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AP_InertialSensor: reduce FIFO buffer size to avoid DMA contention

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Andy Piper 2020-12-17 22:02:53 +00:00 committed by Andrew Tridgell
parent 062c6cef41
commit 3db6203fb6
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -55,7 +55,7 @@ extern const AP_HAL::HAL& hal;
#include "AP_InertialSensor_Invensense_registers.h"
#define MPU_SAMPLE_SIZE 14
#define MPU_FIFO_BUFFER_LEN 16
#define MPU_FIFO_BUFFER_LEN 8
#define int16_val(v, idx) ((int16_t)(((uint16_t)v[2*idx] << 8) | v[2*idx+1]))
#define uint16_val(v, idx)(((uint16_t)v[2*idx] << 8) | v[2*idx+1])

2
libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp
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@ -51,7 +51,7 @@ static const float GYRO_SCALE = (0.0174532f / 16.4f);
#include "AP_InertialSensor_Invensensev2_registers.h"
#define INV2_SAMPLE_SIZE 14
#define INV2_FIFO_BUFFER_LEN 16
#define INV2_FIFO_BUFFER_LEN 8
#define int16_val(v, idx) ((int16_t)(((uint16_t)v[2*idx] << 8) | v[2*idx+1]))
#define uint16_val(v, idx)(((uint16_t)v[2*idx] << 8) | v[2*idx+1])