From c2e93aa81059f61409b1422440ed565025562b09 Mon Sep 17 00:00:00 2001
From: cwabbott <cwabbott>
Date: Mon, 6 Sep 2010 21:23:02 +0000
Subject: [PATCH] PiOS/win32: Made the process priority "high priority" for
 OpenPilot.exe to help with accurate timing. Also removed some unneeded
 debugging code from tasks.c.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1553 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 .../Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c    | 7 ++++---
 flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/tasks.c  | 3 +--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c b/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
index 99e3d5fb4..e7ebd2740 100644
--- a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
+++ b/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/portable/GCC/Win32/port.c
@@ -234,7 +234,7 @@ static DWORD WINAPI tick_generator(LPVOID lpParameter)
 		before = (float)clock()/CLOCKS_PER_SEC;
 		debug_printf("tick before, %f\n", before);
 		SetWaitableTimer(hTimer, &liDueTime, 0, NULL, NULL, FALSE);
-		if(WaitForMultipleObjects(2, hObjList, TRUE, 1000) == WAIT_TIMEOUT)
+		if(WaitForMultipleObjects(2, hObjList, TRUE, 2000) == WAIT_TIMEOUT)
 		{
 			printf("Tick generator: timed out at WaitForMultipleObjects\n");
 			return 0;
@@ -249,7 +249,7 @@ static DWORD WINAPI tick_generator(LPVOID lpParameter)
 
 		// wait till interrupt handler acknowledges the interrupt (avoids
 		// overruns).
-		if(SignalObjectAndWait(hIsrMutex, hTickAck, 1000, FALSE) == WAIT_TIMEOUT)
+		if(SignalObjectAndWait(hIsrMutex, hTickAck, 2000, FALSE) == WAIT_TIMEOUT)
 		{
 			printf("Tick generator: timed out at SignalObjectAndWait\n");
 			return 0;
@@ -279,6 +279,7 @@ static void create_system_objects(void)
 		DUPLICATE_SAME_ACCESS);
 
 	SetThreadPriority(hIsrDispatcher, THREAD_PRIORITY_BELOW_NORMAL);
+	SetPriorityClass(GetCurrentProcess(), HIGH_PRIORITY_CLASS);
 
 	hIsrMutex = CreateMutex(NULL, FALSE, NULL);
 	hIsrInvoke = CreateEvent(NULL, FALSE, FALSE, NULL);
@@ -352,7 +353,7 @@ portBASE_TYPE xPortStartScheduler( void )
 
 	for(;;)
 	{
-		if(WaitForMultipleObjects(2, hObjList, TRUE, 1000) == WAIT_TIMEOUT)
+		if(WaitForMultipleObjects(2, hObjList, TRUE, 2000) == WAIT_TIMEOUT)
 		{
 			printf("vPortStartScheduler: timed out at WaitForMultipleObjects\n");
 			return 0;
diff --git a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/tasks.c b/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/tasks.c
index 5a32d1b96..ec5699485 100644
--- a/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/tasks.c
+++ b/flight/PiOS.win32/win32/Libraries/FreeRTOS/Source/tasks.c
@@ -1578,7 +1578,6 @@ void vTaskSwitchContext( void )
 	/* Find the highest priority queue that contains ready tasks. */
 	while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
 	{
-		printf("%i is empty\n", (int) uxTopReadyPriority);
 		--uxTopReadyPriority;
 	}
 
@@ -1828,7 +1827,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 		// (depending on kernel settings - around 100 microseconds)
 		// decreases idle thread CPU load from 100 to practically 0
 #ifdef IDLE_SLEEPS
-		Sleep(INFINITE);
+		Sleep(5);
 #endif
 	}
 } /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */