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POSIX: Fixes for HRT implementation of simulated HW clock polling

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There is a race condition for the accel and mag polling rates.
Whichever one gets set first, the other will be uninitialized.

Set the mag polling rate to 1ms if uninitilized.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-06-08 22:18:57 -07:00
parent acfd1ea519
commit db5530e1b5
1 changed files with 15 additions and 4 deletions
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src/platforms/posix/px4_layer/hrt_work_lock.h
+15 -4
View File
@@ -33,22 +33,33 @@
#include <px4_log.h> #include <px4_log.h>
#include <semaphore.h> #include <semaphore.h>
#include <stdio.h> #include <px4_workqueue.h>
#pragma once #pragma once
__BEGIN_DECLS
extern sem_t _hrt_work_lock; extern sem_t _hrt_work_lock;
extern struct wqueue_s g_hrt_work;
void hrt_work_queue_init(void);
int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay);
int hrt_work_cancel(struct work_s *work);
inline void hrt_work_lock(); inline void hrt_work_lock();
inline void hrt_work_unlock();
inline void hrt_work_lock() inline void hrt_work_lock()
{ {
PX4_INFO("hrt_work_lock"); //PX4_INFO("hrt_work_lock");
sem_wait(&_hrt_work_lock); sem_wait(&_hrt_work_lock);
} }
inline void hrt_work_unlock();
inline void hrt_work_unlock() inline void hrt_work_unlock()
{ {
PX4_INFO("hrt_work_unlock"); //PX4_INFO("hrt_work_unlock");
sem_post(&_hrt_work_lock); sem_post(&_hrt_work_lock);
} }
__END_DECLS