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Code Issues Releases Activity

AHRS/Comms: Make the polling delay 1ms instead of 20ms to make sure if a message isn't ready we don't pause for a long time.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1673 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-09-17 18:12:25 +00:00 committed by peabody124
parent b435053e66
commit 8e0c5136c0
1 changed files with 6 additions and 6 deletions
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12
flight/PiOS/Common/pios_opahrs.c
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@ -50,7 +50,7 @@ static int32_t opahrs_msg_txrx (const uint8_t * tx, uint8_t * rx, uint32_t len)
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
@ -84,7 +84,7 @@ static enum opahrs_result opahrs_msg_v1_send_req (const struct opahrs_msg_v1 * r
case OPAHRS_MSG_LINK_STATE_INACTIVE:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
@ -98,7 +98,7 @@ static enum opahrs_result opahrs_msg_v1_send_req (const struct opahrs_msg_v1 * r
case OPAHRS_MSG_TYPE_USER_V1:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(50 / portTICK_RATE_MS);
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(50);
#endif
@ -132,7 +132,7 @@ static enum opahrs_result opahrs_msg_v1_recv_rsp (enum opahrs_msg_v1_tag tag, st
case OPAHRS_MSG_LINK_STATE_BUSY:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
@ -198,7 +198,7 @@ enum opahrs_result PIOS_OPAHRS_resync(void)
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(20 / portTICK_RATE_MS);
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(20);
#endif
@ -217,7 +217,7 @@ enum opahrs_result PIOS_OPAHRS_resync(void)
break;
}
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(10 / portTICK_RATE_MS);
vTaskDelay(1 / portTICK_RATE_MS);
#else
PIOS_DELAY_WaitmS(10);
#endif