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LP-73 fw_gpsplatinum build

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This commit is contained in:
Cliff Geerdes 2015-10-24 14:57:12 -04:00
parent d5bdc41fb9
commit 5cb042e703
1 changed files with 16 additions and 3 deletions
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19
flight/pios/common/pios_hmc5x83.c
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@ -112,8 +112,11 @@ pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_
if (cfg->exti_cfg) {
PIOS_EXTI_Init(cfg->exti_cfg);
} else
#endif
#endif /* PIOS_HMC5X83_HAS_GPIOS */
{
// if PIOS_SENSOR_RATE is defined, there is a sensor loop that is called at that frequency
// and "is data available" can simply return false a few times to save some CPU
#ifdef PIOS_SENSOR_RATE
// for external mags that have no interrupt line, just poll them with a timer
// use the configured Output Data Rate to calculate the number of interations (of the main sensor task loop)
// to return false, before returning true
@ -142,8 +145,18 @@ pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_
rate100 = 7500;
break;
}
// count the number of "return false" up to this number
dev->magCountMax = ((uint16_t)PIOS_SENSOR_RATE * 100 / rate100) + 1;
// if the application sensor rate is fast enough to warrant skipping some slow hardware sensor reads
if ((PIOS_SENSOR_RATE * 100.0f / 3.0f) > rate100) {
// count the number of "return false" up to this number
dev->magCountMax = ((uint16_t)PIOS_SENSOR_RATE * 100 / rate100) + 1;
} else {
// return true every time (do a hardware sensor poll every time)
dev->magCountMax = 1;
}
#else /* PIOS_SENSOR_RATE */
// return true every time (do a hardware sensor poll every time)
dev->magCountMax = 1;
#endif /* PIOS_SENSOR_RATE */
// with this counter
dev->magCount = 0;
}