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AP_Baro_MS5611: Support for timesliced timers

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fallback if current scheduler doesn't support it
This commit is contained in:
Julien BERAUD 2015-08-03 18:16:01 +02:00 committed by Lucas De Marchi
parent 4acc121bd6
commit d15097f3fc
2 changed files with 5 additions and 2 deletions
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6
libraries/AP_Baro/AP_Baro_MS5611.cpp
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@ -223,7 +223,8 @@ void AP_Baro_MS56XX::_init()
hal.scheduler->resume_timer_procs(); hal.scheduler->resume_timer_procs();
if (_use_timer) { if (_use_timer) {
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Baro_MS56XX::_timer, void)); /* timer needs to be called every 10ms so set the freq_div to 10 */
_timesliced = hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Baro_MS56XX::_timer, void), 10);
} }
} }
@ -310,7 +311,8 @@ bool AP_Baro_MS5637::_read_prom(uint16_t prom[8])
void AP_Baro_MS56XX::_timer(void) void AP_Baro_MS56XX::_timer(void)
{ {
// Throttle read rate to 100hz maximum. // Throttle read rate to 100hz maximum.
if (AP_HAL::micros() - _last_timer < 10000) { if (!_timesliced &&
AP_HAL::micros() - _last_timer < 10000) {
return; return;
} }

1
libraries/AP_Baro/AP_Baro_MS5611.h
View File

@ -94,6 +94,7 @@ protected:
volatile uint32_t _s_D1, _s_D2; volatile uint32_t _s_D1, _s_D2;
uint8_t _state; uint8_t _state;
uint32_t _last_timer; uint32_t _last_timer;
bool _timesliced;
bool _use_timer; bool _use_timer;