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Code Issues Wiki Activity

Avoided compass task wrapper function

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This commit is contained in:
Martin Budden 2017-11-10 14:08:12 +00:00
parent b71fe232c3
commit 78cc4f65a1
3 changed files with 11 additions and 19 deletions
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9
src/main/sensors/compass.c
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@ -262,9 +262,9 @@ bool compassInit(void)
return true;
}
void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
void compassUpdate(timeUs_t currentTimeUs)
{
static uint32_t tCal = 0;
static timeUs_t tCal = 0;
static flightDynamicsTrims_t magZeroTempMin;
static flightDynamicsTrims_t magZeroTempMax;
@ -274,8 +274,9 @@ void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
}
alignSensors(mag.magADC, magDev.magAlign);
flightDynamicsTrims_t *magZero = &compassConfigMutable()->magZero;
if (STATE(CALIBRATE_MAG)) {
tCal = currentTime;
tCal = currentTimeUs;
for (int axis = 0; axis < 3; axis++) {
magZero->raw[axis] = 0;
magZeroTempMin.raw[axis] = mag.magADC[axis];
@ -291,7 +292,7 @@ void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
}
if (tCal != 0) {
if ((currentTime - tCal) < 30000000) { // 30s: you have 30s to turn the multi in all directions
if ((currentTimeUs - tCal) < 30000000) { // 30s: you have 30s to turn the multi in all directions
LED0_TOGGLE;
for (int axis = 0; axis < 3; axis++) {
if (mag.magADC[axis] < magZeroTempMin.raw[axis])

10
src/main/sensors/compass.h
View file

@ -17,12 +17,13 @@
#pragma once
#include "pg/pg.h"
#include "drivers/io.h"
#include "drivers/io_types.h"
#include "drivers/sensor.h"
#include "common/time.h"
#include "pg/pg.h"
#include "sensors/sensors.h"
// Type of magnetometer used/detected
typedef enum {
MAG_DEFAULT = 0,
@ -56,6 +57,5 @@ typedef struct compassConfig_s {
PG_DECLARE(compassConfig_t, compassConfig);
bool compassInit(void);
union flightDynamicsTrims_u;
void compassUpdate(uint32_t currentTime, union flightDynamicsTrims_u *magZero);
void compassUpdate(timeUs_t currentTime);