rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Handle timing for gpsUpdate task

This commit is contained in:
Steve Evans 2021-04-12 20:35:27 +01:00
parent a309bea8d7
commit 5795b959c2
1 changed files with 1 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/main/io/gps.c
View File

@ -675,11 +675,9 @@ static void updateGpsIndicator(timeUs_t currentTimeUs)
void gpsUpdate(timeUs_t currentTimeUs)
{
pinioSet(0, 1);
static timeUs_t maxTimeUs = 0;
timeUs_t endTimeUs;
pinioSet(1, 1);
// read out available GPS bytes
if (gpsPort) {
while (serialRxBytesWaiting(gpsPort)) {
@ -692,9 +690,7 @@ void gpsUpdate(timeUs_t currentTimeUs)
onGpsNewData();
GPS_update &= ~GPS_MSP_UPDATE;
}
pinioSet(1, 0);
pinioSet(2, 1);
switch (gpsData.state) {
case GPS_UNKNOWN:
case GPS_INITIALIZED:
@ -747,7 +743,7 @@ void gpsUpdate(timeUs_t currentTimeUs)
}
break;
}
pinioSet(2, 0);
if (sensors(SENSOR_GPS)) {
updateGpsIndicator(currentTimeUs);
}
@ -770,7 +766,6 @@ void gpsUpdate(timeUs_t currentTimeUs)
// Decay max time
maxTimeUs--;
}
pinioSet(0, 0);
}
static void gpsNewData(uint16_t c)