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HAL_Linux: removed hal.util->new_semaphore()

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replaced with HAL_Semaphore
This commit is contained in:
Andrew Tridgell 2018-10-12 10:35:32 +11:00
parent 5924816bbe
commit 63556b9804
3 changed files with 24 additions and 29 deletions
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48
libraries/AP_HAL_Linux/AnalogIn_IIO.cpp
View File

@ -1,6 +1,7 @@
#include "AnalogIn_IIO.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/Semaphore.h>
extern const AP_HAL::HAL &hal;
@ -23,7 +24,6 @@ AnalogSource_IIO::AnalogSource_IIO(int16_t pin, float initial_value, float volta
_sum_count(0),
_pin_fd(-1)
{
_semaphore = hal.util->new_semaphore();
init_pins();
select_pin();
}
@ -51,16 +51,16 @@ void AnalogSource_IIO::select_pin(void)
float AnalogSource_IIO::read_average()
{
read_latest();
if (_semaphore->take(1)) {
if (_sum_count == 0) {
_semaphore->give();
return _value;
}
_value = _sum_value / _sum_count;
_sum_value = 0;
_sum_count = 0;
_semaphore->give();
WITH_SEMAPHORE(_semaphore);
if (_sum_count == 0) {
return _value;
}
_value = _sum_value / _sum_count;
_sum_value = 0;
_sum_count = 0;
return _value;
}
@ -78,12 +78,11 @@ float AnalogSource_IIO::read_latest()
_latest = 0;
return 0;
}
if (_semaphore->take(1)) {
_latest = atoi(sbuf) * _voltage_scaling;
_sum_value += _latest;
_sum_count++;
_semaphore->give();
}
WITH_SEMAPHORE(_semaphore);
_latest = atoi(sbuf) * _voltage_scaling;
_sum_value += _latest;
_sum_count++;
return _latest;
}
@ -106,15 +105,14 @@ void AnalogSource_IIO::set_pin(uint8_t pin)
return;
}
if (_semaphore->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
_pin = pin;
_sum_value = 0;
_sum_count = 0;
_latest = 0;
_value = 0;
select_pin();
_semaphore->give();
}
WITH_SEMAPHORE(_semaphore);
_pin = pin;
_sum_value = 0;
_sum_count = 0;
_latest = 0;
_value = 0;
select_pin();
}
void AnalogSource_IIO::set_stop_pin(uint8_t p)

2
libraries/AP_HAL_Linux/AnalogIn_IIO.h
View File

@ -42,7 +42,7 @@ private:
int16_t _pin;
int _pin_fd;
int fd_analog_sources[IIO_ANALOG_IN_COUNT];
AP_HAL::Semaphore *_semaphore;
HAL_Semaphore _semaphore;
void init_pins(void);
void select_pin(void);

3
libraries/AP_HAL_Linux/Util.h
View File

@ -90,9 +90,6 @@ public:
return Perf::get_instance()->count(perf);
}
// create a new semaphore
AP_HAL::Semaphore *new_semaphore(void) override { return new Semaphore; }
int get_hw_arm32();
bool toneAlarm_init() override { return _toneAlarm.init(); }