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https://github.com/ArduPilot/ardupilot
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f7b453359d
This converts MS56XX to use the thread started by SPI/I2C instead of
using the timer thread. This also fixes a possible starvation of the
main thread:
1) INS driver registers itself to be sampled on timer thread
2) MS56XX registers itself to be sampled on timer thread
3) Main thread waits for a sample from INS with
ins.wait_for_sample()
4) timer thread is waiting on update from MS56XX and consequently
the main thread is waiting on an I2C/SPI transfer
Besides this starvation there's another one due to reuse of the timer
lock in order to pump values from the timer thread to the main thread. A
call to the update() method when we have a sample available would need
to wait on any other driver holding the timer lock.
Now there's a lock just to pass the new values from the bus thread to
the main thread with a very tiny critical region, not waiting on any
bus transfers and/or syscalls.
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|---|---|---|
| .. | ||
| examples/BARO_generic | ||
| AP_Baro_Backend.cpp | ||
| AP_Baro_Backend.h | ||
| AP_Baro_BMP085.cpp | ||
| AP_Baro_BMP085.h | ||
| AP_Baro_HIL.cpp | ||
| AP_Baro_HIL.h | ||
| AP_Baro_MS5611.cpp | ||
| AP_Baro_MS5611.h | ||
| AP_Baro_PX4.cpp | ||
| AP_Baro_PX4.h | ||
| AP_Baro_qflight.cpp | ||
| AP_Baro_qflight.h | ||
| AP_Baro_QURT.cpp | ||
| AP_Baro_QURT.h | ||
| AP_Baro.cpp | ||
| AP_Baro.h | ||