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HAL_ChibiOS: switch to minimum scheduling delta of 10us #18416

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Aug 23, 2021
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HAL_ChibiOS: switch to minimum scheduling delta of 10us #18416

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2 changes: 1 addition & 1 deletion libraries/AP_HAL_ChibiOS/Scheduler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,7 @@ void Scheduler::delay_microseconds(uint16_t usec)
// calling with ticks == 0 causes a hard fault on ChibiOS
ticks = 1;
}
chThdSleep(ticks); //Suspends Thread for desired microseconds
chThdSleep(MAX(ticks,CH_CFG_ST_TIMEDELTA)); //Suspends Thread for desired microseconds
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}

/*
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2 changes: 1 addition & 1 deletion libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h
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Expand Up @@ -119,7 +119,7 @@ extern "C" {
* this value.
*/
#ifndef CH_CFG_ST_TIMEDELTA
#define CH_CFG_ST_TIMEDELTA 2
#define CH_CFG_ST_TIMEDELTA 10
#endif

/*
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