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[paparazzi-commits] [4307] Move I2C scheduler out of the 20Hz control lo
From: |
Vassilis V. |
Subject: |
[paparazzi-commits] [4307] Move I2C scheduler out of the 20Hz control loop |
Date: |
Tue, 03 Nov 2009 03:57:12 +0000 |
Revision: 4307
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4307
Author: vassilis
Date: 2009-11-03 03:57:11 +0000 (Tue, 03 Nov 2009)
Log Message:
-----------
Move I2C scheduler out of the 20Hz control loop
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/main_ap.c
Modified: paparazzi3/trunk/sw/airborne/main_ap.c
===================================================================
--- paparazzi3/trunk/sw/airborne/main_ap.c 2009-11-02 14:59:55 UTC (rev
4306)
+++ paparazzi3/trunk/sw/airborne/main_ap.c 2009-11-03 03:57:11 UTC (rev
4307)
@@ -635,33 +635,35 @@
}
#endif
-#if CONTROL_RATE == 20
- if (!_20Hz)
-#endif
- {
-
- // I2C scheduler
- switch (_20Hz) {
- case 0:
+#ifdef USE_I2C0
+ // I2C0 scheduler
+ switch (_20Hz) {
+ case 0:
#ifdef USE_AIRSPEED_ETS
- airspeed_ets_periodic(); // process airspeed
+ airspeed_ets_periodic(); // process airspeed
#endif // USE_AIRSPEED_ETS
#ifdef USE_BARO_ETS
- baro_ets_read(); // initiate next i2c read
+ baro_ets_read(); // initiate next i2c read
#endif // USE_BARO_ETS
- break;
- case 1:
+ break;
+ case 1:
#ifdef USE_BARO_ETS
- baro_ets_periodic(); // process altitude
+ baro_ets_periodic(); // process altitude
#endif // USE_BARO_ETS
#ifdef USE_AIRSPEED_ETS
- airspeed_ets_read(); // initiate next i2c read
+ airspeed_ets_read(); // initiate next i2c read
#endif // USE_AIRSPEED_ETS
- break;
- case 2:
- break;
- }
+ break;
+ case 2:
+ break;
+ }
+#endif // USE_I2C0
+#if CONTROL_RATE == 20
+ if (!_20Hz)
+#endif
+ {
+
#if defined GYRO
gyro_update();
#endif
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