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AP_HAL_AVR Scheduler: support nested atomic sections

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This commit is contained in:
Pat Hickey 2012-12-03 11:03:53 -08:00 committed by Andrew Tridgell
parent f543cede01
commit d47f77f8dd
2 changed files with 10 additions and 2 deletions
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10
libraries/AP_HAL_AVR/Scheduler.cpp
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@ -27,7 +27,9 @@ bool AVRScheduler::_in_timer_proc = false;
AVRScheduler::AVRScheduler() : AVRScheduler::AVRScheduler() :
_delay_cb(NULL) _delay_cb(NULL),
_min_delay_cb_ms(65535),
_nested_atomic_ctr(0)
{} {}
void AVRScheduler::init(void* _isrregistry) { void AVRScheduler::init(void* _isrregistry) {
@ -323,9 +325,13 @@ void AVRScheduler::_timer_event() {
} }
void AVRScheduler::begin_atomic() { void AVRScheduler::begin_atomic() {
_nested_atomic_ctr++;
cli(); cli();
} }
void AVRScheduler::end_atomic() { void AVRScheduler::end_atomic() {
sei(); _nested_atomic_ctr--;
if (_nested_atomic_ctr == 0) {
sei();
}
} }

2
libraries/AP_HAL_AVR/Scheduler.h
View File

@ -49,6 +49,8 @@ private:
static uint8_t _num_timer_procs; static uint8_t _num_timer_procs;
static bool _in_timer_proc; static bool _in_timer_proc;
uint8_t _nested_atomic_ctr;
}; };
#endif // __AP_HAL_AVR_SCHEDULER_H__ #endif // __AP_HAL_AVR_SCHEDULER_H__