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Merge branch 'develop2' into develop3

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This commit is contained in:
Ken Van Hoeylandt 2026-07-22 00:33:04 +02:00
commit e6ef5ad986
1 changed files with 10 additions and 3 deletions
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13
Drivers/mpu6886-module/source/mpu6886.cpp
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@ -24,6 +24,7 @@ static constexpr uint8_t REG_FIFO_EN = 0x23; // FIFO enable
static constexpr uint8_t REG_WHO_AM_I = 0x75; // chip ID — expect 0x19
static constexpr uint8_t WHO_AM_I_VALUE = 0x19;
static constexpr uint8_t WHO_AM_I_ATTEMPTS = 5;
// Configuration values
// GYRO_CONFIG: FS_SEL=3 (±2000°/s), FCHOICE_B=00 → 0x18
@ -54,10 +55,16 @@ static error_t start(Device* device) {
auto address = GET_CONFIG(device)->address;
// Verify chip ID
// Verify chip ID: it might take more than 1 attempt at power up (on M5Stack Core2)
uint8_t who_am_i = 0;
if (i2c_controller_register8_get(i2c_controller, address, REG_WHO_AM_I, &who_am_i, I2C_TIMEOUT_TICKS) != ERROR_NONE
|| who_am_i != WHO_AM_I_VALUE) {
for (int i = 0; i < WHO_AM_I_ATTEMPTS; i++) {
if (i2c_controller_register8_get(i2c_controller, address, REG_WHO_AM_I, &who_am_i, I2C_TIMEOUT_TICKS) == ERROR_NONE) {
break;
}
vTaskDelay(10);
}
if (who_am_i != WHO_AM_I_VALUE) {
LOG_E(TAG, "WHO_AM_I mismatch: got 0x%02X, expected 0x%02X", who_am_i, WHO_AM_I_VALUE);
return ERROR_RESOURCE;
}