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reduce reporting frequency for smartport sensors. reduces CPU load to

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approx. 1%
This commit is contained in:
Mark Whitehorn 2016-01-22 20:55:06 -07:00 committed by Lorenz Meier
parent 4f55ae5306
commit 3b9ef1cef5
1 changed files with 48 additions and 10 deletions
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58
src/drivers/sPort_telemetry/sPort_telemetry.c
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@ -252,35 +252,73 @@ static int sPort_telemetry_thread_main(int argc, char *argv[])
if (status < 1) { continue; }
hrt_abstime now = hrt_absolute_time();
newBytes = read(uart, &sbuf[1], 1);
// allow a minimum of 500usec before reply
usleep(500);
static hrt_abstime lastBATV = 0;
static hrt_abstime lastCUR = 0;
static hrt_abstime lastALT = 0;
static hrt_abstime lastSPD = 0;
static hrt_abstime lastFUEL = 0;
switch (sbuf[1]) {
case SMARTPORT_POLL_1:
/* send battery voltage */
sPort_send_BATV(uart);
/* report BATV at 1Hz */
if (now - lastBATV > 1000 * 1000) {
lastBATV = now;
/* send battery voltage */
sPort_send_BATV(uart);
}
break;
case SMARTPORT_POLL_2:
/* send battery current */
sPort_send_CUR(uart);
/* report battery current at 5Hz */
if (now - lastCUR > 200 * 1000) {
lastCUR = now;
/* send battery current */
sPort_send_CUR(uart);
}
break;
case SMARTPORT_POLL_3:
/* send altitude */
sPort_send_ALT(uart);
/* report altitude at 5Hz */
if (now - lastALT > 200 * 1000) {
lastALT = now;
/* send altitude */
sPort_send_ALT(uart);
}
break;
case SMARTPORT_POLL_4:
/* send speed */
sPort_send_SPD(uart);
/* report speed at 5Hz */
if (now - lastSPD > 200 * 1000) {
lastSPD = now;
/* send speed */
sPort_send_SPD(uart);
}
break;
case SMARTPORT_POLL_5:
/* send fuel */
sPort_send_FUEL(uart);
/* report fuel at 1Hz */
if (now - lastFUEL > 1000 * 1000) {
lastFUEL = now;
/* send fuel */
sPort_send_FUEL(uart);
}
break;
}