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Code Issues Releases Activity

If the BMA180 isn't read when an IRQ fires (because the flash chip has claimed

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the bus) then it won't fire another interrupt until read.  For now this is
dealt with in the sensor loop by forcing a read when the fifo is empty.
This commit is contained in:
James Cotton 2012-01-21 10:13:46 -06:00
parent f6db859e4f
commit f8e59443b8
1 changed files with 7 additions and 1 deletions
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8
flight/Modules/Sensors/sensors.c
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@ -214,8 +214,14 @@ static void SensorsTask(void *parameters)
count = 0;
while((read_good = PIOS_BMA180_ReadFifo(&accel)) != 0 && !error)
error = ((xTaskGetTickCount() - lastSysTime) > SENSOR_PERIOD) ? true : error;
if (error)
if (error) {
// Unfortunately if the BMA180 ever misses getting read, then it will not
// trigger more interrupts. In this case we must force a read to kickstarts
// it.
struct pios_bma180_data data;
PIOS_BMA180_ReadAccels(&data);
continue;
}
while(read_good == 0) {
count++;