From 0aae8e13c113b49f1764d15c9c54544b2afe83f2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 19 Jan 2020 08:42:33 +1100
Subject: [PATCH] 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
---
 libraries/AP_HAL_ChibiOS/Device.cpp    |  6 ++----
 libraries/AP_HAL_ChibiOS/RCInput.cpp   | 10 +++++-----
 libraries/AP_HAL_ChibiOS/SPIDevice.cpp |  2 +-
 3 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/Device.cpp b/libraries/AP_HAL_ChibiOS/Device.cpp
index e14f1efb9e..7a0171ac38 100644
--- a/libraries/AP_HAL_ChibiOS/Device.cpp
+++ b/libraries/AP_HAL_ChibiOS/Device.cpp
@@ -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();
             }
         }
 
diff --git a/libraries/AP_HAL_ChibiOS/RCInput.cpp b/libraries/AP_HAL_ChibiOS/RCInput.cpp
index d06964ecba..114fca9173 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCInput.cpp
@@ -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);
     }
diff --git a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
index 338d0ccdfb..14d88da32d 100644
--- a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
@@ -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);