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authorJérémy Dufour2009-05-16 01:23:16 +0200
committerJérémy Dufour2009-05-16 01:23:16 +0200
commitbda06a1cc21008d119ef3ca95913113ee062fbc2 (patch)
treeeeae5f24d01f51169948a50567fb028a6cc3ae5d /digital/io/src/main.c
parent7d8758cc6834db74eea2a86c8272eb2793b26239 (diff)
* digital/io/src:
- always update sharp module every cycle, - sharp update now read only one value every cycle, filter it SHARP_RAW_FILTER times and only keep the smallest one.
Diffstat (limited to 'digital/io/src/main.c')
-rw-r--r--digital/io/src/main.c21
1 files changed, 2 insertions, 19 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index ea200a73..76bc66b9 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -117,16 +117,6 @@ static uint8_t main_stats_asserv_, main_stats_asserv_cpt_;
static uint8_t main_stats_timer_;
/**
- * Update frequency of sharps.
- */
-#define MAIN_SHARP_UPDATE_FREQ 5
-
-/**
- * Sharps frequency counter.
- */
-uint8_t main_sharp_freq_counter_;
-
-/**
* Initialize the main and all its subsystems.
*/
static void
@@ -246,15 +236,8 @@ main_loop (void)
/* Update wait flag for move FSM */
if (main_move_wait_cycle)
main_move_wait_cycle--;
- /* Update sharp module if required and only every
- * MAIN_SHARP_UPDATE_FREQ cycles */
- if (++main_sharp_freq_counter_ == MAIN_SHARP_UPDATE_FREQ)
- {
- /* Update sharps */
- sharp_update (0xff);
- /* Reset counter */
- main_sharp_freq_counter_ = 0;
- }
+ /* Update sharps */
+ sharp_update ();
/* Update FSM timeouts. */
FSM_HANDLE_TIMEOUT (&move_fsm);
FSM_HANDLE_TIMEOUT (&top_fsm);