static int __wind_kernel_timeslice(struct pt_regs *regs)
{
int ticks = __xn_reg_arg1(regs);
kernelTimeSlice(ticks); /* Always ok. */
return 0;
}
bhs_MutexRobot::bhs_MutexRobot()
: m_robot()
, m_disabledInitialized(false)
, m_autonomousInitialized(false)
, m_teleopInitialized(false)
, m_period(k_defaultPeriod)
{
// configure for round-robin scheduling
kernelTimeSlice(sysClkRateGet() / 100); // 1/100th of a second - what each task gets for time slice
//taskDelay(sysClkRateGet() / 2);
// create mutex for sync
m_startSem = semBCreate(SEM_Q_FIFO, SEM_EMPTY);
m_periodSem = semBCreate(SEM_Q_FIFO, SEM_EMPTY);
// start timer tasks
taskSpawn("BHS_Timer_Task", 0, 0, 20000, (FUNCPTR) bhs_MutexRobot::timerTask, (int) this, 0, 0, 0, 0, 0, 0, 0, 0, 0);
}