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HAL_ChibiOS: removed restriction on delay in threads

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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
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8
libraries/AP_HAL_ChibiOS/Scheduler.cpp
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@ -176,16 +176,14 @@ bool Scheduler::check_called_boost(void)
void Scheduler::delay(uint16_t ms) void Scheduler::delay(uint16_t ms)
{ {
if (!in_main_thread()) {
//chprintf("ERROR: delay() from timer process\n");
return;
}
uint64_t start = AP_HAL::micros64(); uint64_t start = AP_HAL::micros64();
while ((AP_HAL::micros64() - start)/1000 < ms) { while ((AP_HAL::micros64() - start)/1000 < ms) {
delay_microseconds(1000); delay_microseconds(1000);
if (_min_delay_cb_ms <= ms) { if (_min_delay_cb_ms <= ms) {
call_delay_cb(); if (in_main_thread()) {
call_delay_cb();
}
} }
} }
} }