From 36c99ec285469606adc91f1ec36a2fcb6718a8e3 Mon Sep 17 00:00:00 2001
From: Lorenzo Cucchi <lorenzo.cucchi@skywarder.eu>
Date: Fri, 23 Jun 2023 23:31:46 +0200
Subject: [PATCH] [VN300] Fixed mutex that was locking for the duration of a
whole sample.
---
src/shared/sensors/VN300/VN300.cpp | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/src/shared/sensors/VN300/VN300.cpp b/src/shared/sensors/VN300/VN300.cpp
index ca802bd5e..b92d3e621 100644
--- a/src/shared/sensors/VN300/VN300.cpp
+++ b/src/shared/sensors/VN300/VN300.cpp
@@ -163,16 +163,19 @@ bool VN300::init()
void VN300::run()
{
- while (!shouldStop())
+ while (!shouldStop())
{
long long initialTime = miosix::getTick();
+
+ VN300Data data = sampleData();
{
// Sample the data locking the mutex
miosix::Lock<FastMutex> l(mutex);
- threadSample = sampleData();
+ threadSample = data;
}
// Sleep for the sampling period
miosix::Thread::sleepUntil(initialTime + samplePeriod);
+ printf("Sample time: %lld\n", miosix::getTick() - initialTime);
}
}
--
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