From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Fri, 2 Aug 2019 04:29:30 +0000 (-0300)
Subject: Merge branch 'write_repeat'
X-Git-Tag: f1~1
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=5332ba1cdbd7f7585656ad472935724a137aff3d;p=bno055.git

Merge branch 'write_repeat'
---

5332ba1cdbd7f7585656ad472935724a137aff3d
diff --cc lib/bno055_tty.c
index f122b61,6edbb76..3c00633
--- a/lib/bno055_tty.c
+++ b/lib/bno055_tty.c
@@@ -100,22 -101,23 +101,26 @@@ s8 BNO055_tty_write(u8 dev_addr,u8 reg_
  	int n=0;
  	int c=0;
  
- 	tcflush(dev_addr,TCIOFLUSH);
- 	array[0]=BNO055_UART_START;
- 	array[1]=BNO055_UART_WRITE_CMD;
- 	array[2]=reg_addr;
- 	array[3]=cnt;
- 	for (i=0;i < cnt;i++) array[i+4]=*(reg_data+i);
- 	
- 	for(n=0;n < cnt+4;n+=c)
+ 	do
  	{
- 		if((c=write(dev_addr,array+n,1))==-1) return BNO055_ERROR;
- 		usleep(100);
- 	}
+ 		tcflush(dev_addr,TCIOFLUSH);
+ 		array[0]=BNO055_UART_START;
+ 		array[1]=BNO055_UART_WRITE_CMD;
+ 		array[2]=reg_addr;
+ 		array[3]=cnt;
+ 		for (i=0;i < cnt;i++) array[i+4]=*(reg_data+i);
+ 	
+ 		for(n=0;n < cnt+4;n+=c)
 -			if((c=write(dev_addr,array+n,cnt+4-n))==-1) return BNO055_ERROR;
++		{
++			if((c=write(dev_addr,array+n,1))==-1) return BNO055_ERROR;
++			usleep(100);	/* Necessary to avoid overrun? */
++		}
  
- 	for(n=0;n < 2; n+=c)
- 		if((c=read(dev_addr,array+n,2-n)) <= 0) return BNO055_ERROR;
+ 		for(n=0;n < 2; n+=c)
+ 			if((c=read(dev_addr,array+n,2-n)) <= 0) return BNO055_ERROR;
  
+ 	} while(array[0] == BNO055_UART_ACK && array[1] == BNO055_UART_OVERRUN);
+ 	
  	if(array[0] != BNO055_UART_ACK || array[1] != BNO055_UART_SUCCESS) return BNO055_ERROR;
  
  	return BNO055_SUCCESS;
@@@ -128,20 -130,20 +133,23 @@@ s8 BNO055_tty_read(u8 dev_addr,u8 reg_a
  	int length=0;
  	int c=0;
  
- 	tcflush(dev_addr,TCIOFLUSH);
- 	array[0]=BNO055_UART_START;
- 	array[1]=BNO055_UART_READ_CMD;
- 	array[2]=reg_addr;
- 	array[3]=cnt;
- 	
- 	for(n=0;n < 4;n+=c)
+ 	do
  	{
- 		if((c=write(dev_addr,array+n,1))==-1) return BNO055_ERROR;
- 		usleep(100);
- 	}
- 
- 	for(n=0;n < 2; n+=c)
- 		if((c=read(dev_addr,array+n,2-n)) <= 0) return BNO055_ERROR;
+ 		tcflush(dev_addr,TCIOFLUSH);
+ 		array[0]=BNO055_UART_START;
+ 		array[1]=BNO055_UART_READ_CMD;
+ 		array[2]=reg_addr;
+ 		array[3]=cnt;
+ 	
+ 		for(n=0;n < 4;n+=c)
 -			if((c=write(dev_addr,array+n,4-n))==-1) return BNO055_ERROR;
++		{
++			if((c=write(dev_addr,array+n,1))==-1) return BNO055_ERROR;
++			usleep(100);	/* Necessary to avoid overrun? */
++		}
+ 
+ 		for(n=0;n < 2; n+=c)
+ 			if((c=read(dev_addr,array+n,2-n)) <= 0) return BNO055_ERROR;
+ 	} while(array[0] == BNO055_UART_ACK && array[1] == BNO055_UART_OVERRUN);
  	
  	switch(array[0])
  	{