Diff: runTime/runTime.cpp

Revision:

33:6bc82b6b62e5

Parent:

31:7eaa5e881b56

Child:

36:0afc0fc8f86b

diff -r e70407021ad2 -r 6bc82b6b62e5 runTime/runTime.cpp
--- a/runTime/runTime.cpp	Sun Nov 16 02:43:58 2014 +0000
+++ b/runTime/runTime.cpp	Tue Jan 06 20:45:26 2015 +0000
@@ -2,9 +2,8 @@
 
 const float INTERNAL_OVER_TEMP_THRES = 60;  // Overtemp at 60C
 
-void runTime::thread_gather_10Hz(void const* args) {
+void runTime::thread_gather(void const* args) {
     while(1) {
-        wdt.kick();
         
         // GLV battery coulomb counter
         data.glvCurrent = glvBat.current();
@@ -39,20 +38,12 @@
         if (data.internalTemp > INTERNAL_OVER_TEMP_THRES) data.internalOverTemp = true;
         else data.internalOverTemp = false;
         
-        // Xbees
-/*      data.xbee1MessagesIn = xbee1.messagesProcessedIn();
-        data.xbee2MessagesIn = xbee2.messagesProcessedIn();
-        data.xbee1MessagesOut = xbee1.messagesProcessedOut();
-        data.xbee2MessagesOut = xbee2.messagesProcessedOut();
-*/      
+        // Error frame
         data.errorFrame = data.canFault<<0 | data.watchdogReset<<1 | data.internalOverTemp<<2 | (data.IMDlatchError!=0)<<3 | (data.AMSlatchError!=0)<<4 | data.imdError<<5 | data.dcdcError<<6 | data.glvOverCurrent<<7;
-        Thread::wait(100);   
+        Thread::wait(GATHER_LOOP*1000);   
     }
 }
-void runTime::thread_gather_100Hz(void const* args) {
-    while(1) {
-        glvBat.sample();    // Integrate next sample in GLV Battery coulomb counter
-        dcdc.sample();      // Handle dc-dc filter and errors
-        Thread::wait(10);
-    }
+void runTime::thread_sample(void const* args) {
+    glvBat.sample();    // Integrate next sample in GLV Battery coulomb counter
+    dcdc.sample();      // Handle dc-dc filter and errors
 }
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