Split up RX and TX.

osu-underwater · May 11, 2012 · d950d19 · d950d19
1 parent 977041e
commit d950d19
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Showing 2 changed files with 3 additions and 10 deletions.
diff --git a/micro/globals.h b/micro/globals.h
@@ -112,8 +112,7 @@ float currentAngPos[3];  // Current angular position, calculated from DCM.
 #define MASTER_DT           10000   // 10000 us interval = 100 Hz master loop.
 #define CONTROL_LOOP_INTERVAL   1   // 1x master = 100 Hz.
 #define ACC_READ_INTERVAL       5   // Read accelerometer every 5th loop.
-#define RX_LOOP_INTERVAL      1   // 1x master = 100 Hz.
-#define TX_LOOP_INTERVAL      2   // 1/2 master = 50 Hz.
+#define COMM_LOOP_INTERVAL      2   // 1x master = 100 Hz.
 #define DOGLIFE 600   // Watchdog life in milliseconds.
 
 // Throttle stuff. Minimum signal is 750 us. Maximum signal is 2200 us. Hover

diff --git a/micro/rov_controller.cpp b/micro/rov_controller.cpp
@@ -82,16 +82,10 @@ int main(void) {
             // ================================================================
             // Telemetry loop
             // ================================================================
-            if (loopCount % RX_LOOP_INTERVAL == 0) {
-                //sendTelemetry(nextRunTime);
-
+            if (loopCount % COMM_LOOP_INTERVAL == 0) {
                 eth.RX();
             }
-
-            // ================================================================
-            // Telemetry loop
-            // ================================================================
-            if (loopCount % TX_LOOP_INTERVAL == 0) {
+            else {
                 eth.TX();
             }