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HAL_Linux: fixed timer scheduler

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This commit is contained in:
Andrew Tridgell 2013-09-28 18:38:50 +10:00
parent 88959004d7
commit f03315237a
2 changed files with 1 additions and 3 deletions
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3
libraries/AP_HAL_Linux/I2CDriver.cpp
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@ -104,9 +104,6 @@ uint8_t LinuxI2CDriver::read(uint8_t addr, uint8_t len, uint8_t* data)
if (!set_address(addr)) { if (!set_address(addr)) {
return 1; return 1;
} }
if (write(addr, 0, NULL) != 0) {
return 1;
}
if (::read(_fd, data, len) != len) { if (::read(_fd, data, len) != len) {
return 1; return 1;
} }

1
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -27,6 +27,7 @@ void LinuxScheduler::init(void* machtnichts)
struct sched_param param; struct sched_param param;
param.sched_priority = APM_LINUX_TIMER_PRIORITY; param.sched_priority = APM_LINUX_TIMER_PRIORITY;
pthread_attr_init(&thread_attr);
(void)pthread_attr_setschedparam(&thread_attr, &param); (void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO); pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);