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AP_HAL_AVR: fix implementation of delay in scheduler

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Pat Hickey 2012-12-04 16:34:04 -08:00 committed by Andrew Tridgell
parent 0b7a55b9f6
commit 88f09d100a
1 changed files with 9 additions and 7 deletions
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16
libraries/AP_HAL_AVR/Scheduler.cpp
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@ -160,9 +160,11 @@ uint32_t AVRScheduler::micros() {
* so we can use it from inside _timer_event() without virtual dispatch. */ * so we can use it from inside _timer_event() without virtual dispatch. */
uint32_t AVRScheduler::_micros() { uint32_t AVRScheduler::_micros() {
uint32_t m; uint32_t m;
uint8_t oldSREG = SREG, t; uint8_t t;
uint8_t oldSREG = SREG;
cli(); cli();
m = timer0_overflow_count; m = timer0_overflow_count;
t = TCNT0; t = TCNT0;
@ -176,16 +178,16 @@ uint32_t AVRScheduler::_micros() {
void AVRScheduler::delay(uint32_t ms) void AVRScheduler::delay(uint32_t ms)
{ {
uint16_t start = (uint16_t)micros(); uint32_t start = _micros();
while (ms > 0) { while (ms > 0) {
if (((uint16_t)micros() - start) >= 1000) { while ((micros() - start) >= 1000) {
ms--; ms--;
start += 1000; start += 1000;
if (_min_delay_cb_ms >= ms) { }
if (_delay_cb) { if (_min_delay_cb_ms <= ms) {
_delay_cb(); if (_delay_cb) {
} _delay_cb();
} }
} }
} }