ardupilot/libraries/AP_HAL_ChibiOS/EventSource.cpp

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#include "EventSource.h"
#include <AP_Math/AP_Math.h>
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using namespace ChibiOS;
#if CH_CFG_USE_EVENTS == TRUE
bool EventSource::wait(uint64_t duration, AP_HAL::EventHandle *evt_handle)
{
chibios_rt::EventListener evt_listener;
eventmask_t evt_mask = evt_handle->get_evt_mask();
msg_t ret = msg_t();
ch_evt_src_.registerMask(&evt_listener, evt_mask);
if (duration == 0) {
ret = chEvtWaitAnyTimeout(evt_mask, TIME_IMMEDIATE);
} else {
ret = chEvtWaitAnyTimeout(evt_mask, MAX(CH_CFG_ST_TIMEDELTA, chTimeUS2I(duration)));
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}
ch_evt_src_.unregister(&evt_listener);
return ret == MSG_OK;
}
void EventSource::signal(uint32_t evt_mask)
{
ch_evt_src_.broadcastFlags(evt_mask);
}
__RAMFUNC__ void EventSource::signalI(uint32_t evt_mask)
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{
chSysLockFromISR();
ch_evt_src_.broadcastFlagsI(evt_mask);
chSysUnlockFromISR();
}
#endif //#if CH_CFG_USE_EVENTS == TRUE