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HAL_PX4: minimise usage of hrt_absolute_time()

This commit is contained in:
Andrew Tridgell 2014-08-20 08:41:57 +10:00
parent 9f6d1f987b
commit 48247b6adc
3 changed files with 10 additions and 13 deletions
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10
libraries/AP_HAL_PX4/Scheduler.cpp
View File

@ -38,8 +38,6 @@ PX4Scheduler::PX4Scheduler() :
void PX4Scheduler::init(void *unused)
{
_sketch_start_time = hrt_absolute_time();
_main_task_pid = getpid();
// setup the timer thread - this will call tasks at 1kHz
@ -78,7 +76,7 @@ void PX4Scheduler::init(void *unused)
uint64_t PX4Scheduler::micros64()
{
return hrt_absolute_time() - _sketch_start_time;
return hrt_absolute_time();
}
uint64_t PX4Scheduler::millis64()
@ -116,7 +114,7 @@ void PX4Scheduler::delay_microseconds(uint16_t usec)
perf_end(_perf_delay);
return;
}
uint64_t start = micros();
uint64_t start = micros64();
uint64_t dt;
while ((dt=(micros64() - start)) < usec) {
up_udelay(usec - dt);
@ -131,9 +129,9 @@ void PX4Scheduler::delay(uint16_t ms)
return;
}
perf_begin(_perf_delay);
uint64_t start = hrt_absolute_time();
uint64_t start = micros64();
while ((hrt_absolute_time() - start)/1000 < ms &&
while ((micros64() - start)/1000 < ms &&
!_px4_thread_should_exit) {
delay_microseconds_semaphore(1000);
if (_min_delay_cb_ms <= ms) {

1
libraries/AP_HAL_PX4/Scheduler.h
View File

@ -53,7 +53,6 @@ private:
uint16_t _min_delay_cb_ms;
AP_HAL::Proc _failsafe;
volatile bool _timer_pending;
uint64_t _sketch_start_time;
volatile bool _timer_suspended;

12
libraries/AP_HAL_PX4/UARTDriver.cpp
View File

@ -391,7 +391,7 @@ int PX4UARTDriver::_write_fd(const uint8_t *buf, uint16_t n)
_last_write_time != 0 &&
_total_written != 0 &&
_os_write_buffer_size == _total_written &&
hrt_elapsed_time(&_last_write_time) > 500*1000UL) {
(hal.scheduler->micros64() - _last_write_time) > 500*1000UL) {
// it doesn't look like hw flow control is working
::printf("disabling flow control on %s _total_written=%u\n",
_devpath, (unsigned)_total_written);
@ -407,17 +407,17 @@ int PX4UARTDriver::_write_fd(const uint8_t *buf, uint16_t n)
if (ret > 0) {
BUF_ADVANCEHEAD(_writebuf, ret);
_last_write_time = hrt_absolute_time();
_last_write_time = hal.scheduler->micros64();
_total_written += ret;
return ret;
}
if (hrt_absolute_time() - _last_write_time > 2000 &&
if (hal.scheduler->micros64() - _last_write_time > 2000 &&
_flow_control == FLOW_CONTROL_DISABLE) {
#if 0
// this trick is disabled for now, as it sometimes blocks on
// re-opening the ttyACM0 port, which would cause a crash
if (hrt_absolute_time() - _last_write_time > 2000000) {
if (hal.scheduler->micros64() - _last_write_time > 2000000) {
// we haven't done a successful write for 2 seconds - try
// reopening the port
_initialised = false;
@ -430,11 +430,11 @@ int PX4UARTDriver::_write_fd(const uint8_t *buf, uint16_t n)
return n;
}
_last_write_time = hrt_absolute_time();
_last_write_time = hal.scheduler->micros64();
_initialised = true;
}
#else
_last_write_time = hrt_absolute_time();
_last_write_time = hal.scheduler->micros64();
#endif
// we haven't done a successful write for 2ms, which means the
// port is running at less than 500 bytes/sec. Start