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AP_Scheduler: Add a lock that is held during all normal operations

This commit is contained in:
Michael du Breuil 2020-02-11 16:10:45 -07:00 committed by Andrew Tridgell
parent d04c86be1e
commit c257cea375
2 changed files with 11 additions and 0 deletions
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5
libraries/AP_Scheduler/AP_Scheduler.cpp
View File

@ -87,6 +87,9 @@ AP_Scheduler *AP_Scheduler::get_singleton()
// initialise the scheduler
void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks, uint32_t log_performance_bit)
{
// grab the semaphore before we start anything
_rsem.take_blocking();
// only allow 50 to 2000 Hz
if (_loop_rate_hz < 50) {
_loop_rate_hz.set(50);
@ -267,7 +270,9 @@ void AP_Scheduler::loop()
{
// wait for an INS sample
hal.util->persistent_data.scheduler_task = -3;
_rsem.give();
AP::ins().wait_for_sample();
_rsem.take_blocking();
hal.util->persistent_data.scheduler_task = -1;
const uint32_t sample_time_us = AP_HAL::micros();

6
libraries/AP_Scheduler/AP_Scheduler.h
View File

@ -144,6 +144,8 @@ public:
return extra_loop_us;
}
HAL_Semaphore &get_semaphore(void) { return _rsem; }
static const struct AP_Param::GroupInfo var_info[];
// loop performance monitoring:
@ -223,6 +225,10 @@ private:
// extra time available for each loop - used to dynamically adjust
// the loop rate in case we are well over budget
uint32_t extra_loop_us;
// semaphore that is held while not waiting for ins samples
HAL_Semaphore _rsem;
};
namespace AP {