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

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sl-jetson merged 1 commits from sl-firmware/gyro-recal-button into main 2026-03-02 10:34:21 -05:00
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1 changed files with 4 additions and 2 deletions
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src/mpu6000.c
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@ -68,8 +68,10 @@ void mpu6000_calibrate(void) {
sum_gy += raw.gy; sum_gy += raw.gy;
sum_gz += raw.gz; sum_gz += raw.gz;
HAL_Delay(1); HAL_Delay(1);
/* Refresh IWDG every 40ms — safe during re-cal with watchdog running */ /* Refresh IWDG every 40ms, starting immediately (i=0) — the gap between
if (i % 40 == 39) safety_refresh(); * safety_refresh() at the top of the main loop and entry here can be
* ~10ms, so we must refresh on i=0 to avoid the 50ms IWDG window. */
if (i % 40 == 0) safety_refresh();
} }
s_bias_gx = (float)sum_gx / GYRO_CAL_SAMPLES; s_bias_gx = (float)sum_gx / GYRO_CAL_SAMPLES;