from ADIS_HS2022: reducing reflectance task time

ADIS_Sumo_Styger/Sumo/Reflectance.c

@@ -732,8 +732,12 @@ static void REF_StateMachine(void) {
 static void ReflTask(void *pvParameters) {
   (void)pvParameters; /* not used */
   for(;;) {
-    REF_StateMachine();
-    vTaskDelay(5/portTICK_PERIOD_MS);
+    if (REF_Sensor.isEnabled) {
+      REF_StateMachine();
+      vTaskDelay(pdMS_TO_TICKS(5));
+    } else {
+      vTaskDelay(pdMS_TO_TICKS(100));
+    }
   }
 }
 
@@ -750,7 +754,7 @@ void REF_Init(void) {
   };
 
   REF_Sensor.isEnabled = true;
-  REF_Sensor.savePower = true;
+  REF_Sensor.savePower = false; /* turn off, as this extends the ref sensor task time by around 200 us */
   McuGPIO_GetDefaultConfig(&gpioConfig);
   /* IR on/off: PTD1, high active */
   gpioConfig.hw.gpio = GPIOD;