Update pru_sync_control.c

orgua · Apr 19, 2024 · 730b5d4 · 730b5d4
1 parent 40b2ae5
commit 730b5d4
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/software/kernel-module/src/pru_sync_control.c b/software/kernel-module/src/pru_sync_control.c
@@ -389,10 +389,16 @@ enum hrtimer_restart sync_loop_callback(struct hrtimer *timer_for_restart)
              (ts_previous_ns + 2 * trigger_loop_period_ns < ts_now_ns) && (ts_previous_ns > 0))
     {
         // TODO: not working as expected, this should alarm when PRUs are offline
+        // TODO: when PRUs are halting this error pops up endlessly & ktimersoftd/0 has 50% CPU-Usage
         ts_last_error_ns = ts_now_ns;
         printk(KERN_ERR "shprd.k: Faulty behavior - PRU did not answer to "
                         "trigger-request in time!");
     }
+    else if ((ts_previous_ns + 2 * trigger_loop_period_ns < ts_now_ns) && (ts_previous_ns > 0))
+    {
+        // try to reduce CPU-Usage (ktimersoftd/0 has 50%) when PRUs are halting during operation
+        step_pos = 0;
+    }
     /* variable sleep cycle */
     hrtimer_forward(timer_for_restart, ts_now_kt + ns_to_ktime(timer_steps_ns[step_pos]), 0);
     if (step_pos < timer_steps_ns_size - 1) step_pos++;