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STM32 test: fixed race condition

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This commit is contained in:
Pavel Kirienko
2014-04-11 16:14:08 +04:00
parent 9b56534506
commit 3b0b0494b8
1 changed files with 5 additions and 10 deletions
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libuavcan_drivers/stm32/test_stm32f107/src/main.cpp
+5 -10
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@@ -116,6 +116,7 @@ public:
*/
lowsyslog("UAVCAN node started\n");
node.setStatusOk();
node.getLogger().setLevel(uavcan::protocol::debug::LogLevel::INFO);
while (true)
{
const int spin_res = node.spin(uavcan::MonotonicDuration::fromMSec(5000));
@@ -124,6 +125,10 @@ public:
lowsyslog("Spin failure: %i\n", spin_res);
}
lowsyslog("Time sync master: %u\n", unsigned(time_sync_slave.getMasterNodeID().get()));
node.logInfo("app", "UTC %* sec, %* corr, %* jumps",
uavcan_stm32::clock::getUtc().toMSec() / 1000,
uavcan_stm32::clock::getUtcSpeedCorrectionPPM(),
uavcan_stm32::clock::getUtcAjdustmentJumpCount());
}
return msg_t();
}
@@ -143,8 +148,6 @@ int main()
lowsyslog("Starting the UAVCAN thread\n");
app::uavcan_node_thread.start(LOWPRIO);
app::getNode().getLogger().setLevel(uavcan::protocol::debug::LogLevel::INFO);
while (true)
{
for (int i = 0; i < 200; i++)
@@ -158,13 +161,5 @@ int main()
static_cast<unsigned long>(utc.toMSec() / 1000),
uavcan_stm32::clock::getUtcSpeedCorrectionPPM(),
uavcan_stm32::clock::getUtcAjdustmentJumpCount());
if (app::getNode().isStarted())
{
app::getNode().logInfo("app", "UTC %* sec, %* corr, %* jumps",
utc.toMSec() / 1000,
uavcan_stm32::clock::getUtcSpeedCorrectionPPM(),
uavcan_stm32::clock::getUtcAjdustmentJumpCount());
}
}
}