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@ -31,7 +31,7 @@ ReturnValue_t AcsBoardPolling::performOperation(uint8_t operationCode) {
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ipcLock->unlockMutex();
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semaphore->acquire();
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// Give all tasks or the PST some time to submit all consecutive requests.
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TaskFactory::delayTask(2);
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TaskFactory::delayTask(3);
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{
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// Measured to take 0-1 ms in debug build.
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// Stopwatch watch;
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@ -113,7 +113,8 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
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if (req->mode != adis.mode) {
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if (req->mode == acs::SimpleSensorMode::NORMAL) {
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adis.type = req->type;
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adis.countdown.setTimeout(adis1650x::START_UP_TIME);
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// The initial countdown is handled by the device handler now.
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// adis.countdown.setTimeout(adis1650x::START_UP_TIME);
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if (adis.type == adis1650x::Type::ADIS16507) {
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adis.ownReply.data.accelScaling = adis1650x::ACCELEROMETER_RANGE_16507;
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} else if (adis.type == adis1650x::Type::ADIS16505) {
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@ -449,20 +450,15 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
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void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
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ReturnValue_t result;
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acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
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bool cdHasTimedOut = false;
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bool mustPerformStartup = false;
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{
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MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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mode = gyro.mode;
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cdHasTimedOut = gyro.countdown.hasTimedOut();
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mustPerformStartup = gyro.performStartup;
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}
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if (mode == acs::SimpleSensorMode::OFF) {
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return;
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}
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if (not cdHasTimedOut) {
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return;
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}
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if (mustPerformStartup) {
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uint8_t regList[6];
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// Read configuration
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