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AP_HAL: allow mutexes in bootloader

This commit is contained in:
Andrew Tridgell 2024-01-17 09:11:26 +11:00
parent 07fee626d9
commit b48a01dbc8
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_HAL/Semaphores.cpp
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@ -12,14 +12,18 @@ WithSemaphore::WithSemaphore(AP_HAL::Semaphore *mtx, uint32_t line) :
WithSemaphore::WithSemaphore(AP_HAL::Semaphore &mtx, uint32_t line) : WithSemaphore::WithSemaphore(AP_HAL::Semaphore &mtx, uint32_t line) :
_mtx(mtx) _mtx(mtx)
{ {
#ifndef HAL_BOOTLOADER_BUILD
bool in_main = hal.scheduler->in_main_thread(); bool in_main = hal.scheduler->in_main_thread();
if (in_main) { if (in_main) {
hal.util->persistent_data.semaphore_line = line; hal.util->persistent_data.semaphore_line = line;
} }
#endif
_mtx.take_blocking(); _mtx.take_blocking();
#ifndef HAL_BOOTLOADER_BUILD
if (in_main) { if (in_main) {
hal.util->persistent_data.semaphore_line = 0; hal.util->persistent_data.semaphore_line = 0;
} }
#endif
} }
WithSemaphore::~WithSemaphore() WithSemaphore::~WithSemaphore()