diff --git a/include/BNO08x.hpp b/include/BNO08x.hpp index 9608a75..f7f73ca 100644 --- a/include/BNO08x.hpp +++ b/include/BNO08x.hpp @@ -150,20 +150,17 @@ class BNO08x static void cb_task_trampoline(void* arg); void cb_task(); - - //------------ addition flyinggorilla ----------- static const constexpr BaseType_t CB_TASK_AFFINITY = - CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY < 1 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY ; /// tskNO_AFFINITY if not pinned to a core, 0 or 1 + CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY < 0 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY ; /// tskNO_AFFINITY if not pinned to a core, 0 or 1 static const constexpr UBaseType_t CB_TASK_PRIORITY = CONFIG_ESP32_BNO08X_CB_TASK_PRIORITY; /// 5 per default, Priority of the callback task, 0-25, 0 is lowest priority, 25 is highest priority static const constexpr BaseType_t DATA_PROC_TASK_AFFINITY = - CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY < 1 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY; /// tskNO_AFFINITY if not pinned to a core, 0 or 1 + CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY < 0 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY; /// tskNO_AFFINITY if not pinned to a core, 0 or 1 static const constexpr UBaseType_t DATA_PROC_TASK_PRIORITY = CONFIG_ESP32_BNO08X_DATA_PROC_TASK_PRIORITY; /// 6 per default, Priority of the data processing task, 0-25, 0 is lowest priority, 25 is highest priority static const constexpr BaseType_t SH2_HAL_SERVICE_TASK_AFFINITY = - CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY < 1 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY; /// tskNO_AFFINITY if not pinned to a core, 0 or 1 + CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY < 0 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY; /// tskNO_AFFINITY if not pinned to a core, 0 or 1 static const constexpr UBaseType_t SH2_HAL_SERVICE_TASK_PRIORITY = CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_PRIORITY; /// 7 per default, Priority of the sh2 HAL service task, 0-25, 0 is lowest priority, 25 is highest priority - //----------------------------------------------- SemaphoreHandle_t sem_kill_tasks; ///