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ensure calls to timer_read from interrupts are safe

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David Hoelscher 2024-10-25 18:15:19 -05:00
parent 22e6a8d15e
commit 1b6d41c398
1 changed files with 2 additions and 2 deletions
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4
platforms/chibios/timer.c
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@ -78,7 +78,7 @@ uint16_t timer_read(void) {
}
uint32_t timer_read32(void) {
chSysLock();
syssts_t sts = chSysGetStatusAndLockX();
uint32_t ticks = get_system_time_ticks() - ticks_offset;
if (ticks < last_ticks) {
// The 32-bit tick counter overflowed and wrapped around. We cannot just extend the counter to 64 bits here,
@ -93,7 +93,7 @@ uint32_t timer_read32(void) {
}
last_ticks = ticks;
uint32_t ms_offset_copy = ms_offset; // read while still holding the lock to ensure a consistent value
chSysUnlock();
chSysRestoreStatusX(sts);
return (uint32_t)TIME_I2MS(ticks) + ms_offset_copy;
}