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[chibios] correctly protect access to sys_time struct for usec and msec functions

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This commit is contained in:
Gautier Hattenberger
2016-09-23 18:36:21 +02:00
parent 8d820e4aab
commit 514418b478
1 changed files with 16 additions and 6 deletions
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sw/airborne/arch/chibios/mcu_periph/sys_time_arch.c
+16 -6
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@@ -37,6 +37,8 @@
#include <ch.h>
#include "led.h"
static MUTEX_DECL(sys_time_mtx);
/*
* Sys_tick handler thread
*/
@@ -65,16 +67,22 @@ void sys_time_arch_init(void)
*/
uint32_t get_sys_time_usec(void)
{
return sys_time.nb_sec * 1000000 +
usec_of_sys_time_ticks(sys_time.nb_sec_rem) +
usec_of_sys_time_ticks(chVTGetSystemTime() - sys_time.nb_tick);
chMtxLock(&sys_time_mtx);
uint32_t t = sys_time.nb_sec * 1000000 +
usec_of_sys_time_ticks(sys_time.nb_sec_rem) +
usec_of_sys_time_ticks(chVTGetSystemTime() - sys_time.nb_tick);
chMtxUnlock(&sys_time_mtx);
return t;
}
uint32_t get_sys_time_msec(void)
{
return sys_time.nb_sec * 1000 +
msec_of_sys_time_ticks(sys_time.nb_sec_rem) +
msec_of_sys_time_ticks(chVTGetSystemTime() - sys_time.nb_tick);
chMtxLock(&sys_time_mtx);
uint32_t t = sys_time.nb_sec * 1000 +
msec_of_sys_time_ticks(sys_time.nb_sec_rem) +
msec_of_sys_time_ticks(chVTGetSystemTime() - sys_time.nb_tick);
chMtxUnlock(&sys_time_mtx);
return t;
}
/**
@@ -117,6 +125,7 @@ static __attribute__((noreturn)) void thd_sys_tick(void *arg)
static void sys_tick_handler(void)
{
chMtxLock(&sys_time_mtx);
/* current time in sys_ticks */
sys_time.nb_tick = chVTGetSystemTime();
/* max time is 2^32 / CH_CFG_ST_FREQUENCY, i.e. around 10 days at 10kHz */
@@ -141,5 +150,6 @@ static void sys_tick_handler(void)
}
}
}
chMtxUnlock(&sys_time_mtx);
}