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