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AP_HAL_Linux: remove useless mlock of stack

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In Linux the default stack size is always greater than 32k, either 2MB
or 8MB depending on the architecture. There's no point in creating a
function to lock 32k.
This commit is contained in:
Lucas De Marchi 2015-03-18 16:36:44 -03:00 committed by Andrew Tridgell
parent 5d69e2027c
commit 29b667efdf
1 changed files with 7 additions and 18 deletions
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25
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -32,22 +32,11 @@ LinuxScheduler::LinuxScheduler()
typedef void *(*pthread_startroutine_t)(void *); typedef void *(*pthread_startroutine_t)(void *);
/*
setup for realtime. Lock all of memory in the thread and pre-fault
the given stack size, so stack faults don't cause timing jitter
*/
void LinuxScheduler::_setup_realtime(uint32_t size)
{
uint8_t dummy[size];
mlockall(MCL_CURRENT|MCL_FUTURE);
memset(dummy, 0, sizeof(dummy));
}
void LinuxScheduler::init(void* machtnichts) void LinuxScheduler::init(void* machtnichts)
{ {
clock_gettime(CLOCK_MONOTONIC, &_sketch_start_time); mlockall(MCL_CURRENT|MCL_FUTURE);
_setup_realtime(32768); clock_gettime(CLOCK_MONOTONIC, &_sketch_start_time);
pthread_attr_t thread_attr; pthread_attr_t thread_attr;
struct sched_param param; struct sched_param param;
@ -251,7 +240,7 @@ void LinuxScheduler::_run_timers(bool called_from_timer_thread)
void *LinuxScheduler::_timer_thread(void) void *LinuxScheduler::_timer_thread(void)
{ {
_setup_realtime(32768); mlockall(MCL_CURRENT|MCL_FUTURE);
while (system_initializing()) { while (system_initializing()) {
poll(NULL, 0, 1); poll(NULL, 0, 1);
} }
@ -293,7 +282,7 @@ void LinuxScheduler::_run_io(void)
void *LinuxScheduler::_rcin_thread(void) void *LinuxScheduler::_rcin_thread(void)
{ {
_setup_realtime(32768); mlockall(MCL_CURRENT|MCL_FUTURE);
while (system_initializing()) { while (system_initializing()) {
poll(NULL, 0, 1); poll(NULL, 0, 1);
} }
@ -307,7 +296,7 @@ void *LinuxScheduler::_rcin_thread(void)
void *LinuxScheduler::_uart_thread(void) void *LinuxScheduler::_uart_thread(void)
{ {
_setup_realtime(32768); mlockall(MCL_CURRENT|MCL_FUTURE);
while (system_initializing()) { while (system_initializing()) {
poll(NULL, 0, 1); poll(NULL, 0, 1);
} }
@ -324,7 +313,7 @@ void *LinuxScheduler::_uart_thread(void)
void *LinuxScheduler::_tonealarm_thread(void) void *LinuxScheduler::_tonealarm_thread(void)
{ {
_setup_realtime(32768); mlockall(MCL_CURRENT|MCL_FUTURE);
while (system_initializing()) { while (system_initializing()) {
poll(NULL, 0, 1); poll(NULL, 0, 1);
} }
@ -339,7 +328,7 @@ void *LinuxScheduler::_tonealarm_thread(void)
void *LinuxScheduler::_io_thread(void) void *LinuxScheduler::_io_thread(void)
{ {
_setup_realtime(32768); mlockall(MCL_CURRENT|MCL_FUTURE);
while (system_initializing()) { while (system_initializing()) {
poll(NULL, 0, 1); poll(NULL, 0, 1);
} }