From 3bc938d45e44b9c77a5474563c86290bb5839cff Mon Sep 17 00:00:00 2001
From: FredericG <FredericG>
Date: Mon, 21 Jun 2010 09:19:02 +0000
Subject: [PATCH] lowered I2C timoout whne using RTOS

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@842 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/AHRS/inc/pios_board.h             | 4 ++--
 flight/OpenPilot/System/inc/pios_board.h | 4 ++--
 flight/PiOS/STM32F10x/pios_i2c.c         | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/flight/AHRS/inc/pios_board.h b/flight/AHRS/inc/pios_board.h
index b05ca443d..2aac8f3dd 100644
--- a/flight/AHRS/inc/pios_board.h
+++ b/flight/AHRS/inc/pios_board.h
@@ -106,8 +106,8 @@ TIM8  |           |           |           |
 #define PIOS_I2C_SCL_PIN			GPIO_Pin_6
 #define PIOS_I2C_SDA_PIN			GPIO_Pin_7
 #define PIOS_I2C_DUTY_CYCLE			I2C_DutyCycle_2
-#define PIOS_I2C_BUS_FREQ			400000
-#define PIOS_I2C_TIMEOUT_VALUE			5000
+#define PIOS_I2C_BUS_FREQ			400000	// bit/s
+#define PIOS_I2C_TIMEOUT_VALUE			50 	// ms
 #define PIOS_I2C_IRQ_EV_HANDLER			void I2C1_EV_IRQHandler(void)
 #define PIOS_I2C_IRQ_ER_HANDLER			void I2C1_ER_IRQHandler(void)
 #define PIOS_I2C_IRQ_EV_CHANNEL			I2C1_EV_IRQn
diff --git a/flight/OpenPilot/System/inc/pios_board.h b/flight/OpenPilot/System/inc/pios_board.h
index 744fb7f71..1c8acbc31 100644
--- a/flight/OpenPilot/System/inc/pios_board.h
+++ b/flight/OpenPilot/System/inc/pios_board.h
@@ -85,8 +85,8 @@ TIM8  | Servo 5   | Servo 6   | Servo 7   | Servo 8
 #define PIOS_I2C_SDA_PIN			GPIO_Pin_11
 #define PIOS_I2C_SCL_PIN			GPIO_Pin_10
 #define PIOS_I2C_DUTY_CYCLE			I2C_DutyCycle_2
-#define PIOS_I2C_BUS_FREQ			400000
-#define PIOS_I2C_TIMEOUT_VALUE			5000
+#define PIOS_I2C_BUS_FREQ			400000	// bit/s
+#define PIOS_I2C_TIMEOUT_VALUE			50 	// ms
 #define PIOS_I2C_IRQ_EV_HANDLER			void I2C2_EV_IRQHandler(void)
 #define PIOS_I2C_IRQ_ER_HANDLER			void I2C2_ER_IRQHandler(void)
 #define PIOS_I2C_IRQ_EV_CHANNEL			I2C2_EV_IRQn
diff --git a/flight/PiOS/STM32F10x/pios_i2c.c b/flight/PiOS/STM32F10x/pios_i2c.c
index 301017023..1b67f886c 100644
--- a/flight/PiOS/STM32F10x/pios_i2c.c
+++ b/flight/PiOS/STM32F10x/pios_i2c.c
@@ -327,7 +327,7 @@ int32_t PIOS_I2C_TransferWait(void)
 	}
 
 #else
-	uint32_t repeat_ctr = PIOS_I2C_TIMEOUT_VALUE;
+	uint32_t repeat_ctr = PIOS_I2C_TIMEOUT_VALUE*100;	// FIXME
 	uint16_t last_buffer_ix = i2cx->buffer_ix;
 
 	if (i2cx->transfer_state.BUSY)