From d1e50cb0c86608e6e433016ff677c2879b289f7e Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 17 Apr 2023 14:34:22 +1000
Subject: [PATCH] AP_HAL: change to 16 bit timeout in event interface

prevent issues on 16 bit timers where we can end up with TIME_INFINITE
---
 libraries/AP_HAL/EventHandle.cpp | 4 ++--
 libraries/AP_HAL/EventHandle.h   | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_HAL/EventHandle.cpp b/libraries/AP_HAL/EventHandle.cpp
index 001d3386c2..d0dab77d92 100644
--- a/libraries/AP_HAL/EventHandle.cpp
+++ b/libraries/AP_HAL/EventHandle.cpp
@@ -16,12 +16,12 @@ bool AP_HAL::EventHandle::unregister_event(uint32_t evt_mask)
     return true;
 }
 
-bool AP_HAL::EventHandle::wait(uint64_t duration)
+bool AP_HAL::EventHandle::wait(uint16_t duration_us)
 {
     if (evt_src_ == nullptr) {
         return false;
     }
-    return evt_src_->wait(duration, this);
+    return evt_src_->wait(duration_us, this);
 }
 
 bool AP_HAL::EventHandle::set_source(AP_HAL::EventSource* src)
diff --git a/libraries/AP_HAL/EventHandle.h b/libraries/AP_HAL/EventHandle.h
index 3c27d58cb0..c5c676c389 100644
--- a/libraries/AP_HAL/EventHandle.h
+++ b/libraries/AP_HAL/EventHandle.h
@@ -14,7 +14,7 @@ public:
 
 
     // Wait on an Event handle, method for internal use by EventHandle
-    virtual bool wait(uint64_t duration, AP_HAL::EventHandle* evt_handle) = 0;
+    virtual bool wait(uint16_t duration_us, AP_HAL::EventHandle* evt_handle) = 0;
 };
 
 class AP_HAL::EventHandle {
@@ -31,7 +31,7 @@ public:
     virtual bool unregister_event(uint32_t evt_mask);
 
     // return true if event was triggered within the duration
-    virtual bool wait(uint64_t duration);
+    virtual bool wait(uint16_t duration_us);
 
     virtual uint32_t get_evt_mask() const { return evt_mask_; }