[X-LiteS] Gyro added

2019-04-02 20:12:50 +02:00
parent b967d5b08a
commit a13ee14bbb
18 changed files with 468 additions and 318 deletions
@@ -106,13 +106,21 @@ TASK_FUNCTION(mixerTask)
  static uint32_t lastRunTime;
  s_pulses_paused = true;

-  while(1) {
+  while (1) {

 #if defined(PCBX9D) || defined(PCBX7)
    // SBUS on Hearbeat PIN (which is a serial RX)
    processSbusInput();
 #endif

+#if defined(GYRO)
+    gyro.wakeup();
+#endif
+
+#if defined(BLUETOOTH)
+    bluetoothWakeup();
+#endif
+
    RTOS_WAIT_TICKS(1);

 #if defined(SIMU)
@@ -171,10 +179,6 @@ TASK_FUNCTION(mixerTask)
      DEBUG_TIMER_STOP(debugTimerTelemetryWakeup);
 #endif

-#if defined(BLUETOOTH)
-      bluetoothWakeup();
-#endif
-
      if (heartbeat == HEART_WDT_CHECK) {
        wdt_reset();
        heartbeat = 0;