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HAL_ChibiOS: constrain more timer timeouts

This commit is contained in:
Andrew Tridgell 2022-04-04 09:54:20 +10:00
parent 4c977eb7a0
commit 5ef9c5aaa5
2 changed files with 9 additions and 5 deletions
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3
libraries/AP_HAL_ChibiOS/EventSource.cpp
View File

@ -1,4 +1,5 @@
#include "EventSource.h"
#include <AP_Math/AP_Math.h>
using namespace ChibiOS;
@ -13,7 +14,7 @@ bool EventSource::wait(uint64_t duration, AP_HAL::EventHandle *evt_handle)
if (duration == 0) {
ret = chEvtWaitAnyTimeout(evt_mask, TIME_IMMEDIATE);
} else {
ret = chEvtWaitAnyTimeout(evt_mask, chTimeUS2I(duration));
ret = chEvtWaitAnyTimeout(evt_mask, MAX(CH_CFG_ST_TIMEDELTA, chTimeUS2I(duration)));
}
ch_evt_src_.unregister(&evt_listener);
return ret == MSG_OK;

11
libraries/AP_HAL_ChibiOS/GPIO.cpp
View File

@ -28,6 +28,7 @@
#include <GCS_MAVLink/GCS.h>
#endif
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Math/AP_Math.h>
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
forever. Return true on pin change, false on timeout
block waiting for a pin to change. Return true on pin change, false on timeout
*/
bool GPIO::wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_us)
{
@ -486,8 +486,11 @@ bool GPIO::wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_u
osalSysUnlock();
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,
palcallback_t(nullptr),
nullptr,