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HAL_ChibiOS: use recursive mutex for RCInput

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This commit is contained in:
Andrew Tridgell 2020-01-31 11:20:40 +11:00 committed by Randy Mackay
parent 50a6d63101
commit b5435d6a24
2 changed files with 6 additions and 7 deletions
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11
libraries/AP_HAL_ChibiOS/RCInput.cpp
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@ -73,13 +73,12 @@ bool RCInput::new_input()
if (!_init) {
return false;
}
if (!rcin_mutex.take_nonblocking()) {
return false;
bool valid;
{
WITH_SEMAPHORE(rcin_mutex);
valid = _rcin_timestamp_last_signal != _last_read;
_last_read = _rcin_timestamp_last_signal;
}
bool valid = _rcin_timestamp_last_signal != _last_read;
_last_read = _rcin_timestamp_last_signal;
rcin_mutex.give();
#if HAL_RCINPUT_WITH_AP_RADIO
if (!_radio_init) {

2
libraries/AP_HAL_ChibiOS/RCInput.h
View File

@ -63,7 +63,7 @@ private:
uint64_t _last_read;
uint8_t _num_channels;
Semaphore rcin_mutex;
HAL_Semaphore_Recursive rcin_mutex;
int16_t _rssi = -1;
uint32_t _rcin_timestamp_last_signal;
bool _init;