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IO firmware: Run critical timing operations as atomic

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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
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src/modules/px4iofirmware/controls.c
+1 -1
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 */
src/modules/px4iofirmware/mixer.cpp
+1 -1
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) {