seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

fix: IWDG reset during gyro recal — refresh at i=0 not i=39 (P0 #42) #172

Merged
sl-jetson merged 1 commits from sl-firmware/gyro-recal-button into main 2026-03-02 10:34:21 -05:00
Conversation 0 Commits 1 Files Changed 1 +4 -2

1 Commits

Author SHA1 Message Date
sl-firmware
cf0a5a3583 fix: IWDG reset during gyro recal — refresh at i=0 not i=39 (P0 #42) 
i%40==39 fired the first IWDG refresh only after 40ms of calibration.
Combined with ~10ms of main loop overhead before entering calibrate(),
total elapsed since last refresh could exceed the 50ms IWDG window.

Change to i%40==0: first refresh fires at i=0 (<1ms after entry),
subsequent refreshes every 40ms — safely within the 50ms window.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 2026-02-28 22:04:27 -05:00