From 1b6d41c398a223ab87d7ad5de5be7f04518892e4 Mon Sep 17 00:00:00 2001
From: David Hoelscher <infinityis@users.noreply.github.com>
Date: Fri, 25 Oct 2024 18:15:19 -0500
Subject: [PATCH] ensure calls to timer_read from interrupts are safe

---
 platforms/chibios/timer.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/platforms/chibios/timer.c b/platforms/chibios/timer.c
index 5e01ea63724..fdfc6e38ede 100644
--- a/platforms/chibios/timer.c
+++ b/platforms/chibios/timer.c
@@ -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;
 }