diff options
Diffstat (limited to 'apps/systemlib/systemlib.c')
| -rw-r--r-- | apps/systemlib/systemlib.c | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/apps/systemlib/systemlib.c b/apps/systemlib/systemlib.c index 94a5283f0..50ac62464 100644 --- a/apps/systemlib/systemlib.c +++ b/apps/systemlib/systemlib.c @@ -131,7 +131,7 @@ int task_spawn(const char *name, int scheduler, int priority, int stack_size, ma pid = task_create(name, priority, stack_size, entry, argv); if (pid > 0) { - + /* configure the scheduler */ struct sched_param param; @@ -140,6 +140,7 @@ int task_spawn(const char *name, int scheduler, int priority, int stack_size, ma /* XXX do any other private task accounting here before the task starts */ } + sched_unlock(); return pid; @@ -157,15 +158,18 @@ int fmu_get_board_info(struct fmu_board_info_s *info) statres = stat("/dev/bma180", &sb); if (statres == OK) { - /* BMA180 indicates a v1.5-v1.6 board */ - strcpy(info->board_name, "FMU v1.6"); - info->board_version = 16; + /* BMA180 indicates a v1.5-v1.6 board */ + strcpy(info->board_name, "FMU v1.6"); + info->board_version = 16; + } else { statres = stat("/dev/accel", &sb); + if (statres == OK) { /* MPU-6000 indicates a v1.7+ board */ strcpy(info->board_name, "FMU v1.7"); info->board_version = 17; + } else { /* If no BMA and no MPU is present, it is a v1.3 board */ strcpy(info->board_name, "FMU v1.3"); |