AP_HAL_SMACCM: Update to new semaphore interface.

- Renamed files to match AVR HAL.

libraries/AP_HAL_SMACCM/AP_HAL_SMACCM_Private.h

@@ -15,7 +15,7 @@
 #include "GPIO.h"
 #include "RCInput.h"
 #include "RCOutput.h"
-#include "Semaphore.h"
+#include "Semaphores.h"
 #include "Scheduler.h"
 #include "Util.h"
 #include "PrivateMember.h"

libraries/AP_HAL_SMACCM/SPIDriver.cpp

@@ -24,6 +24,7 @@ SMACCMSPIDeviceDriver::SMACCMSPIDeviceDriver(spi_bus *bus, spi_device *device)
 
 void SMACCMSPIDeviceDriver::init()
 {
+  _semaphore.init();
 }
 
 AP_HAL::Semaphore* SMACCMSPIDeviceDriver::get_semaphore()
@@ -88,6 +89,7 @@ void SMACCMSPIDeviceManager::init(void *)
   spi_init(spi1);
 
   spi_device_init(&g_mpu6000_spi_dev);
+  g_mpu6000_dev.init();
 }
 
 AP_HAL::SPIDeviceDriver* SMACCMSPIDeviceManager::device(AP_HAL::SPIDevice dev)

libraries/AP_HAL_SMACCM/SPIDriver.h

@@ -12,7 +12,7 @@
 #define __AP_HAL_SMACCM_SPIDRIVER_H__
 
 #include <AP_HAL_SMACCM.h>
-#include "Semaphore.h"
+#include "Semaphores.h"
 
 #include <hwf4/spi.h>
 

libraries/AP_HAL_SMACCM/Semaphore.cpp

@@ -1,40 +0,0 @@
-
-#include "Semaphore.h"
-
-using namespace SMACCM;
-
-SMACCMSemaphore::SMACCMSemaphore() :
-    _owner(NULL),
-    _k(NULL)
-{}
-
-
-bool SMACCMSemaphore::get(void* owner) {
-    if (_owner == NULL) {
-        _owner = owner;
-        return true;
-    } else {
-        return false;
-    }
-}
-
-bool SMACCMSemaphore::release(void* owner) {
-    if (_owner == NULL || _owner != owner) {
-        return false;
-    } else {
-        _owner = NULL;
-        if (_k){
-            _k();
-            _k = NULL;
-        }
-        return true;
-    }
-}
-
-bool SMACCMSemaphore::call_on_release(void* caller, AP_HAL::Proc k) {
-    /* idk what semantics randy was looking for here, honestly.
-     * seems like a bad idea. */
-    _k = k;
-    return true;
-}
-

libraries/AP_HAL_SMACCM/Semaphore.h

@@ -1,22 +0,0 @@
-
-#ifndef __AP_HAL_SMACCM_SEMAPHORE_H__
-#define __AP_HAL_SMACCM_SEMAPHORE_H__
-
-#include <AP_HAL_SMACCM.h>
-
-class SMACCM::SMACCMSemaphore : public AP_HAL::Semaphore {
-public:
-    SMACCMSemaphore();
-    // get - to claim ownership of the semaphore
-    bool get(void* owner);
-    // release - to give up ownership of the semaphore
-    bool release(void* owner);
-    // call_on_release - returns true if caller successfully added to the
-    // queue to be called back
-    bool call_on_release(void* caller, AP_HAL::Proc k);
-private:
-    void* _owner;
-    AP_HAL::Proc _k;
-};
-
-#endif // __AP_HAL_SMACCM_SEMAPHORE_H__

libraries/AP_HAL_SMACCM/Semaphores.cpp

@@ -0,0 +1,36 @@
+
+#include "Semaphores.h"
+
+using namespace SMACCM;
+
+SMACCMSemaphore::SMACCMSemaphore()
+  : m_semaphore(NULL)
+{
+}
+
+void SMACCMSemaphore::init()
+{
+  m_semaphore = xSemaphoreCreateMutex();
+}
+
+bool SMACCMSemaphore::take(uint32_t timeout_ms)
+{
+  portTickType delay;
+
+  if (timeout_ms == HAL_SEMAPHORE_BLOCK_FOREVER)
+    delay = portMAX_DELAY;
+  else
+    delay = timeout_ms / portTICK_RATE_MS;
+
+  return xSemaphoreTake(m_semaphore, delay);
+}
+
+bool SMACCMSemaphore::take_nonblocking()
+{
+  return xSemaphoreTake(m_semaphore, 0);
+}
+
+bool SMACCMSemaphore::give()
+{
+  return xSemaphoreGive(m_semaphore);
+}

libraries/AP_HAL_SMACCM/Semaphores.h

@@ -0,0 +1,22 @@
+
+#ifndef __AP_HAL_SMACCM_SEMAPHORE_H__
+#define __AP_HAL_SMACCM_SEMAPHORE_H__
+
+#include <AP_HAL_SMACCM.h>
+#include <FreeRTOS.h>
+#include <semphr.h>
+
+class SMACCM::SMACCMSemaphore : public AP_HAL::Semaphore {
+public:
+    SMACCMSemaphore();
+
+    void init();
+    virtual bool take(uint32_t timeout_ms);
+    virtual bool take_nonblocking();
+    virtual bool give();
+
+private:
+    xSemaphoreHandle m_semaphore;
+};
+
+#endif // __AP_HAL_SMACCM_SEMAPHORE_H__