From 74d5b1b841b87e323c1047b18c74cfe7bef6c1a5 Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@galois.com>
Date: Tue, 9 Oct 2012 11:39:39 -0700
Subject: [PATCH] ArduCopter: Provide AP_Semaphore instance for SPI3 bus on
 APM2.

---
 ArduCopter/ArduCopter.pde | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 16510e32cc..a14491bd24 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -172,7 +172,8 @@ APM_RC_APM1 APM_RC;
 // Dataflash
 ////////////////////////////////////////////////////////////////////////////////
 #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
-DataFlash_APM2 DataFlash;
+AP_Semaphore spi3_semaphore;
+DataFlash_APM2 DataFlash(&spi3_semaphore);
 #else
 DataFlash_APM1 DataFlash;
 #endif
@@ -225,7 +226,11 @@ AP_Compass_HMC5843 compass;
  #endif
 
  #ifdef OPTFLOW_ENABLED
-AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
+  #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+AP_OpticalFlow_ADNS3080 optflow(&spi3_semaphore,OPTFLOW_CS_PIN);
+  #else
+AP_OpticalFlow_ADNS3080 optflow(NULL,OPTFLOW_CS_PIN);
+  #endif
  #else
 AP_OpticalFlow optflow;
  #endif