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HAL_PX4: yield CPU in delay() 

this allows other apps to run
This commit is contained in:
Andrew Tridgell 2013-01-04 11:49:32 +11:00
parent 9e0096ddb5
commit 9f423a24ad
1 changed files with 5 additions and 7 deletions
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12
libraries/AP_HAL_PX4/Scheduler.cpp
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@ -14,6 +14,7 @@
#include <drivers/drv_hrt.h>
#include <nuttx/arch.h>
#include <systemlib/systemlib.h>
#include <poll.h>
using namespace PX4;
@ -66,14 +67,11 @@ void PX4Scheduler::delay_microseconds(uint16_t usec)
void PX4Scheduler::delay(uint16_t ms)
{
uint32_t start = micros();
uint64_t start = hrt_absolute_time();
while (ms > 0) {
while ((micros() - start) >= 1000) {
ms--;
if (ms == 0) break;
start += 1000;
}
while ((hrt_absolute_time() - start)/1000 < ms) {
// this yields the CPU to other apps
poll(NULL, 0, 1);
if (_min_delay_cb_ms <= ms) {
if (_delay_cb) {
_delay_cb();