commit dd7ded60c7fbf06d9d51c9ef08192a5f89636985
author Austin Schuh <austin.linux@gmail.com> Sun Jun 20 14:35:56 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Sun Jun 20 14:54:44 2021 -0700
tree cc2674e04d0303074eee09a4479b911f8c7439b5
parent 3223ac1f2555c4ce986091a38b9a72240025dc6b

Send ADIS16448 values out as a batch

We switched the newer IMU over to using batches to reduce CPU usage,
time to switch the older IMU over too.

Change-Id: I11ba0d71947f112c4fbcc8b45749cf6fd988d2a4
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

frc971/wpilib/BUILD

diff --git a/frc971/wpilib/BUILD b/frc971/wpilib/BUILD
index 4f8bca0..10e8462 100644
--- a/frc971/wpilib/BUILD
+++ b/frc971/wpilib/BUILD
@@ -115,9 +115,9 @@
         "//aos/events:event_loop",
         "//aos/events:shm_event_loop",
         "//aos/logging",
-        "//frc971/input:robot_state_fbs",
         "//aos/time",
         "//aos/util:phased_loop",
+        "//frc971/input:robot_state_fbs",
         "//frc971/queues:gyro_fbs",
         "//frc971/queues:gyro_uid_fbs",
         "//frc971/zeroing:averager",
@@ -167,10 +167,10 @@
     deps = [
         "//aos:init",
         "//aos/events:event_loop",
-        "//frc971/input:robot_state_fbs",
         "//aos/scoped:scoped_fd",
         "//aos/time",
         "//aos/util:log_interval",
+        "//frc971/input:robot_state_fbs",
     ],
 )
 
@@ -204,8 +204,8 @@
     deps = [
         "//aos:init",
         "//aos/events:shm_event_loop",
-        "//frc971/input:driver_station_data",
         "//aos/network:team_number",
+        "//frc971/input:driver_station_data",
         "//frc971/input:joystick_state_fbs",
         "//third_party:wpilib",
     ],
@@ -331,6 +331,7 @@
     target_compatible_with = ["//tools/platforms/hardware:roborio"],
     deps = [
         ":fpga_time_conversion",
+        ":imu_batch_fbs",
         ":imu_fbs",
         ":spi_rx_clearer",
         "//aos:init",