From 513d014f03831111a1b9f9af293e253f7d5218a5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 5 Dec 2013 09:06:53 +1100
Subject: l3gd20: added retries to disable_i2c()

---
 src/drivers/l3gd20/l3gd20.cpp | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
index 17b53bfa9..176ef648b 100644
--- a/src/drivers/l3gd20/l3gd20.cpp
+++ b/src/drivers/l3gd20/l3gd20.cpp
@@ -715,8 +715,16 @@ L3GD20::stop()
 void
 L3GD20::disable_i2c(void)
 {
-	uint8_t a = read_reg(0x05);
-	write_reg(0x05, (0x20 | a));
+	uint8_t retries = 10;
+	while (retries--) {
+		// add retries
+		uint8_t a = read_reg(0x05);
+		write_reg(0x05, (0x20 | a));
+		if (read_reg(0x05) == (a | 0x20)) {
+			return;
+		}
+	}
+	debug("FAILED TO DISABLE I2C");
 }
 
 void
-- 
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