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lsm303d: always log first ARB and REG values

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This commit is contained in:
Andrew Tridgell
2013-11-15 14:12:24 +11:00
committed by Lorenz Meier
parent 5ef91d694b
commit 4ce4b8a174
1 changed files with 4 additions and 2 deletions
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src/drivers/lsm303d/lsm303d.cpp
+4 -2
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@@ -681,7 +681,8 @@ LSM303D::check_extremes(const accel_report *arb)
uint64_t now = hrt_absolute_time();
// log accels at 1Hz
if (now - _last_log_us > 1000*1000) {
if (_last_log_us == 0 ||
now - _last_log_us > 1000*1000) {
_last_log_us = now;
::dprintf(_accel_log_fd, "ARB %llu %.3f %.3f %.3f %d %d %d\r\n",
(unsigned long long)arb->timestamp,
@@ -692,7 +693,8 @@ LSM303D::check_extremes(const accel_report *arb)
}
// log registers at 10Hz when we have extreme values, or 0.5 Hz without
if ((is_extreme && (now - _last_log_reg_us > 500*1000)) ||
if (_last_log_reg_us == 0 ||
(is_extreme && (now - _last_log_reg_us > 500*1000)) ||
(now - _last_log_reg_us > 10*1000*1000)) {
_last_log_reg_us = now;
const uint8_t reglist[] = { ADDR_WHO_AM_I, ADDR_STATUS_A, ADDR_STATUS_M, ADDR_CTRL_REG0, ADDR_CTRL_REG1,