From 68be63bc50dbe3b27b3d60ef14147136bc9bed24 Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Sun, 11 Jul 2010 21:42:59 +0000
Subject: [PATCH] Conditional signaling now works on linux

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1075 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 .../GCC/Posix/peabody124/port-pthread_cond.c         | 12 ++++++++++--
 .../FreeRTOS/Source/portable/GCC/Posix/port.c        |  2 +-
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/peabody124/port-pthread_cond.c b/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/peabody124/port-pthread_cond.c
index a337ce468..8eab3b367 100644
--- a/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/peabody124/port-pthread_cond.c
+++ b/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/peabody124/port-pthread_cond.c
@@ -76,7 +76,7 @@
 #define MAX_NUMBER_OF_TASKS 		( _POSIX_THREAD_THREADS_MAX )
 /*-----------------------------------------------------------*/
 
-#ifndef __DARWIN__ 
+#ifdef __APPLE__ 
 	#define COND_SIGNALING  
 	#define CHECK_TASK_RESUMES
 	#define RUNNING_THREAD_MUTEX
@@ -86,6 +86,13 @@
 	#define COND_SIGNALING  
 	#define CHECK_TASK_RESUMES
 #endif
+#ifdef __linux__
+	#define COND_SIGNALING
+//	#define CHECK_TASK_RESUMES
+	#define RUNNING_THREAD_MUTEX
+	#define TICK_SIGNAL
+#endif
+
 
 /* Parameters to pass to the newly created pthread. */
 typedef struct XPARAMS
@@ -385,7 +392,7 @@ portLONG lIndex;
 	struct sigaction sigtick;	
 	sigtick.sa_flags = 0;
 	sigtick.sa_handler = vPortSystemTickHandler;
-	sigemptyset( &sigtick.sa_mask );	
+	sigfillset( &sigtick.sa_mask );	
 	assert ( 0 == sigaction( SIG_TICK, &sigtick, NULL ) );
 	
 	/* Set-up the timer interrupt. */
@@ -529,6 +536,7 @@ tskTCB * oldTask, * newTask;
 			pthread_sigmask( SIG_SETMASK, &xSignals, NULL);
 			return;
 		}
+		sched_yield();
 		retVal = pthread_mutex_trylock( &xSwappingThreadMutex );
 	}
 
diff --git a/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c b/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
index 5b5f6b38b..8eab3b367 100644
--- a/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
+++ b/flight/PiOS.posix/posix/Libraries/FreeRTOS/Source/portable/GCC/Posix/port.c
@@ -87,7 +87,7 @@
 	#define CHECK_TASK_RESUMES
 #endif
 #ifdef __linux__
-//	#define COND_SIGNALING
+	#define COND_SIGNALING
 //	#define CHECK_TASK_RESUMES
 	#define RUNNING_THREAD_MUTEX
 	#define TICK_SIGNAL