From d8fd590a3f4a7c534c3f3dbcd7b119bf4a20ce54 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 3 Nov 2018 17:27:10 +1100
Subject: [PATCH] AP_IOMCU: fixed a race in event trigger on startup

this fixes the issue with initial safety option state, and with
initial safety mask
---
 libraries/AP_IOMCU/AP_IOMCU.cpp | 4 ++++
 libraries/AP_IOMCU/AP_IOMCU.h   | 2 ++
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp
index 9c0fc62cec..94dd0b3d7b 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.cpp
+++ b/libraries/AP_IOMCU/AP_IOMCU.cpp
@@ -156,6 +156,7 @@ void AP_IOMCU::event_failed(uint8_t event)
 void AP_IOMCU::thread_main(void)
 {
     thread_ctx = chThdGetSelfX();
+    chEvtSignal(thread_ctx, initial_event_mask);
 
     uart.begin(1500*1000, 256, 256);
     uart.set_blocking_writes(false);
@@ -526,6 +527,9 @@ void AP_IOMCU::trigger_event(uint8_t event)
 {
     if (thread_ctx != nullptr) {
         chEvtSignal(thread_ctx, EVENT_MASK(event));
+    } else {
+        // thread isn't started yet, trigger this event once it is started
+        initial_event_mask |= EVENT_MASK(event);
     }
 }
 
diff --git a/libraries/AP_IOMCU/AP_IOMCU.h b/libraries/AP_IOMCU/AP_IOMCU.h
index 11058c4779..205fc04bc3 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.h
+++ b/libraries/AP_IOMCU/AP_IOMCU.h
@@ -109,6 +109,8 @@ private:
     // IOMCU thread
     thread_t *thread_ctx;
 
+    eventmask_t initial_event_mask;
+
     // time when we last read various pages
     uint32_t last_status_read_ms;
     uint32_t last_rc_read_ms;