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AP_HAL_Linux: added scheduler hooks for raspilot

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raspilot 2015-08-18 12:39:02 +10:00 committed by Andrew Tridgell
parent 25cddbcbaa
commit 30a2fe0857
1 changed files with 31 additions and 13 deletions
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18
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -8,6 +8,7 @@
#include "UARTDriver.h"
#include "Util.h"
#include "SPIUARTDriver.h"
#include "RPIOUARTDriver.h"
#include <sys/time.h>
#include <poll.h>
#include <unistd.h>
@ -269,6 +270,15 @@ void LinuxScheduler::_run_timers(bool called_from_timer_thread)
_timer_proc[i]();
}
}
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
//SPI UART use SPI
if (!((LinuxRPIOUARTDriver *)hal.uartC)->isExternal() )
{
((LinuxRPIOUARTDriver *)hal.uartC)->_timer_tick();
}
#endif
_timer_semaphore.give();
// and the failsafe, if one is setup
@ -349,7 +359,15 @@ void *LinuxScheduler::_uart_thread(void* arg)
// process any pending serial bytes
((LinuxUARTDriver *)hal.uartA)->_timer_tick();
((LinuxUARTDriver *)hal.uartB)->_timer_tick();
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
//SPI UART not use SPI
if ( ((LinuxRPIOUARTDriver *)hal.uartC)->isExternal() )
{
((LinuxRPIOUARTDriver *)hal.uartC)->_timer_tick();
}
#else
((LinuxUARTDriver *)hal.uartC)->_timer_tick();
#endif
((LinuxUARTDriver *)hal.uartE)->_timer_tick();
}
return NULL;