diff options
| author | Andrew Tridgell <tridge@samba.org> | 2013-12-06 20:51:00 +1100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-10 11:03:31 +0100 |
| commit | 53f2dc8296d550df8933663465cf163ae523084a (patch) | |
| tree | eb23b8d7f616fde0ad47a97bba5c0c7092a1abab /src/drivers/stm32/drv_hrt.c | |
| parent | 86ec1c37fa29ba4ffc1d54a0c438de1cd536f51c (diff) | |
| download | px4-firmware-53f2dc8296d550df8933663465cf163ae523084a.tar.gz px4-firmware-53f2dc8296d550df8933663465cf163ae523084a.tar.bz2 px4-firmware-53f2dc8296d550df8933663465cf163ae523084a.zip | |
drv_hrt: added hrt_call_init() and hrt_call_delay() APIs
hrt_call_init() can be used to initialise (zero) a hrt_call structure
to ensure safe usage. The hrt_call_every() interface calls this
automatically.
hrt_call_delay() can be used to delay a current callout by the given
number of microseconds
Diffstat (limited to 'src/drivers/stm32/drv_hrt.c')
| -rw-r--r-- | src/drivers/stm32/drv_hrt.c | 19 |
1 files changed, 18 insertions, 1 deletions
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c index e79d7e10a..dc28f446b 100644 --- a/src/drivers/stm32/drv_hrt.c +++ b/src/drivers/stm32/drv_hrt.c @@ -720,6 +720,7 @@ hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, v void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg) { + hrt_call_init(entry); hrt_call_internal(entry, hrt_absolute_time() + delay, interval, @@ -839,7 +840,12 @@ hrt_call_invoke(void) /* if the callout has a non-zero period, it has to be re-entered */ if (call->period != 0) { - call->deadline = deadline + call->period; + // re-check call->deadline to allow for + // callouts to re-schedule themselves + // using hrt_call_delay() + if (call->deadline <= now) { + call->deadline = deadline + call->period; + } hrt_call_enter(call); } } @@ -906,5 +912,16 @@ hrt_latency_update(void) latency_counters[index]++; } +void +hrt_call_init(struct hrt_call *entry) +{ + memset(entry, 0, sizeof(*entry)); +} + +void +hrt_call_delay(struct hrt_call *entry, hrt_abstime delay) +{ + entry->deadline = hrt_absolute_time() + delay; +} #endif /* HRT_TIMER */ |