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AP_Scheduler: stop using Progmem.h

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This commit is contained in:
Lucas De Marchi 2015-12-23 12:54:23 -02:00
parent 25c289b74c
commit 3375b6b01c
1 changed files with 2 additions and 5 deletions
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7
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -23,7 +23,6 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Progmem/AP_Progmem.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) #if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
@ -111,7 +110,7 @@ void AP_Scheduler::run(uint16_t time_available)
} }
if (dt >= interval_ticks) { if (dt >= interval_ticks) {
// this task is due to run. Do we have enough time to run it? // this task is due to run. Do we have enough time to run it?
_task_time_allowed = pgm_read_word(&_tasks[i].max_time_micros); _task_time_allowed = _tasks[i].max_time_micros;
if (dt >= interval_ticks*2) { if (dt >= interval_ticks*2) {
// we've slipped a whole run of this task! // we've slipped a whole run of this task!
@ -128,10 +127,8 @@ void AP_Scheduler::run(uint16_t time_available)
if (_task_time_allowed <= time_available) { if (_task_time_allowed <= time_available) {
// run it // run it
_task_time_started = now; _task_time_started = now;
task_fn_t func;
pgm_read_block(&_tasks[i].function, &func, sizeof(func));
current_task = i; current_task = i;
func(); _tasks[i].function();
current_task = -1; current_task = -1;
// record the tick counter when we ran. This drives // record the tick counter when we ran. This drives