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HAL_ChibiOS: fixed a bug in wait_timeout() on UARTs

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wait_timeout() could return true on a read of less bytes than are
expected.
This commit is contained in:
Andrew Tridgell 2019-08-13 17:56:26 +10:00
parent eb9e5df0dd
commit afc8a70ce4
1 changed files with 11 additions and 7 deletions
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18
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
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@ -647,14 +647,18 @@ size_t UARTDriver::write_locked(const uint8_t *buffer, size_t size, uint32_t key
*/ */
bool UARTDriver::wait_timeout(uint16_t n, uint32_t timeout_ms) bool UARTDriver::wait_timeout(uint16_t n, uint32_t timeout_ms)
{ {
chEvtGetAndClearEvents(EVT_DATA); uint32_t t0 = AP_HAL::millis();
if (available() >= n) { while (available() < n) {
return true; chEvtGetAndClearEvents(EVT_DATA);
_wait.n = n;
_wait.thread_ctx = chThdGetSelfX();
uint32_t now = AP_HAL::millis();
if (now - t0 >= timeout_ms) {
break;
}
chEvtWaitAnyTimeout(EVT_DATA, chTimeMS2I(timeout_ms - (now - t0)));
} }
_wait.n = n; return available() >= n;
_wait.thread_ctx = chThdGetSelfX();
eventmask_t mask = chEvtWaitAnyTimeout(EVT_DATA, chTimeMS2I(timeout_ms));
return (mask & EVT_DATA) != 0;
} }
/* /*