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px4io: fixed signals for lower latency PWM output

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poll() is not interrupted by signals, whereas usleep() is
This commit is contained in:
Andrew Tridgell
2013-02-19 12:31:51 +11:00
parent 3c6d6f0ef1
commit 4a15eef602
1 changed files with 15 additions and 9 deletions
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apps/px4io/px4io.c
+15 -9
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@@ -214,28 +214,34 @@ int user_start(int argc, char *argv[])
debug("Failed to setup SIGUSR1 handler\n"); debug("Failed to setup SIGUSR1 handler\n");
} }
/* run the mixer at ~300Hz (for now...) */ /*
/* XXX we should use CONFIG_IDLE_CUSTOM and take over the idle thread instead of running two additional tasks */ run the mixer at ~50Hz, using signals to run it early if
uint16_t counter=0; need be
*/
uint64_t last_debug_time = 0;
for (;;) { for (;;) {
/* /*
if we are not scheduled for 10ms then reset the I2C bus if we are not scheduled for 30ms then reset the I2C bus
*/ */
hrt_call_after(&loop_overtime_call, 10000, (hrt_callout)loop_overtime, NULL); hrt_call_after(&loop_overtime_call, 30000, (hrt_callout)loop_overtime, NULL);
// we use usleep() instead of poll() as poll() is not
// interrupted by signals in nuttx, whereas usleep() is
usleep(20000);
poll(NULL, 0, 3);
perf_begin(mixer_perf); perf_begin(mixer_perf);
mixer_tick(); mixer_tick();
perf_end(mixer_perf); perf_end(mixer_perf);
show_debug_messages(); show_debug_messages();
if (counter++ == 800) { if (hrt_absolute_time() - last_debug_time > 1000000) {
counter = 0; isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x r=%u",
isr_debug(1, "d:%u stat=0x%x arm=0x%x feat=0x%x rst=%u",
(unsigned)debug_level, (unsigned)debug_level,
(unsigned)r_status_flags, (unsigned)r_status_flags,
(unsigned)r_setup_arming, (unsigned)r_setup_arming,
(unsigned)r_setup_features, (unsigned)r_setup_features,
(unsigned)i2c_loop_resets); (unsigned)i2c_loop_resets);
last_debug_time = hrt_absolute_time();
} }
} }
} }