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drv_hrt: fix TSAN issues

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This commit is contained in:
Julian Oes
2026-02-18 21:03:33 +13:00
parent 9074c81838
commit 261cc16077
2 changed files with 12 additions and 6 deletions
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platforms/posix/src/px4/common/drv_hrt.cpp
+10 -4
View File
@@ -134,7 +134,10 @@ void hrt_store_absolute_time(volatile hrt_abstime *t)
*/ */
bool hrt_called(struct hrt_call *entry) bool hrt_called(struct hrt_call *entry)
{ {
return (entry->deadline == 0); hrt_lock();
bool result = (entry->deadline == 0);
hrt_unlock();
return result;
} }
/* /*
@@ -416,12 +419,15 @@ hrt_call_invoke()
call->deadline = 0; call->deadline = 0;
/* invoke the callout (if there is one) */ /* invoke the callout (if there is one) */
if (call->callout) { hrt_callout callout = call->callout;
void *arg = call->arg;
if (callout) {
// Unlock so we don't deadlock in callback // Unlock so we don't deadlock in callback
hrt_unlock(); hrt_unlock();
//PX4_INFO("call %p: %p(%p)", call, call->callout, call->arg); //PX4_INFO("call %p: %p(%p)", call, callout, arg);
call->callout(call->arg); callout(arg);
hrt_lock(); hrt_lock();
} }
src/drivers/drv_hrt.h
+2 -2
View File
@@ -272,14 +272,14 @@ static inline uint16_t get_latency_bucket_count(void) { return LATENCY_BUCKET_CO
static inline latency_info_t get_latency(uint16_t bucket_idx, uint16_t counter_idx) static inline latency_info_t get_latency(uint16_t bucket_idx, uint16_t counter_idx)
{ {
latency_info_t ret = {latency_buckets[bucket_idx], latency_counters[counter_idx]}; latency_info_t ret = {latency_buckets[bucket_idx], __atomic_load_n(&latency_counters[counter_idx], __ATOMIC_RELAXED)};
return ret; return ret;
} }
static inline void reset_latency_counters(void) static inline void reset_latency_counters(void)
{ {
for (int i = 0; i <= get_latency_bucket_count(); i++) { for (int i = 0; i <= get_latency_bucket_count(); i++) {
latency_counters[i] = 0; __atomic_store_n(&latency_counters[i], 0, __ATOMIC_RELAXED);
} }
} }