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SITL: added in recursion check in timer_handler()

This commit is contained in:
Andrew Tridgell 2012-11-21 09:10:10 +11:00
parent 833d433caf
commit 07f5baea9e
1 changed files with 14 additions and 8 deletions
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22
libraries/Desktop/support/sitl.cpp
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@ -228,13 +228,16 @@ static void sitl_simulator_output(void)
static void timer_handler(int signum)
{
static uint32_t last_update_count;
static bool in_timer;
if (_interrupts_are_blocked()) {
if (in_timer || _interrupts_are_blocked()) {
return;
}
uint8_t oldSREG = SREG;
cli();
in_timer = true;
#ifndef __CYGWIN__
/* make sure we die if our parent dies */
if (kill(parent_pid, 0) != 0) {
@ -242,15 +245,15 @@ static void timer_handler(int signum)
}
#else
static uint16_t count = 0;
static uint32_t last_report;
static uint16_t count = 0;
static uint32_t last_report;
count++;
if (millis() - last_report > 1000) {
printf("TH %u cps\n", count);
count = 0;
last_report = millis();
}
if (millis() - last_report > 1000) {
printf("TH %u cps\n", count);
count = 0;
last_report = millis();
}
#endif
/* check for packet from flight sim */
@ -267,11 +270,13 @@ static void timer_handler(int signum)
if (update_count == 0) {
sitl_update_gps(0, 0, 0, 0, 0, false);
SREG = oldSREG;
in_timer = false;
return;
}
if (update_count == last_update_count) {
SREG = oldSREG;
in_timer = false;
return;
}
last_update_count = update_count;
@ -295,6 +300,7 @@ static void timer_handler(int signum)
timer_scheduler.run();
SREG = oldSREG;
in_timer = false;
}