diff options
-rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp | 13 | ||||
-rw-r--r-- | src/drivers/lsm303d/lsm303d.cpp | 19 |
2 files changed, 26 insertions, 6 deletions
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index e6d765e13..970e8cf4b 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -377,9 +377,12 @@ out: int L3GD20::probe() { + irqstate_t flags = irqsave(); /* read dummy value to void to clear SPI statemachine on sensor */ (void)read_reg(ADDR_WHO_AM_I); + bool success = false; + /* verify that the device is attached and functioning, accept L3GD20 and L3GD20H */ if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) { @@ -390,15 +393,21 @@ L3GD20::probe() #else #error This driver needs a board selection, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2 #endif - return OK; + + success = true; } if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM_H) { _orientation = SENSOR_BOARD_ROTATION_180_DEG; - return OK; + success = true; } + irqrestore(flags); + + if (success) + return OK; + return -EIO; } diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index 05d6f1881..35904cc4d 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -404,7 +404,7 @@ public: LSM303D_mag(LSM303D *parent); ~LSM303D_mag(); - virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); virtual int ioctl(struct file *filp, int cmd, unsigned long arg); protected: @@ -498,8 +498,10 @@ LSM303D::init() int mag_ret; /* do SPI init (and probe) first */ - if (SPI::init() != OK) + if (SPI::init() != OK) { + warnx("SPI init failed"); goto out; + } /* allocate basic report buffers */ _num_accel_reports = 2; @@ -541,6 +543,7 @@ out: void LSM303D::reset() { + irqstate_t flags = irqsave(); /* enable accel*/ write_reg(ADDR_CTRL_REG1, REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE); @@ -555,6 +558,7 @@ LSM303D::reset() mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA); mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE); + irqrestore(flags); _accel_read = 0; _mag_read = 0; @@ -563,11 +567,16 @@ LSM303D::reset() int LSM303D::probe() { + irqstate_t flags = irqsave(); /* read dummy value to void to clear SPI statemachine on sensor */ (void)read_reg(ADDR_WHO_AM_I); /* verify that the device is attached and functioning */ - if (read_reg(ADDR_WHO_AM_I) == WHO_I_AM) + bool success = (read_reg(ADDR_WHO_AM_I) == WHO_I_AM); + + irqrestore(flags); + + if (success) return OK; return -EIO; @@ -1470,8 +1479,10 @@ start() /* create the driver */ g_dev = new LSM303D(1 /* XXX magic number */, ACCEL_DEVICE_PATH, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG); - if (g_dev == nullptr) + if (g_dev == nullptr) { + warnx("failed instantiating LSM303D obj"); goto fail; + } if (OK != g_dev->init()) goto fail; |