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AP_HAL_ChibiOS: change to 16 bit timeout in event interface

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prevent issues on 16 bit timers where we can end up with TIME_INFINITE
This commit is contained in:
Andrew Tridgell 2023-04-17 14:12:25 +10:00
parent 7088286ebf
commit 86b6f3a2c6
4 changed files with 7 additions and 5 deletions
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7
libraries/AP_HAL_ChibiOS/EventSource.cpp
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@ -5,16 +5,17 @@ using namespace ChibiOS;
#if CH_CFG_USE_EVENTS == TRUE
bool EventSource::wait(uint64_t duration, AP_HAL::EventHandle *evt_handle)
bool EventSource::wait(uint16_t duration_us, 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) {
if (duration_us == 0) {
ret = chEvtWaitAnyTimeout(evt_mask, TIME_IMMEDIATE);
} else {
ret = chEvtWaitAnyTimeout(evt_mask, MAX(CH_CFG_ST_TIMEDELTA, chTimeUS2I(duration)));
const sysinterval_t wait_us = MIN(TIME_MAX_INTERVAL, MAX(CH_CFG_ST_TIMEDELTA, chTimeUS2I(duration_us)));
ret = chEvtWaitAnyTimeout(evt_mask, wait_us);
}
ch_evt_src_.unregister(&evt_listener);
return ret == MSG_OK;

2
libraries/AP_HAL_ChibiOS/EventSource.h
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@ -21,6 +21,6 @@ public:
void signalI(uint32_t evt_mask) override;
// Wait on an Event handle, method for internal use by EventHandle
bool wait(uint64_t duration, AP_HAL::EventHandle* evt_handle) override;
bool wait(uint16_t duration_us, AP_HAL::EventHandle* evt_handle) override;
};
#endif //#if CH_CFG_USE_EVENTS == TRUE

2
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -255,7 +255,7 @@ void RCOutput::dshot_collect_dma_locks(uint64_t time_out_us)
const uint32_t max_delay_us = _dshot_period_us;
const uint32_t min_delay_us = 10; // matches our CH_CFG_ST_TIMEDELTA
wait_us = constrain_uint32(wait_us, min_delay_us, max_delay_us);
mask = chEvtWaitOneTimeout(group.dshot_event_mask, chTimeUS2I(wait_us));
mask = chEvtWaitOneTimeout(group.dshot_event_mask, MIN(TIME_MAX_INTERVAL, chTimeUS2I(wait_us)));
// no time left cancel and restart
if (!mask) {

1
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -153,6 +153,7 @@ void Scheduler::delay_microseconds(uint16_t usec)
// calling with ticks == 0 causes a hard fault on ChibiOS
ticks = 1;
}
ticks = MIN(TIME_MAX_INTERVAL, ticks);
chThdSleep(MAX(ticks,CH_CFG_ST_TIMEDELTA)); //Suspends Thread for desired microseconds
}