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Pre-empt HRT execution in SITL if simulator is slow

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This commit is contained in:
Lorenz Meier
2016-02-05 09:24:59 +01:00
parent 5f93f04627
commit 39ee36a8ea
1 changed files with 7 additions and 7 deletions
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src/platforms/posix/px4_layer/drv_hrt.c
+7 -7
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@@ -193,7 +193,7 @@ hrt_abstime ts_to_abstime(struct timespec *ts)
*/ */
hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then) hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then)
{ {
hrt_abstime delta = _hrt_absolute_time_internal() - *then; hrt_abstime delta = hrt_absolute_time() - *then;
return delta; return delta;
} }
@@ -204,7 +204,7 @@ hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then)
*/ */
hrt_abstime hrt_store_absolute_time(volatile hrt_abstime *now) hrt_abstime hrt_store_absolute_time(volatile hrt_abstime *now)
{ {
hrt_abstime ts = _hrt_absolute_time_internal(); hrt_abstime ts = hrt_absolute_time();
return ts; return ts;
} }
@@ -254,7 +254,7 @@ void hrt_call_init(struct hrt_call *entry)
*/ */
void hrt_call_delay(struct hrt_call *entry, hrt_abstime delay) void hrt_call_delay(struct hrt_call *entry, hrt_abstime delay)
{ {
entry->deadline = _hrt_absolute_time_internal() + delay; entry->deadline = hrt_absolute_time() + delay;
} }
/* /*
@@ -353,7 +353,7 @@ hrt_tim_isr(void *p)
static void static void
hrt_call_reschedule() hrt_call_reschedule()
{ {
hrt_abstime now = _hrt_absolute_time_internal(); hrt_abstime now = hrt_absolute_time();
hrt_abstime delay = HRT_INTERVAL_MAX; hrt_abstime delay = HRT_INTERVAL_MAX;
struct hrt_call *next = (struct hrt_call *)sq_peek(&callout_queue); struct hrt_call *next = (struct hrt_call *)sq_peek(&callout_queue);
hrt_abstime deadline = now + HRT_INTERVAL_MAX; hrt_abstime deadline = now + HRT_INTERVAL_MAX;
@@ -441,7 +441,7 @@ void hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callo
{ {
//printf("hrt_call_after\n"); //printf("hrt_call_after\n");
hrt_call_internal(entry, hrt_call_internal(entry,
_hrt_absolute_time_internal() + delay, hrt_absolute_time() + delay,
0, 0,
callout, callout,
arg); arg);
@@ -456,7 +456,7 @@ void hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callo
void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg) void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg)
{ {
hrt_call_internal(entry, hrt_call_internal(entry,
_hrt_absolute_time_internal() + delay, hrt_absolute_time() + delay,
interval, interval,
callout, callout,
arg); arg);
@@ -487,7 +487,7 @@ hrt_call_invoke(void)
while (true) { while (true) {
/* get the current time */ /* get the current time */
hrt_abstime now = _hrt_absolute_time_internal(); hrt_abstime now = hrt_absolute_time();
call = (struct hrt_call *)sq_peek(&callout_queue); call = (struct hrt_call *)sq_peek(&callout_queue);