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fix for 32bit overflow of currentTime killing baro/mag after 72 minutes (yes, someone noticed)

Browse source 
thanks to enots @ feenode.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@194 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-08-15 08:47:23 +00:00
parent e894dba995
commit 9a842f6bb0
3 changed files with 9 additions and 9 deletions
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2
src/imu.c
View file

@ -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;

12
src/mw.c
View file

@ -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

4
src/sensors.c
View file

@ -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;