Merged, removed unneeded line

3 files changed, 48 insertions, 9 deletions

diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c
index fec5eed23..122f00754 100644
--- a/apps/px4io/px4io.c
+++ b/apps/px4io/px4io.c
@@ -44,6 +44,7 @@
 #include <errno.h>
 #include <string.h>
 #include <poll.h>
+#include <signal.h>
 
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_hrt.h>
@@ -69,6 +70,9 @@ volatile uint32_t i2c_loop_resets = 0;
 
 struct hrt_call loop_overtime_call;
 
+// this allows wakeup of the main task via a signal
+static pid_t daemon_pid;
+
 
 /*
   a set of debug buffers to allow us to send debug information from ISRs
@@ -130,9 +134,24 @@ static void loop_overtime(void *arg)
 	hrt_call_after(&loop_overtime_call, 50000, (hrt_callout)loop_overtime, NULL);
 }
 
+static void wakeup_handler(int signo, siginfo_t *info, void *ucontext)
+{
+	// nothing to do - we just want poll() to return
+}
+
+
+/*
+  wakeup the main task using a signal
+ */
+void daemon_wakeup(void)
+{
+	kill(daemon_pid, SIGUSR1);
+}
 
 int user_start(int argc, char *argv[])
 {
+	daemon_pid = getpid();
+
 	/* run C++ ctors before we go any further */
 	up_cxxinitialize();
 
@@ -183,6 +202,18 @@ int user_start(int argc, char *argv[])
 	/* add a performance counter for mixing */
 	perf_counter_t mixer_perf = perf_alloc(PC_ELAPSED, "mix");
 
+	/* 
+	 *  setup a null handler for SIGUSR1 - we will use this for wakeup from poll()
+	 */
+        struct sigaction sa;
+	memset(&sa, 0, sizeof(sa));
+        sa.sa_sigaction = wakeup_handler;
+	sigfillset(&sa.sa_mask);
+	sigdelset(&sa.sa_mask, SIGUSR1);
+        if (sigaction(SIGUSR1, &sa, NULL) != OK) {
+		debug("Failed to setup SIGUSR1 handler\n");
+	}
+
 	/* run the mixer at ~300Hz (for now...) */
 	/* XXX we should use CONFIG_IDLE_CUSTOM and take over the idle thread instead of running two additional tasks */
 	uint16_t counter=0;
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
index 6944776a9..cd5977258 100644
--- a/apps/px4io/px4io.h
+++ b/apps/px4io/px4io.h
@@ -143,30 +143,29 @@ extern struct sys_state_s system_state;
 extern void	mixer_tick(void);
 extern void	mixer_handle_text(const void *buffer, size_t length);
 
-/*
+/**
  * Safety switch/LED.
  */
 extern void	safety_init(void);
 
-/*
+/**
  * FMU communications
  */
-extern void	comms_main(void) __attribute__((noreturn));
 extern void	i2c_init(void);
 
-/*
+/**
  * Register space
  */
 extern void	registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values);
 extern int	registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_values);
 
-/*
+/**
  * Sensors/misc inputs
  */
 extern int	adc_init(void);
 extern uint16_t	adc_measure(unsigned channel);
 
-/*
+/**
  * R/C receiver handling.
  *
  * Input functions return true when they receive an update from the RC controller.
@@ -177,9 +176,14 @@ extern bool	dsm_input(uint16_t *values, uint16_t *num_values);
 extern int	sbus_init(const char *device);
 extern bool	sbus_input(uint16_t *values, uint16_t *num_values);
 
-/* global debug level for isr_debug() */
+/** global debug level for isr_debug() */
 extern volatile uint8_t debug_level;
 
+/**
+ * Wake up mixer.
+ */
+void daemon_wakeup(void);
+
 /* send a debug message to the console */
 extern void isr_debug(uint8_t level, const char *fmt, ...);
 
diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c
index 40bf72482..23ad4aa88 100644
--- a/apps/px4io/registers.c
+++ b/apps/px4io/registers.c
@@ -198,10 +198,12 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 			values++;
 		}
 
-		/* XXX we should cause a mixer tick ASAP */
 		system_state.fmu_data_received_time = hrt_absolute_time();
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
 		r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM;
+		
+		// wake up daemon to trigger mixer
+		daemon_wakeup();
 		break;
 
 		/* handle raw PWM input */
@@ -218,9 +220,11 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 			values++;
 		}
 
-		/* XXX we should cause a mixer tick ASAP */
 		system_state.fmu_data_received_time = hrt_absolute_time();
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM;
+
+		// wake up the main thread to trigger mixer
+		daemon_wakeup();
 		break;
 
 		/* handle setup for servo failsafe values */