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HAL_ChibiOS: constrain more timer timeouts

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This commit is contained in:
Andrew Tridgell 2022-04-04 09:54:20 +10:00 committed by Randy Mackay
parent ce1fc5406c
commit 0c2041d415
2 changed files with 9 additions and 5 deletions
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3
libraries/AP_HAL_ChibiOS/EventSource.cpp
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@ -1,4 +1,5 @@
#include "EventSource.h" #include "EventSource.h"
#include <AP_Math/AP_Math.h>
using namespace ChibiOS; using namespace ChibiOS;
@ -13,7 +14,7 @@ bool EventSource::wait(uint64_t duration, AP_HAL::EventHandle *evt_handle)
if (duration == 0) { if (duration == 0) {
ret = chEvtWaitAnyTimeout(evt_mask, TIME_IMMEDIATE); ret = chEvtWaitAnyTimeout(evt_mask, TIME_IMMEDIATE);
} else { } else {
ret = chEvtWaitAnyTimeout(evt_mask, chTimeUS2I(duration)); ret = chEvtWaitAnyTimeout(evt_mask, MAX(CH_CFG_ST_TIMEDELTA, chTimeUS2I(duration)));
} }
ch_evt_src_.unregister(&evt_listener); ch_evt_src_.unregister(&evt_listener);
return ret == MSG_OK; return ret == MSG_OK;

9
libraries/AP_HAL_ChibiOS/GPIO.cpp
View File

@ -28,6 +28,7 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#endif #endif
#include <AP_Vehicle/AP_Vehicle_Type.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Math/AP_Math.h>
using namespace ChibiOS; using namespace ChibiOS;
@ -462,8 +463,7 @@ static void pal_interrupt_wait(void *arg)
} }
/* /*
block waiting for a pin to change. A timeout of 0 means wait block waiting for a pin to change. Return true on pin change, false on timeout
forever. Return true on pin change, false on timeout
*/ */
bool GPIO::wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_us) bool GPIO::wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_us)
{ {
@ -487,7 +487,10 @@ bool GPIO::wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_u
return false; return false;
} }
msg_t msg = osalThreadSuspendTimeoutS(&g->thd_wait, TIME_US2I(timeout_us)); // don't allow for very long timeouts, or below the delta
timeout_us = constrain_uint32(TIME_US2I(timeout_us), CH_CFG_ST_TIMEDELTA, TIME_US2I(30000U));
msg_t msg = osalThreadSuspendTimeoutS(&g->thd_wait, timeout_us);
_attach_interruptI(g->pal_line, _attach_interruptI(g->pal_line,
palcallback_t(nullptr), palcallback_t(nullptr),
nullptr, nullptr,