From 78cc4f65a136d6e5879296ca57aa782a1a440612 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Fri, 10 Nov 2017 14:08:12 +0000
Subject: [PATCH] Avoided compass task wrapper function

---
 src/main/fc/fc_tasks.c     | 11 +----------
 src/main/sensors/compass.c |  9 +++++----
 src/main/sensors/compass.h | 10 +++++-----
 3 files changed, 11 insertions(+), 19 deletions(-)

diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c
index 00be54238d..9cb0a8088c 100644
--- a/src/main/fc/fc_tasks.c
+++ b/src/main/fc/fc_tasks.c
@@ -157,15 +157,6 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
 }
 #endif
 
-#ifdef USE_MAG
-static void taskUpdateCompass(timeUs_t currentTimeUs)
-{
-    if (sensors(SENSOR_MAG)) {
-        compassUpdate(currentTimeUs, &compassConfigMutable()->magZero);
-    }
-}
-#endif
-
 #ifdef USE_BARO
 static void taskUpdateBaro(timeUs_t currentTimeUs)
 {
@@ -463,7 +454,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
 #ifdef USE_MAG
     [TASK_COMPASS] = {
         .taskName = "COMPASS",
-        .taskFunc = taskUpdateCompass,
+        .taskFunc = compassUpdate,
         .desiredPeriod = TASK_PERIOD_HZ(10),        // Compass is updated at 10 Hz
         .staticPriority = TASK_PRIORITY_LOW,
     },
diff --git a/src/main/sensors/compass.c b/src/main/sensors/compass.c
index 691b56f0d6..0a8cf9d8b7 100644
--- a/src/main/sensors/compass.c
+++ b/src/main/sensors/compass.c
@@ -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])
diff --git a/src/main/sensors/compass.h b/src/main/sensors/compass.h
index ae11c2a1fd..bc3c57bcb4 100644
--- a/src/main/sensors/compass.h
+++ b/src/main/sensors/compass.h
@@ -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);