commit 73c43f184cc7e467c9efc88d2fb84a080972a866
author Zhengyin Qian <qianzy@google.com> Wed Jan 13 13:56:49 2016 -0800
committer Zhengyin Qian <qianzy@google.com> Thu Jan 14 13:36:55 2016 -0800
tree fd3d4509cba7f6a70118cd3fbad34faaf33f11dc
parent 6981c39aff3a05581ad06494469137cde18ca3ab

sensor: bmi160: unit of kMinTimeIncrement should be in Ns not Us

This solves one CTS -k failure cause.

Change-Id: I08585b8c16426e23e152bb3dc36aed5f4d27569e

firmware/src/drivers/bosch_bmi160_bmm150/bosch_bmi160_bmm150.c

diff --git a/firmware/src/drivers/bosch_bmi160_bmm150/bosch_bmi160_bmm150.c b/firmware/src/drivers/bosch_bmi160_bmm150/bosch_bmi160_bmm150.c
index 4e70e2d..da3ce79 100644
--- a/firmware/src/drivers/bosch_bmi160_bmm150/bosch_bmi160_bmm150.c
+++ b/firmware/src/drivers/bosch_bmi160_bmm150/bosch_bmi160_bmm150.c
@@ -177,7 +177,7 @@
 #define kScale_gyr 0.00106472439f  // GYR_range * M_PI / (180.0f * 32768.0f);
 #define kScale_mag 0.0625f         // 1.0f / 16.0f;
 #define kTimeSyncPeriodNs   100000000ull // sync sensor and RTC time every 100ms
-#define kMinTimeIncrementUs 25000ull // min time increment set to 25ms
+#define kMinTimeIncrementNs 2500000ull // min time increment set to 2.5ms
 #define kSensorTimerIntervalUs 39ull   // bmi160 clock increaments every 39000ns
 
 #define ACC_MIN_RATE    5
@@ -1453,8 +1453,8 @@
         return;
     }
 
-    if (rtc_time < mSensor->prev_rtc_time + kMinTimeIncrementUs) {
-        rtc_time = mSensor->prev_rtc_time + kMinTimeIncrementUs;
+    if (rtc_time < mSensor->prev_rtc_time + kMinTimeIncrementNs) {
+        rtc_time = mSensor->prev_rtc_time + kMinTimeIncrementNs;
     }
 
     raw_x = (mTask.rxBuffer[i] | mTask.rxBuffer[i+1] << 8);