yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

lib/led: make sure to do an orb_copy on startup

Browse Source
This commit is contained in:
Beat Küng
2017-02-24 10:25:54 +01:00
committed by Lorenz Meier
parent b7f5d92b21
commit 9e09f70f37
2 changed files with 11 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
src/lib/led/led.cpp
View File

@@ -51,18 +51,22 @@ int LedController::update(LedControlData &control_data)
orb_check(_led_control_sub, &updated);
while (updated) {
while (updated || _force_update) {
// handle new state
led_control_s led_control;
orb_copy(ORB_ID(led_control), _led_control_sub, &led_control);
// don't apply the new state just yet to avoid interrupting an ongoing blinking state
for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
if (led_control.led_mask & (1 << i)) {
_states[i].next_state.set(led_control);
if (orb_copy(ORB_ID(led_control), _led_control_sub, &led_control) == 0) {
// don't apply the new state just yet to avoid interrupting an ongoing blinking state
for (int i = 0; i < BOARD_MAX_LEDS; ++i) {
if (led_control.led_mask & (1 << i)) {
_states[i].next_state.set(led_control);
}
}
}
_force_update = false;
orb_check(_led_control_sub, &updated);
}