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SITL: disable interrupts during register updates

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this may prevent bogus mode channel reads
This commit is contained in:
Andrew Tridgell 2012-03-04 20:37:10 +11:00
parent e445a455d0
commit 76736792f8
2 changed files with 8 additions and 3 deletions
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3
libraries/Desktop/support/sitl.cpp
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@ -26,6 +26,7 @@
#include <AP_PeriodicProcess.h>
#include <AP_TimerProcess.h>
#include <GCS_MAVLink.h>
#include <avr/interrupt.h>
#include "sitl_adc.h"
#include "sitl_rc.h"
#include "desktop.h"
@ -145,6 +146,7 @@ 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
@ -152,6 +154,7 @@ static void sitl_fdm_input(void)
ICR4.set(i, d.pwm_pkt.pwm[i]);
}
}
sei();
break;
}
}

8
libraries/Desktop/support/sitl_adc.cpp
View File

@ -11,6 +11,7 @@
#include <sys/types.h>
#include <math.h>
#include <AP_ADC.h>
#include <avr/interrupt.h>
#include "wiring.h"
#include "sitl_adc.h"
#include "desktop.h"
@ -88,17 +89,18 @@ 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]);
}
runInterrupt(6);
// set the airspeed sensor input
UDR2.set(7, airspeed_sensor(airspeed));
/* FIX: rubbish value for temperature for now */
UDR2.set(3, 2000);
sei();
runInterrupt(6);
}