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Code Issues Wiki Activity

Perform compass reads in the background

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This commit is contained in:
Steve Evans 2022-02-27 13:56:32 +00:00
parent 7b4415f062
commit 8ac81f86b2
7 changed files with 125 additions and 58 deletions
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12
src/main/sensors/compass.c
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@ -52,6 +52,8 @@
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "scheduler/scheduler.h"
#include "sensors/boardalignment.h"
#include "sensors/gyro.h"
#include "sensors/gyro_init.h"
@ -347,10 +349,14 @@ bool compassIsCalibrationComplete(void)
return tCal == 0;
}
void compassUpdate(timeUs_t currentTimeUs)
uint32_t compassUpdate(timeUs_t currentTimeUs)
{
if (busBusy(&magDev.dev, NULL) || !magDev.read(&magDev, magADCRaw)) {
// No action was taken as the read has not completed
schedulerIgnoreTaskExecRate();
return 1000; // Wait 1ms between states
}
magDev.read(&magDev, magADCRaw);
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
mag.magADC[axis] = magADCRaw[axis];
}
@ -385,5 +391,7 @@ void compassUpdate(timeUs_t currentTimeUs)
saveConfigAndNotify();
}
}
return TASK_PERIOD_HZ(10);
}
#endif // USE_MAG