mirror of https://github.com/ArduPilot/ardupilot
64 lines
1.3 KiB
C
64 lines
1.3 KiB
C
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_F4Light_Namespace.h"
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#include <exti.h>
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#include "Config.h"
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#ifdef SEM_DEBUG
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#define SEM_LOG_SIZE 500
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enum Sem_OP {
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Sem_Give,
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Sem_Take,
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Sem_Take_Nonblocking
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};
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class F4Light::Semaphore;
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typedef struct SEM_LOG {
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uint32_t time;
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F4Light::Semaphore *sem;
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void * task;
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enum Sem_OP op;
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bool result;
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} Sem_Log;
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Sem_Log sem_log[SEM_LOG_SIZE];
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#endif
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class F4Light::Semaphore : public AP_HAL::Semaphore {
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public: // interface
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Semaphore();
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bool give();
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bool take(uint32_t timeout_ms);
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bool take_nonblocking();
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//[ functions that called by scheduler only in SVC level so need not to disable interrupts
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bool svc_give();
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bool svc_take(uint32_t timeout_ms);
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bool svc_take_nonblocking();
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inline void *get_owner() { return _task; } // task that owns this semaphore
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inline bool is_taken() { return _taken; }
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inline bool is_waiting() { return _is_waiting; } // does anyone want this semaphore when it was busy?
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//]
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#ifdef SEM_DEBUG
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static Sem_Log sem_log[SEM_LOG_SIZE];
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static uint16_t sem_log_ptr;
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#endif
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protected:
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bool _take_from_mainloop(uint32_t timeout_ms);
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bool _take_nonblocking();
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bool _give();
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volatile bool _taken;
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void * _task; // owner
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bool _is_waiting;
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};
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