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HAL_ChibiOS: added IRQ save/restore to hal.scheduler

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these are used by RPM driver
This commit is contained in:
Andrew Tridgell 2018-03-28 19:49:51 +11:00
parent d2075b4b67
commit 51c40a013b
2 changed files with 30 additions and 0 deletions
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18
libraries/AP_HAL_ChibiOS/Scheduler.cpp
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@ -416,4 +416,22 @@ void Scheduler::system_initialized()
_initialized = true; _initialized = true;
} }
/*
disable interrupts and return a context that can be used to
restore the interrupt state. This can be used to protect
critical regions
*/
void *Scheduler::disable_interrupts_save(void)
{
return (void *)(uintptr_t)chSysGetStatusAndLockX();
}
/*
restore interrupt state from disable_interrupts_save()
*/
void Scheduler::restore_interrupts(void *state)
{
chSysRestoreStatusX((syssts_t)(uintptr_t)state);
}
#endif #endif

12
libraries/AP_HAL_ChibiOS/Scheduler.h
View File

@ -75,6 +75,18 @@ public:
void hal_initialized() { _hal_initialized = true; } void hal_initialized() { _hal_initialized = true; }
bool check_called_boost(void); bool check_called_boost(void);
/*
disable interrupts and return a context that can be used to
restore the interrupt state. This can be used to protect
critical regions
*/
void *disable_interrupts_save(void) override;
/*
restore interrupt state from disable_interrupts_save()
*/
void restore_interrupts(void *) override;
private: private:
bool _initialized; bool _initialized;