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Move mw loop() code into separate methods. Cleanup related code.

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If a given feature or mode is off the next task is not processed in the
current loop but will be processed during the next loop iteration for
simplification, this allowed the cleanup of return values in other code.
This commit is contained in:
Dominic Clifton 2014-06-23 00:47:45 +01:00
parent 8d0509dbfb
commit 91bfdf05ca
7 changed files with 256 additions and 210 deletions
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18
src/main/sensors/barometer.c
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@ -30,7 +30,7 @@ baro_t baro; // barometer access functions
uint16_t calibratingB = 0; // baro calibration = get new ground pressure value
int32_t baroPressure = 0;
int32_t baroTemperature = 0;
uint32_t baroPressureSum = 0;
static uint32_t baroPressureSum = 0;
int32_t BaroAlt = 0;
#ifdef BARO
@ -82,13 +82,19 @@ typedef enum {
BAROMETER_NEEDS_CALCULATION
} barometerState_e;
barometerAction_e baroUpdate(uint32_t currentTime)
static bool baroReady = false;
bool isBaroReady(void) {
return baroReady;
}
void baroUpdate(uint32_t currentTime)
{
static uint32_t baroDeadline = 0;
static barometerState_e state = BAROMETER_NEEDS_SAMPLES;
if ((int32_t)(currentTime - baroDeadline) < 0)
return BAROMETER_ACTION_NOT_READY;
return;
baroDeadline = currentTime;
@ -98,17 +104,17 @@ barometerAction_e baroUpdate(uint32_t currentTime)
baro.start_ut();
baroDeadline += baro.ut_delay;
baro.calculate(&baroPressure, &baroTemperature);
baroReady = true;
state = BAROMETER_NEEDS_SAMPLES;
return BAROMETER_ACTION_PERFORMED_CALCULATION;
break;
case BAROMETER_NEEDS_SAMPLES:
default:
baro.get_ut();
baro.start_up();
baroPressureSum = recalculateBarometerTotal(barometerConfig->baro_sample_count, baroPressureSum, baroPressure);
state = BAROMETER_NEEDS_CALCULATION;
baroDeadline += baro.up_delay;
return BAROMETER_ACTION_OBTAINED_SAMPLES;
break;
}
}