From d76cc7ff9d28310abfcd0ab346aa94888ab0186a Mon Sep 17 00:00:00 2001
From: koalo <koalo@koalo.de>
Date: Thu, 22 Aug 2019 16:45:32 +0200
Subject: [PATCH] feat(bhi160): Cleanup
---
epicardium/modules/bhi.c | 12 +++++++++---
1 file changed, 9 insertions(+), 3 deletions(-)
diff --git a/epicardium/modules/bhi.c b/epicardium/modules/bhi.c
index 658c4b19..16021494 100644
--- a/epicardium/modules/bhi.c
+++ b/epicardium/modules/bhi.c
@@ -417,7 +417,8 @@ void vBhi160Task(void *pvParameters)
int lockret = hwlock_acquire(HWLOCK_I2C, pdMS_TO_TICKS(100));
if (lockret < 0) {
- return;
+ LOG_CRIT("bhi160", "Failed to acquire I2C lock!");
+ vTaskDelay(portMAX_DELAY);
}
/* Take Mutex during initialization, just in case */
@@ -447,9 +448,14 @@ void vBhi160Task(void *pvParameters)
vTaskDelay(portMAX_DELAY);
}
- /* Wait for first two interrupts */
- ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(100));
+ /* Wait for first interrupt */
+ hwlock_release(HWLOCK_I2C);
ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(100));
+ lockret = hwlock_acquire(HWLOCK_I2C, pdMS_TO_TICKS(100));
+ if (lockret < 0) {
+ LOG_CRIT("bhi160", "Failed to acquire I2C lock!");
+ vTaskDelay(portMAX_DELAY);
+ }
/* Remap axes to match card10 layout */
bhy_mapping_matrix_set(
--
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