⌚ Adds timing macro

2024-07-14 23:14:07 +02:00
parent c783793b5c
commit 200ea62d95
11 changed files with 41 additions and 62 deletions
@@ -7,6 +7,7 @@
 #include <SecurityManager.h>
 #include <StatefulService.h>
 #include <MathUtils.h>
+#include <Timing.h>
 #include <list>

 #include <SPI.h>
@@ -169,12 +170,7 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
    };

    void loop() {
-        unsigned long currentMillis = millis();
-
-        if (currentMillis - _lastUpdate >= _updateInterval) {
-            _lastUpdate = currentMillis;
-            readIMU();
-        }
+        EXECUTE_EVERY_N_MS(_updateInterval, updateImu());
    }

    void updatePins() {
@@ -407,7 +403,6 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {

    std::list<uint8_t> addressList;
    bool i2c_active = false;
-    unsigned long _lastUpdate {0};
    unsigned long _updateInterval {I2C_INTERVAL};
 };