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AP_Scripting: add define option to disable interupts for the duration of script run

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Iampete1 2022-01-31 23:37:04 +00:00 committed by Andrew Tridgell
parent da352163ee
commit 427e8d1e24
1 changed files with 11 additions and 0 deletions
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11
libraries/AP_Scripting/lua_scripts.cpp
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@ -19,6 +19,8 @@
#include <AP_Scripting/lua_generated_bindings.h>
#define DISABLE_INTERRUPTS_FOR_SCRIPT_RUN 0
extern const AP_HAL::HAL& hal;
bool lua_scripts::overtime;
@ -471,6 +473,10 @@ void lua_scripts::run(void) {
// copy name for logging, cant do it after as script reschedule moves the pointers
const char * script_name = scripts->name;
#if DISABLE_INTERRUPTS_FOR_SCRIPT_RUN
void *istate = hal.scheduler->disable_interrupts_save();
#endif
const int startMem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
const uint32_t loadEnd = AP_HAL::micros();
@ -478,6 +484,11 @@ void lua_scripts::run(void) {
const uint32_t runEnd = AP_HAL::micros();
const int endMem = lua_gc(L, LUA_GCCOUNT, 0) * 1024 + lua_gc(L, LUA_GCCOUNTB, 0);
#if DISABLE_INTERRUPTS_FOR_SCRIPT_RUN
hal.scheduler->restore_interrupts(istate);
#endif
if ((_debug_options.get() & uint8_t(DebugLevel::RUNTIME_MSG)) != 0) {
gcs().send_text(MAV_SEVERITY_DEBUG, "Lua: Time: %u Mem: %d + %d",
(unsigned int)(runEnd - loadEnd),