Barometer reads happen serially and thus are slower

[mcm001]

In GitLab by @SamHaggans on Feb 8, 2023, 15:01

In Devices/barometer_ms5607.c in the barometerMs5607_getData, we delay using HAL_DELAY twice for each reading, each for 2ms. This is necessary because of how the barometer samples data to determine pressure. However, we do this twice (once per each physical device), but we could instead perform the conversions in parallel.

To make them work in parallel, we would want to create new functions to start the D1 and D2 conversions so that we could run them in parallel in hm_readSensorData in system/hardware_manager.c, something like:

barometerMs5607_requestD1Conv(&barometerMs5607[i]); for both barometers

Delay

barometerMs5607_readPressure(&barometerMs5607[i]); for both barometers

barometerMs5607_requestD2Conv(&barometerMs5607[i]); for both barometers

Delay

barometerMs5607_readTemp(&barometerMs5607[i]); for both barometers

barometerMs5607_processData(&barometerMs5607[i]); for both

There is also the possibility of, instead of HAL_Delaying (which just does nothing for the time) spending that time reading other sensors or things to save even more time, although just parallelization like above will be useful.