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More buffer time
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This commit is contained in:
Robin Müller
2023-03-06 09:17:03 +01:00
parent 1938addaa8
commit 6e10ccd2d6
6 changed files with 59 additions and 36 deletions
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5
linux/devices/ImtqPollingTask.cpp
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@ -47,6 +47,9 @@ void ImtqPollingTask::handleMeasureStep() {
size_t replyLen = 0;
uint8_t* replyPtr;
ImtqRepliesDefault replies(replyBuf.data());
// If some startup handling is added later, set configured after it was done once.
replies.setConfigured();
// Can be used later to verify correct timing (e.g. all data has been read)
clearReadFlagsDefault(replies);
auto i2cCmdExecMeasure = [&](imtq::CC::CC cc) {
@ -223,7 +226,7 @@ ReturnValue_t ImtqPollingTask::initializeInterface(CookieIF* cookie) {
ReturnValue_t ImtqPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) {
const auto* imtqReq = reinterpret_cast<const ImtqRequest*>(sendData);
const auto* imtqReq = reinterpret_cast<const imtq::Request*>(sendData);
{
MutexGuard mg(ipcLock);
if (imtqReq->request == imtq::RequestType::ACTUATE) {

3
linux/devices/ImtqPollingTask.h
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@ -33,13 +33,12 @@ class ImtqPollingTask : public SystemObject,
address_t i2cAddr = 0;
uint32_t currentIntegrationTimeMs = 10;
// Required in addition to integration time, otherwise old data might be read.
static constexpr uint32_t MGM_READ_BUFFER_TIME_MS = 3;
static constexpr uint32_t MGM_READ_BUFFER_TIME_MS = 5;
bool ignoreNextActuateRequest = false;
imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
int16_t dipoles[3] = {};
uint16_t torqueDuration = 0;
// uint8_t startActuateRawBuf[3] = {};
std::array<uint8_t, 32> cmdBuf;
std::array<uint8_t, 524> replyBuf;