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HAL_Linux: fixed callbacks from delay()

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This commit is contained in:
Andrew Tridgell 2013-09-29 10:32:51 +10:00
parent a1ef1a9318
commit 5102f1511b
1 changed files with 16 additions and 1 deletions
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17
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -10,6 +10,7 @@
#include <poll.h> #include <poll.h>
#include <unistd.h> #include <unistd.h>
#include <stdlib.h> #include <stdlib.h>
#include <stdio.h>
using namespace Linux; using namespace Linux;
@ -63,7 +64,21 @@ void LinuxScheduler::init(void* machtnichts)
void LinuxScheduler::delay(uint16_t ms) void LinuxScheduler::delay(uint16_t ms)
{ {
usleep(ms * 1000); if (_in_timer_proc) {
::printf("ERROR: delay() from timer process\n");
return;
}
uint32_t start = millis();
while ((millis() - start) < ms) {
// this yields the CPU to other apps
poll(NULL, 0, 1);
if (_min_delay_cb_ms <= ms) {
if (_delay_cb) {
_delay_cb();
}
}
}
} }
uint32_t LinuxScheduler::millis() uint32_t LinuxScheduler::millis()