Refactor IMTQ handling #384
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@ -62,3 +62,1 @@
static constexpr uint32_t SCHED_BLOCK_3_ACS_CTRL_MS = 45;
static constexpr uint32_t SCHED_BLOCK_4_ACTUATOR_MS = 50;
static constexpr uint32_t SCHED_BLOCK_5_RW_READ_MS = 300;
static constexpr uint32_t SCHED_BLOCK_3_READ_IMTQ_MGM_MS = 42;
Is this extra block needed? PERFORM_OPERATION, SEND_WRITE and GET_WRITE are done at 15ms. Why not include the SEND_READ and GET_READ to SCHED_BLOCK_2. Later on during torqueing we also wait only 15ms and not 27ms.
Some more buffer time to make sure the IMTQ can really do all the measurements before grabbing the data
Also, more time might be useful in debug build