From 9a842f6bb0f8976197057b820bf07a615905a266 Mon Sep 17 00:00:00 2001
From: timecop <timecop@7c89a4a9-59b9-e629-4cfe-3a2d53b20e61>
Date: Wed, 15 Aug 2012 08:47:23 +0000
Subject: [PATCH] fix for 32bit overflow of currentTime killing baro/mag after
 72 minutes (yes, someone noticed) thanks to enots @ feenode.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@194 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
---
 src/imu.c     |  2 +-
 src/mw.c      | 12 ++++++------
 src/sensors.c |  4 ++--
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/imu.c b/src/imu.c
index 497416ff26..c2d55c854d 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -268,7 +268,7 @@ void getEstimatedAltitude(void)
     int32_t temp32;
     int16_t last;
 
-    if (currentTime < deadLine)
+    if ((int32_t)(currentTime - deadLine) < 0)
         return;
     deadLine = currentTime + UPDATE_INTERVAL;
 
diff --git a/src/mw.c b/src/mw.c
index bfd8258bdc..501a05481b 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -176,14 +176,14 @@ void annexCode(void)
 #ifdef LEDRING
     if (feature(FEATURE_LED_RING)) {
         static uint32_t LEDTime;
-        if (currentTime > LEDTime) {
+        if ((int32_t)(currentTime - LEDTime) >= 0) {
             LEDTime = currentTime + 50000;
             ledringState();
         }
     }
 #endif
 
-    if (currentTime > calibratedAccTime) {
+    if ((int32_t)(currentTime - calibratedAccTime) >= 0) {
         if (!f.SMALL_ANGLES_25) {
             f.ACC_CALIBRATED = 0; // the multi uses ACC and is not calibrated or is too much inclinated
             LED0_TOGGLE;
@@ -197,7 +197,7 @@ void annexCode(void)
 
     if (sensors(SENSOR_GPS)) {
         static uint32_t GPSLEDTime;
-        if (currentTime > GPSLEDTime && (GPS_numSat >= 5)) {
+        if ((int32_t)(currentTime - GPSLEDTime) >= 0 && (GPS_numSat >= 5)) {
             GPSLEDTime = currentTime + 150000;
             LED1_TOGGLE;
         }
@@ -270,7 +270,7 @@ void loop(void)
     if (spektrumFrameComplete())
         computeRC();
 
-    if (currentTime > rcTime) { // 50Hz
+    if ((int32_t)(currentTime - rcTime) >= 0) { // 50Hz
         rcTime = currentTime + 20000;
         // TODO clean this up. computeRC should handle this check
         if (!feature(FEATURE_SPEKTRUM))
@@ -523,13 +523,13 @@ void loop(void)
     }
 
     currentTime = micros();
-    if (cfg.looptime == 0 || currentTime > loopTime) {
+    if (cfg.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
         loopTime = currentTime + cfg.looptime;
 
         computeIMU();
         // Measure loop rate just afer reading the sensors
         currentTime = micros();
-        cycleTime = currentTime - previousTime;
+        cycleTime = (int32_t)(currentTime - previousTime);
         previousTime = currentTime;
     
     #ifdef MPU6050_DMP
diff --git a/src/sensors.c b/src/sensors.c
index a0c3167503..ae782d1976 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -243,7 +243,7 @@ void Baro_update(void)
 {
     int32_t pressure;
 
-    if (currentTime < baroDeadline)
+    if ((int32_t)(currentTime - baroDeadline) < 0)
         return;
 
     baroDeadline = currentTime;
@@ -414,7 +414,7 @@ void Mag_getADC(void)
     static int16_t magZeroTempMax[3];
     uint32_t axis;
     
-    if (currentTime < t)
+    if ((int32_t)(currentTime - t) < 0)
         return;                 //each read is spaced by 100ms
     t = currentTime + 100000;