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Code Issues Releases Activity

ahrs: process SPI messages while idle

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This makes the AHRS continually process SPI messages
while waiting for new samples to be ready.  This has
the side effect of making the CPU utilization on the
AHRS pin at 99-100% (ie. we make use of all of our
otherwise idle time).

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1581 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac 2010-09-11 23:06:23 +00:00 committed by stac
parent 93ef510946
commit 80c92ba54b
1 changed files with 3 additions and 4 deletions
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7
flight/AHRS/ahrs.c
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@ -323,8 +323,10 @@ int main()
// Delay for valid data
idle_counter = 0;
while( ahrs_state != AHRS_DATA_READY )
do {
idle_counter ++;
process_spi_request();
} while ( ahrs_state != AHRS_DATA_READY );
ahrs_state = AHRS_PROCESSING;
@ -419,9 +421,6 @@ int main()
PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_AUX, "m: %d %d %d\r\n", mag_data.raw.axis[0], mag_data.raw.axis[1], mag_data.raw.axis[2]);
PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_AUX, "q: %d %d %d %d\r\n", (int16_t)(Nav.q[0] * 1000), (int16_t)(Nav.q[1] * 1000), (int16_t)(Nav.q[2] * 1000), (int16_t)(Nav.q[3] * 1000));
#endif
process_spi_request();
}
return 0;