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HAL_ChibiOS: switch to minimum scheduling delta of 10us

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this avoids an issue with the ChibiOS 20.3 virtual timer
implementation that can result in a scheduling slip equal to the
system timer period.

Andy has been suggesting this change for a while. I resisted it as I
thought it would impact on soft-serial parsing, but it turns out it
doesn't.

Fixes issue #18383
This commit is contained in:
Andrew Tridgell 2021-08-22 19:35:07 +10:00
parent e7e3b478fc
commit 957740db4f
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_HAL_ChibiOS/Scheduler.cpp
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@ -142,7 +142,7 @@ void Scheduler::delay_microseconds(uint16_t usec)
// calling with ticks == 0 causes a hard fault on ChibiOS // calling with ticks == 0 causes a hard fault on ChibiOS
ticks = 1; ticks = 1;
} }
chThdSleep(ticks); //Suspends Thread for desired microseconds chThdSleep(MAX(ticks,CH_CFG_ST_TIMEDELTA)); //Suspends Thread for desired microseconds
} }
/* /*

2
libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h
View File

@ -119,7 +119,7 @@ extern "C" {
* this value. * this value.
*/ */
#ifndef CH_CFG_ST_TIMEDELTA #ifndef CH_CFG_ST_TIMEDELTA
#define CH_CFG_ST_TIMEDELTA 2 #define CH_CFG_ST_TIMEDELTA 10
#endif #endif
/* /*