Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 01:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: removed restriction on delay in threads

Browse Source 
threads other than the main thread should be able to sleep, but not
call the delay callback
This commit is contained in:
Andrew Tridgell 2018-07-07 11:51:18 +10:00
parent 0e29bcc4ab
commit a489c93001
1 changed files with 3 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -176,16 +176,14 @@ bool Scheduler::check_called_boost(void)
void Scheduler::delay(uint16_t ms)
{
if (!in_main_thread()) {
//chprintf("ERROR: delay() from timer process\n");
return;
}
uint64_t start = AP_HAL::micros64();
while ((AP_HAL::micros64() - start)/1000 < ms) {
delay_microseconds(1000);
if (_min_delay_cb_ms <= ms) {
call_delay_cb();
if (in_main_thread()) {
call_delay_cb();
}
}
}
}