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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-16 10:46:10 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-16 10:46:10 +0200 |
| commit | 8630d82ea2b27389b686fe191e9b2f2fbd44f235 (patch) | |
| tree | 37bb83e30cca82ce26a3c12a95322bbcc092cf2b /src/drivers | |
| parent | 0a6861e98ddb5f25c6564e2251bb05dc0606bfc3 (diff) | |
| download | px4-firmware-8630d82ea2b27389b686fe191e9b2f2fbd44f235.tar.gz px4-firmware-8630d82ea2b27389b686fe191e9b2f2fbd44f235.tar.bz2 px4-firmware-8630d82ea2b27389b686fe191e9b2f2fbd44f235.zip | |
gps driver: Use correct spawn command, use a smaller start tool size
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/gps/gps.cpp | 12 | ||||
| -rw-r--r-- | src/drivers/gps/module.mk | 2 |
2 files changed, 6 insertions, 8 deletions
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 2d8d37298..6195cd6ea 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -56,6 +56,7 @@ #include <arch/board/board.h> #include <drivers/drv_hrt.h> #include <drivers/device/i2c.h> +#include <systemlib/systemlib.h> #include <systemlib/perf_counter.h> #include <systemlib/scheduling_priorities.h> #include <systemlib/err.h> @@ -78,12 +79,6 @@ #endif static const int ERROR = -1; -#ifndef CONFIG_SCHED_WORKQUEUE -# error This requires CONFIG_SCHED_WORKQUEUE. -#endif - - - class GPS : public device::CDev { public: @@ -211,7 +206,8 @@ GPS::init() goto out; /* start the GPS driver worker task */ - _task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr); + _task = task_spawn_cmd("gps", SCHED_DEFAULT, + SCHED_PRIORITY_SLOW_DRIVER, 2000, (main_t)&GPS::task_main_trampoline, nullptr); if (_task < 0) { warnx("task start failed: %d", errno); diff --git a/src/drivers/gps/module.mk b/src/drivers/gps/module.mk index 82c67d40a..eb382c4b2 100644 --- a/src/drivers/gps/module.mk +++ b/src/drivers/gps/module.mk @@ -41,3 +41,5 @@ SRCS = gps.cpp \ gps_helper.cpp \ mtk.cpp \ ubx.cpp + +MODULE_STACKSIZE = 1200 |