From 77bd5c334915d1986f7ee27d5c3aff69e8edfa19 Mon Sep 17 00:00:00 2001
From: Jonas Arnold <jonas.arnold@live.de>
Date: Mon, 12 Dec 2022 17:44:22 +0100
Subject: [PATCH] from ADIS_HS2022: reducing reflectance task time

---
 ADIS_Sumo_Styger/Sumo/Reflectance.c | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/ADIS_Sumo_Styger/Sumo/Reflectance.c b/ADIS_Sumo_Styger/Sumo/Reflectance.c
index bd361e7..b6ba089 100644
--- a/ADIS_Sumo_Styger/Sumo/Reflectance.c
+++ b/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;