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px4_qurt_tasks: fix hang because of absolute time

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The timeout was triggered using absolute time instead of a delay in
usec. This lead to the system hanging. With the fix it continues after
the timeout, however, the rates still don't seem right.
This commit is contained in:
Julian Oes
2016-02-19 16:59:47 +01:00
parent c726e2b807
commit dbd89fe584
1 changed files with 9 additions and 3 deletions
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src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
+9 -3
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@@ -41,6 +41,7 @@
#include "px4_log.h" #include "px4_log.h"
#include "px4_posix.h" #include "px4_posix.h"
#include "px4_workqueue.h" #include "px4_workqueue.h"
#include "px4_time.h"
#include "hrt_work.h" #include "hrt_work.h"
#include <unistd.h> #include <unistd.h>
#include <stdio.h> #include <stdio.h>
@@ -369,9 +370,14 @@ int px4_sem_timedwait(px4_sem_t *sem, const struct timespec *ts)
{ {
work_s _hpwork = {}; work_s _hpwork = {};
// Create a timer to unblock // We get an absolute time but want to calculate a timeout in us.
uint32_t timeout = ts->tv_sec * 1000000 + (ts->tv_nsec / 1000); struct timespec ts_now;
hrt_work_queue(&_hpwork, (worker_t)&timer_cb, (void *)sem, timeout); px4_clock_gettime(CLOCK_REALTIME, &ts_now);
uint32_t timeout_us = ((ts->tv_sec - ts_now.tv_sec) * 1000000)
+ ((ts->tv_nsec - ts_now.tv_nsec) / 1000);
// Create a timer to unblock.
hrt_work_queue(&_hpwork, (worker_t)&timer_cb, (void *)sem, timeout_us);
sem_wait(sem); sem_wait(sem);
hrt_work_cancel(&_hpwork); hrt_work_cancel(&_hpwork);
return 0; return 0;