mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
34 lines
855 B
C++
34 lines
855 B
C++
#include "EventSource.h"
|
|
|
|
using namespace ChibiOS;
|
|
|
|
#if CH_CFG_USE_EVENTS == TRUE
|
|
|
|
bool EventSource::wait(uint64_t duration, AP_HAL::EventHandle *evt_handle)
|
|
{
|
|
chibios_rt::EventListener evt_listener;
|
|
eventmask_t evt_mask = evt_handle->get_evt_mask();
|
|
msg_t ret = msg_t();
|
|
ch_evt_src_.registerMask(&evt_listener, evt_mask);
|
|
if (duration == 0) {
|
|
ret = chEvtWaitAnyTimeout(evt_mask, TIME_IMMEDIATE);
|
|
} else {
|
|
ret = chEvtWaitAnyTimeout(evt_mask, chTimeUS2I(duration));
|
|
}
|
|
ch_evt_src_.unregister(&evt_listener);
|
|
return ret == MSG_OK;
|
|
}
|
|
|
|
void EventSource::signal(uint32_t evt_mask)
|
|
{
|
|
ch_evt_src_.broadcastFlags(evt_mask);
|
|
}
|
|
|
|
void EventSource::signalI(uint32_t evt_mask)
|
|
{
|
|
chSysLockFromISR();
|
|
ch_evt_src_.broadcastFlagsI(evt_mask);
|
|
chSysUnlockFromISR();
|
|
}
|
|
#endif //#if CH_CFG_USE_EVENTS == TRUE
|