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HAL_Linux: timer calls may block on HAL_Linux 

timer calls can do SPI transfers, which can block
This commit is contained in:
Andrew Tridgell 2013-09-29 10:48:22 +10:00
parent 5102f1511b
commit 1698e1800c
1 changed files with 3 additions and 4 deletions
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7
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -64,10 +64,6 @@ void LinuxScheduler::init(void* machtnichts)
void LinuxScheduler::delay(uint16_t ms) void LinuxScheduler::delay(uint16_t ms)
{ {
if (_in_timer_proc) {
::printf("ERROR: delay() from timer process\n");
return;
}
uint32_t start = millis(); uint32_t start = millis();
while ((millis() - start) < ms) { while ((millis() - start) < ms) {
@ -154,6 +150,9 @@ void LinuxScheduler::register_timer_failsafe(AP_HAL::TimedProc failsafe,
void LinuxScheduler::suspend_timer_procs() void LinuxScheduler::suspend_timer_procs()
{ {
_timer_suspended = true; _timer_suspended = true;
while (_in_timer_proc) {
usleep(1);
}
} }
void LinuxScheduler::resume_timer_procs() void LinuxScheduler::resume_timer_procs()