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