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Workaround for BNO080 errors on Teensy 4.0

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PaulStoffregen il y a 4 ans
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révision
c93e869a96
1 fichiers modifiés avec 9 ajouts et 0 suppressions
  1. +9
    -0
      WireIMXRT.cpp

+ 9
- 0
WireIMXRT.cpp Voir le fichier

@@ -232,6 +232,15 @@ uint8_t TwoWire::requestFrom(uint8_t address, uint8_t length, uint8_t sendStop)
// TODO: is this correct if the prior use didn't send stop?
port->MSR = LPI2C_MSR_PLTF | LPI2C_MSR_ALF | LPI2C_MSR_NDF | LPI2C_MSR_SDF | LPI2C_MSR_FEF; // clear flags

// these delays are an ugly kludge for BNO080
// https://forum.pjrc.com/threads/58268
// TODO: need more robust error recovery!!
if (status & (LPI2C_MSR_ALF | LPI2C_MSR_NDF)) {
delayMicroseconds(300); // min=120
} else if (status & (LPI2C_MSR_PLTF | LPI2C_MSR_FEF)) {
delayMicroseconds(60); // min=30
}

//printf("MSR=%lX, MCR:%lx, MFSR=%lX\n", status, port->MCR, port->MFSR);

// Wonder if MFSR we should maybe clear it?

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