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34 lines
922 B
34 lines
922 B
#include "EventSource.h" |
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#include <AP_Math/AP_Math.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, MAX(CH_CFG_ST_TIMEDELTA, 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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