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Fix occasional problems with SPL06 #16964

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Mar 24, 2021
Merged

Fix occasional problems with SPL06 #16964

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17 changes: 14 additions & 3 deletions libraries/AP_Baro/AP_Baro_SPL06.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -103,9 +103,20 @@ bool AP_Baro_SPL06::_init()
_dev->set_speed(AP_HAL::Device::SPEED_HIGH);

uint8_t whoami;
if (!_dev->read_registers(SPL06_REG_CHIP_ID, &whoami, 1) ||
whoami != SPL06_CHIP_ID) {
// not a SPL06

// Sometimes SPL06 has init problems, that's due to failure of reading using SPI for the first time. The SPL06 is a dual
// protocol sensor(I2C and SPI), sometimes it takes one SPI operation to convert it to SPI mode after it starts up.
bool is_SPL06 = false;

for (uint8_t i=0; i<5; i++) {
if (_dev->read_registers(SPL06_REG_CHIP_ID, &whoami, 1) &&
whoami == SPL06_CHIP_ID) {
is_SPL06=true;
break;
}
}

if(!is_SPL06) {
return false;
}

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