fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

IO firmware: Run critical timing operations as atomic

Browse Source 
This is required as we might be in interrupt context on this bare-metal target.
This commit is contained in:
Lorenz Meier 2019-01-22 22:30:19 +01:00
parent 46390a1508
commit 3a7deefe6e
3 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
platforms/posix/src/px4_layer/drv_hrt.cpp
View File

@ -205,7 +205,7 @@ hrt_abstime ts_to_abstime(const struct timespec *ts)
* This function is safe to use even if the timestamp is updated
* by an interrupt during execution.
*/
hrt_abstime hrt_elapsed_time(const volatile hrt_abstime *then)
hrt_abstime hrt_elapsed_time(const hrt_abstime *then)
{
hrt_abstime delta = hrt_absolute_time() - *then;
return delta;

2
src/modules/px4iofirmware/controls.c
View File

@ -460,7 +460,7 @@ controls_tick()
* If we haven't seen any new control data in 200ms, assume we
* have lost input.
*/
if (!rc_input_lost && hrt_elapsed_time(&system_state.rc_channels_timestamp_received) > 200000) {
if (!rc_input_lost && hrt_elapsed_time_atomic(&system_state.rc_channels_timestamp_received) > 200000) {
rc_input_lost = true;
/* clear the input-kind flags here */

2
src/modules/px4iofirmware/mixer.cpp
View File

@ -119,7 +119,7 @@ mixer_tick(void)
/* check that we are receiving fresh data from the FMU */
if ((system_state.fmu_data_received_time == 0) ||
hrt_elapsed_time(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
hrt_elapsed_time_atomic(&system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
/* too long without FMU input, time to go to failsafe */
if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {