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AP_HAL_ChibiOS: use take_blocking instead of HAL_SEMAPHORE_BLOCK_FOREVER 

this makes for cleaner and smaller code as the failure case is not
needed
This commit is contained in:
Andrew Tridgell 2020-01-19 08:42:33 +11:00
parent 4ee6fb9cdf
commit 0aae8e13c1
3 changed files with 8 additions and 10 deletions
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6
libraries/AP_HAL_ChibiOS/Device.cpp
View File

@ -58,10 +58,8 @@ void DeviceBus::bus_thread(void *arg)
callback->next_usec += callback->period_usec;
}
// call it with semaphore held
if (binfo->semaphore.take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
callback->cb();
binfo->semaphore.give();
}
WITH_SEMAPHORE(binfo->semaphore);
callback->cb();
}
}

10
libraries/AP_HAL_ChibiOS/RCInput.cpp
View File

@ -90,7 +90,7 @@ uint16_t RCInput::read(uint8_t channel)
if (!_init || (channel >= MIN(RC_INPUT_MAX_CHANNELS, _num_channels))) {
return 0;
}
rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
rcin_mutex.take_blocking();
uint16_t v = _rc_values[channel];
rcin_mutex.give();
#if HAL_RCINPUT_WITH_AP_RADIO
@ -145,7 +145,7 @@ void RCInput::_timer_tick(void)
#endif
if (AP::RC().new_input()) {
rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
rcin_mutex.take_blocking();
_rcin_timestamp_last_signal = AP_HAL::micros();
_num_channels = AP::RC().num_channels();
_num_channels = MIN(_num_channels, RC_INPUT_MAX_CHANNELS);
@ -163,7 +163,7 @@ void RCInput::_timer_tick(void)
#if HAL_RCINPUT_WITH_AP_RADIO
if (radio && radio->last_recv_us() != last_radio_us) {
last_radio_us = radio->last_recv_us();
rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
rcin_mutex.take_blocking();
_rcin_timestamp_last_signal = last_radio_us;
_num_channels = radio->num_channels();
_num_channels = MIN(_num_channels, RC_INPUT_MAX_CHANNELS);
@ -175,7 +175,7 @@ void RCInput::_timer_tick(void)
#endif
#if HAL_WITH_IO_MCU
rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
rcin_mutex.take_blocking();
if (AP_BoardConfig::io_enabled() &&
iomcu.check_rcinput(last_iomcu_us, _num_channels, _rc_values, RC_INPUT_MAX_CHANNELS)) {
_rcin_timestamp_last_signal = last_iomcu_us;
@ -204,7 +204,7 @@ void RCInput::_timer_tick(void)
bool RCInput::rc_bind(int dsmMode)
{
#if HAL_WITH_IO_MCU
rcin_mutex.take(HAL_SEMAPHORE_BLOCK_FOREVER);
rcin_mutex.take_blocking();
if (AP_BoardConfig::io_enabled()) {
iomcu.bind_dsm(dsmMode);
}

2
libraries/AP_HAL_ChibiOS/SPIDevice.cpp
View File

@ -220,7 +220,7 @@ bool SPIDevice::clock_pulse(uint32_t n)
{
if (!cs_forced) {
//special mode to init sdcard without cs asserted
bus.semaphore.take(HAL_SEMAPHORE_BLOCK_FOREVER);
bus.semaphore.take_blocking();
acquire_bus(true, true);
spiIgnore(spi_devices[device_desc.bus].driver, n);
acquire_bus(false, true);