WIA 0x%02x", WIA);
-		return PX4_ERROR;
+		if (WIA == Device_ID) {
+			return PX4_OK;
+
+		} else {
+			DEVICE_DEBUG("unexpected WIA 0x%02x", WIA);
+		}
+
+		if (retry > 0) {
+			_retries = 1;
+		}
 	}
 
-	return PX4_OK;
+	return PX4_ERROR;
 }
 
 void AK8963::RunImpl()

src/drivers/magnetometer/bosch/bmm150/BMM150.cpp

@@ -86,7 +86,7 @@ void BMM150::print_status()
 int BMM150::probe()
 {
 	// 3 retries
-	for (int i = 0; i < 3; i++) {
+	for (int retry = 0; retry < 3; retry++) {
 		const uint8_t POWER_CONTROL = RegisterRead(Register::POWER_CONTROL);
 		const uint8_t CHIP_ID = RegisterRead(Register::CHIP_ID);
 
@@ -99,6 +99,10 @@ int BMM150::probe()
 			// in suspend Chip ID read (register 0x40) returns “0x00” (I²C) or high-Z (SPI).
 			return PX4_OK;
 		}
+
+		if (retry > 0) {
+			_retries = 1;
+		}
 	}
 
 	return PX4_ERROR;

src/drivers/magnetometer/isentek/ist8310/IST8310.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -85,14 +85,22 @@ void IST8310::print_status()
 
 int IST8310::probe()
 {
-	const uint8_t WAI = RegisterRead(Register::WAI);
+	for (int retry = 0; retry < 3; retry++) {
+		const uint8_t WAI = RegisterRead(Register::WAI);
 
-	if (WAI != Device_ID) {
-		DEVICE_DEBUG("unexpected WAI 0x%02x", WAI);
-		return PX4_ERROR;
+		if (WAI == Device_ID) {
+			return PX4_OK;
+
+		} else {
+			DEVICE_DEBUG("unexpected WAI 0x%02x", WAI);
+		}
+
+		if (retry > 0) {
+			_retries = 1;
+		}
 	}
 
-	return PX4_OK;
+	return PX4_ERROR;
 }
 
 void IST8310::RunImpl()

src/drivers/magnetometer/qmc5883l/QMC5883L.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -85,9 +85,7 @@ void QMC5883L::print_status()
 
 int QMC5883L::probe()
 {
-	_retries = 1;
-
-	for (int i = 0; i < 3; i++) {
+	for (int retry = 0; retry < 3; retry++) {
 		// first read 0x0 once
 		const uint8_t cmd = 0;
 		uint8_t buffer{};
@@ -99,6 +97,10 @@ int QMC5883L::probe()
 				return PX4_OK;
 			}
 		}
+
+		if (retry > 0) {
+			_retries = 1;
+		}
 	}
 
 	return PX4_ERROR;

src/drivers/magnetometer/vtrantech/vcm1193l/VCM1193L.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -85,9 +85,7 @@ void VCM1193L::print_status()
 
 int VCM1193L::probe()
 {
-	_retries = 1;
-
-	for (int i = 0; i < 3; i++) {
+	for (int retry = 0; retry < 3; retry++) {
 		// first read 0x0 once
 		const uint8_t cmd = 0;
 		uint8_t buffer{};
@@ -99,6 +97,10 @@ int VCM1193L::probe()
 				return PX4_OK;
 			}
 		}
+
+		if (retry > 0) {
+			_retries = 1;
+		}
 	}
 
 	return PX4_ERROR;

src/lib/drivers/device/nuttx/I2C.cpp

@@ -216,6 +216,29 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
 		int ret_transfer = I2C_TRANSFER(_dev, &msgv[0], msgs);
 
 		if (ret_transfer != 0) {
+
+			switch (ret_transfer) {
+			case -EAGAIN:
+				PX4_WARN("I2C bus: %d, Addr: %X, Arbitration Lost", get_device_bus(), get_device_address());
+				break;
+
+			case -EIO:
+				PX4_WARN("I2C bus: %d, Addr: %X, Overrun/Underrun", get_device_bus(), get_device_address());
+				break;
+
+			case -EADDRNOTAVAIL:
+				//PX4_WARN("I2C bus: %d, Addr: %X, Address NACK", get_device_bus(), get_device_address());
+				break;
+
+			case -ECOMM:
+				PX4_WARN("I2C bus: %d, Addr: %X, Data NACK", get_device_bus(), get_device_address());
+				break;
+
+			case -EBUSY:
+				PX4_WARN("I2C bus: %d, Addr: %X, Bus busy", get_device_bus(), get_device_address());
+				break;
+			}
+
 			DEVICE_DEBUG("I2C transfer failed, result %d", ret_transfer);
 			ret = PX4_ERROR;
 
@@ -225,9 +248,10 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
 			break;
 		}
 
-		/* if we have already retried once, or we are going to give up, then reset the bus */
-		if ((retry_count >= 1) || (retry_count >= _retries)) {
+		// if we have already retried once, and we aren't going to give up, then reset the bus
+		if ((retry_count >= 1) && (retry_count < _retries)) {
 #if defined(CONFIG_I2C_RESET)
+			PX4_WARN("I2C bus: %d, Addr: %X, I2C_RESET %d/%d", get_device_bus(), get_device_address(), retry_count, _retries);
 			I2C_RESET(_dev);
 #endif // CONFIG_I2C_RESET
 		}