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icm42688p: only check configured registers periodically (as intended)

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Daniel Agar
2022-05-23 10:16:55 -04:00
parent c57c575cfe
commit d25a784a3a
1 changed files with 15 additions and 13 deletions
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src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
+2
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@@ -274,6 +274,7 @@ void ICM42688P::RunImpl()
} }
} }
if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
// check configuration registers periodically or immediately following any failure // check configuration registers periodically or immediately following any failure
if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0]) if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0])
&& RegisterCheck(_register_bank1_cfg[_checked_register_bank1]) && RegisterCheck(_register_bank1_cfg[_checked_register_bank1])
@@ -290,6 +291,7 @@ void ICM42688P::RunImpl()
Reset(); Reset();
} }
} }
}
break; break;
} }