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AP_HAL_ChibiOS: add semaphore to AnalogIn::channel to make it thread safe

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Iampete1 2021-02-05 13:18:04 +00:00 committed by Andrew Tridgell
parent f2c2e8c1eb
commit 7c96522e44
2 changed files with 2 additions and 0 deletions
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1
libraries/AP_HAL_ChibiOS/AnalogIn.cpp
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@ -357,6 +357,7 @@ void AnalogIn::_timer_tick(void)
AP_HAL::AnalogSource* AnalogIn::channel(int16_t pin)
{
WITH_SEMAPHORE(_semaphore);
for (uint8_t j=0; j<ANALOG_MAX_CHANNELS; j++) {
if (_channels[j] == nullptr) {
_channels[j] = new AnalogSource(pin);

1
libraries/AP_HAL_ChibiOS/AnalogIn.h
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@ -88,6 +88,7 @@ private:
static adcsample_t *samples;
static uint32_t sample_sum[];
static uint32_t sample_count;
HAL_Semaphore _semaphore;
};
#endif // HAL_USE_ADC