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AP_HAL_Linux: make Ublox transactions shorter

This commit is contained in:
Staroselskii Georgii 2015-02-02 21:40:55 +03:00 committed by Andrew Tridgell
parent 4034004194
commit 5b21bd2f1d
1 changed files with 14 additions and 3 deletions
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17
libraries/AP_HAL_Linux/SPIUARTDriver.cpp
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@ -165,7 +165,7 @@ int LinuxSPIUARTDriver::_write_fd(const uint8_t *buf, uint16_t size)
}
static const uint8_t ff_stub[3000] = {0xff};
static const uint8_t ff_stub[300] = {0xff};
int LinuxSPIUARTDriver::_read_fd(uint8_t *buf, uint16_t n)
{
if (_external) {
@ -176,11 +176,22 @@ int LinuxSPIUARTDriver::_read_fd(uint8_t *buf, uint16_t n)
return 0;
}
/* Make SPI transactions shorter. It can save SPI bus from keeping too
* long. It's essential for NavIO as MPU9250 is on the same bus and
* doesn't like to be waiting. Making transactions more frequent but shorter
* is a win.
*/
if (n > 100) {
n = 100;
}
_spi->transaction(ff_stub, buf, n);
sem_give();
BUF_ADVANCETAIL(_readbuf, n);
sem_give();
return n;
}
@ -191,7 +202,7 @@ void LinuxSPIUARTDriver::_timer_tick(void)
return;
}
/* lower the update rate */
if (hal.scheduler->micros() - _last_update_timestamp < 50000) {
if (hal.scheduler->micros() - _last_update_timestamp < 10000) {
return;
}