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Fixed STM32 Event

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This commit is contained in:
Pavel Kirienko
2014-04-05 16:34:37 +04:00
parent db334f9fab
commit 54606e494a
1 changed files with 7 additions and 3 deletions
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libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
+7 -3
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@@ -13,14 +13,18 @@ namespace uavcan_stm32
*/ */
bool Event::wait(uavcan::MonotonicDuration duration) bool Event::wait(uavcan::MonotonicDuration duration)
{ {
static const uavcan::int64_t MaxDelayMSec = 0x000FFFFF;
const uavcan::int64_t msec = duration.toMSec();
msg_t ret = msg_t(); msg_t ret = msg_t();
if (!duration.isPositive())
if (msec <= 0)
{ {
sem_.waitTimeout(TIME_IMMEDIATE); ret = sem_.waitTimeout(TIME_IMMEDIATE);
} }
else else
{ {
sem_.waitTimeout(MS2ST(duration.toMSec())); ret = sem_.waitTimeout((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
} }
return ret == RDY_OK; return ret == RDY_OK;
} }