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Merge pull request #129 from ArduPilot/pr-usec-wait

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stm32: allow for less than 1ms wait time on ChibiOS
This commit is contained in:
Pavel Kirienko
2018-05-26 12:40:30 +03:00
committed by GitHub
parent c759e54b3a a4754d19ec
commit 8bb62cdbcc
1 changed files with 7 additions and 6 deletions
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libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
+7 -6
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@@ -17,12 +17,13 @@ namespace uavcan_stm32
*/ */
bool BusEvent::wait(uavcan::MonotonicDuration duration) bool BusEvent::wait(uavcan::MonotonicDuration duration)
{ {
static const uavcan::int64_t MaxDelayMSec = 0x000FFFFF; // set maximum time to allow for 16 bit timers running at 1MHz
static const uavcan::int64_t MaxDelayUSec = 0x000FFFF;
const uavcan::int64_t msec = duration.toMSec(); const uavcan::int64_t usec = duration.toUSec();
msg_t ret = msg_t(); msg_t ret = msg_t();
if (msec <= 0) if (usec <= 0)
{ {
# if (CH_KERNEL_MAJOR == 2) # if (CH_KERNEL_MAJOR == 2)
ret = sem_.waitTimeout(TIME_IMMEDIATE); ret = sem_.waitTimeout(TIME_IMMEDIATE);
@@ -33,11 +34,11 @@ bool BusEvent::wait(uavcan::MonotonicDuration duration)
else else
{ {
# if (CH_KERNEL_MAJOR == 2) # if (CH_KERNEL_MAJOR == 2)
ret = sem_.waitTimeout((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec)); ret = sem_.waitTimeout((usec > MaxDelayUSec) ? US2ST(MaxDelayUSec) : US2ST(usec));
# elif defined(MS2ST) // ChibiOS 3+ # elif defined(MS2ST) // ChibiOS 3+
ret = sem_.wait((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec)); ret = sem_.wait((usec > MaxDelayUSec) ? US2ST(MaxDelayUSec) : US2ST(usec));
# else // ChibiOS 17+ # else // ChibiOS 17+
ret = sem_.wait(::systime_t((msec > MaxDelayMSec) ? TIME_MS2I(MaxDelayMSec) : TIME_MS2I(msec))); ret = sem_.wait(::systime_t((usec > MaxDelayUSec) ? TIME_US2I(MaxDelayUSec) : TIME_US2I(usec)));
# endif # endif
} }
# if (CH_KERNEL_MAJOR == 2) # if (CH_KERNEL_MAJOR == 2)