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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 23:52:57 +01:00
parent 46390a1508
commit 3a7deefe6e
3 changed files with 3 additions and 3 deletions
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platforms/posix/src/px4_layer/drv_hrt.cpp
+1 -1
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@@ -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 * This function is safe to use even if the timestamp is updated
* by an interrupt during execution. * 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; hrt_abstime delta = hrt_absolute_time() - *then;
return delta; return delta;
src/modules/px4iofirmware/controls.c
+1 -1
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@@ -460,7 +460,7 @@ controls_tick()
* If we haven't seen any new control data in 200ms, assume we * If we haven't seen any new control data in 200ms, assume we
* have lost input. * 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; rc_input_lost = true;
/* clear the input-kind flags here */ /* clear the input-kind flags here */
src/modules/px4iofirmware/mixer.cpp
+1 -1
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@@ -119,7 +119,7 @@ mixer_tick(void)
/* check that we are receiving fresh data from the FMU */ /* check that we are receiving fresh data from the FMU */
if ((system_state.fmu_data_received_time == 0) || 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 */ /* too long without FMU input, time to go to failsafe */
if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {