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SITL: prevent nested timer interrupts

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This commit is contained in:
Andrew Tridgell 2012-03-05 21:00:22 +11:00
parent 3b7d78cf02
commit 3666476bcb
2 changed files with 5 additions and 4 deletions
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7
libraries/Desktop/support/sitl.cpp
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@ -146,7 +146,6 @@ static void sitl_fdm_input(void)
case 16: {
// a packet giving the receiver PWM inputs
uint8_t i;
cli();
for (i=0; i<8; i++) {
// setup the ICR4 register for the RC channel
// inputs
@ -154,7 +153,6 @@ static void sitl_fdm_input(void)
ICR4.set(i, d.pwm_pkt.pwm[i]);
}
}
sei();
break;
}
}
@ -221,6 +219,8 @@ static void timer_handler(int signum)
{
static uint32_t last_update_count;
cli();
/* make sure we die if our parent dies */
if (kill(parent_pid, 0) != 0) {
exit(1);
@ -242,10 +242,12 @@ static void timer_handler(int signum)
if (update_count == 0) {
sitl_update_gps(0, 0, 0, 0, 0, false);
sei();
return;
}
if (update_count == last_update_count) {
sei();
return;
}
last_update_count = update_count;
@ -259,6 +261,7 @@ static void timer_handler(int signum)
sim_state.airspeed);
sitl_update_barometer(sim_state.altitude);
sitl_update_compass(sim_state.heading, sim_state.rollDeg, sim_state.pitchDeg, sim_state.heading);
sei();
}

2
libraries/Desktop/support/sitl_adc.cpp
View File

@ -89,7 +89,6 @@ void sitl_update_adc(float roll, float pitch, float yaw, // Relative to earth
adc[5] = (zAccel / (_accel_scale * _sensor_signs[5])) + accel_offset;
/* tell the UDR2 register emulation what values to give to the driver */
cli();
for (uint8_t i=0; i<6; i++) {
UDR2.set(sensor_map[i], adc[i]);
}
@ -98,7 +97,6 @@ void sitl_update_adc(float roll, float pitch, float yaw, // Relative to earth
/* FIX: rubbish value for temperature for now */
UDR2.set(3, 2000);
sei();
runInterrupt(6);
}