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timer: enable interrupts during timer processing

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this prevents us losing serial bytes when we call sensor drivers that
take more than 100usec to read.

We also prevent timer recursion by re-enabling the timer after all
callbacks are complete
This commit is contained in:
Andrew Tridgell 2011-12-16 19:48:31 +11:00
parent af7e34fcc1
commit be1ba5354e
1 changed files with 14 additions and 5 deletions
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19
libraries/AP_PeriodicProcess/AP_TimerProcess.cpp
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@ -5,6 +5,7 @@ extern "C" {
#include <inttypes.h> #include <inttypes.h>
#include <stdint.h> #include <stdint.h>
#include "WConstants.h" #include "WConstants.h"
#include <avr/interrupt.h>
} }
int AP_TimerProcess::_period; int AP_TimerProcess::_period;
@ -40,9 +41,17 @@ void AP_TimerProcess::register_process(void (*proc)(void) )
void AP_TimerProcess::run(void) void AP_TimerProcess::run(void)
{ {
TCNT2 = _period; // we re-enable interrupts here as some of these functions
for (int i = 0; i < _pidx; i++) { // take a long time, and we don't want to block other critical
if (_proc[i] != NULL) // interrupts, especially the serial interrupt
_proc[i](); sei();
}
for (int i = 0; i < _pidx; i++) {
if (_proc[i] != NULL)
_proc[i]();
}
// to prevent recursion, we don't enable the timer interrupt
// again until we've completed the tasks
TCNT2 = _period;
} }