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Slight tweaks to imu_aspirin event handler

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This commit is contained in:
Allen
2011-02-24 16:48:32 -08:00
parent 2225be9d8a
commit ae2e4178b5
1 changed files with 8 additions and 7 deletions
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sw/airborne/subsystems/imu/imu_aspirin.h
+8 -7
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@@ -123,7 +123,14 @@ static inline void imu_aspirin_event(void (* _gyro_handler)(void), void (* _acce
imu_aspirin_arch_int_disable();
ImuMagEvent(_mag_handler);
if (imu_aspirin.status == AspirinStatusReadingGyro &&
if (imu_aspirin.time_since_last_reading > ASPIRIN_GYRO_TIMEOUT) {
imu_aspirin.gyro_eoc = FALSE;
imu_aspirin.status = AspirinStatusIdle;
i2c2_er_irq_handler();
gyro_read_i2c();
imu_aspirin.time_since_last_reading = 0;
}
if (imu_aspirin.status == AspirinStatusReadingGyro && imu_aspirin.gyro_eoc &&
imu_aspirin.i2c_trans_gyro.status == I2CTransSuccess && i2c_idle(&i2c2)) {
gyro_copy_i2c();
imu_aspirin.status = AspirinStatusIdle;
@@ -139,12 +146,6 @@ static inline void imu_aspirin_event(void (* _gyro_handler)(void), void (* _acce
imu_aspirin.gyro_eoc = FALSE;
gyro_read_i2c();
}
if (imu_aspirin.time_since_last_reading > ASPIRIN_GYRO_TIMEOUT) {
imu_aspirin.gyro_eoc = FALSE;
i2c2_er_irq_handler();
gyro_read_i2c();
imu_aspirin.time_since_last_reading = 0;
}
if (imu_aspirin.accel_available) {
imu_aspirin.accel_available = FALSE;
accel_copy_spi();