HAL_ChibiOS: added support for HAL_Semaphore type

libraries/AP_HAL_ChibiOS/Semaphores.cpp

@@ -16,6 +16,7 @@
  */
 #include <AP_HAL/AP_HAL.h>
 #include "Semaphores.h"
+#include "AP_HAL_ChibiOS.h"
 
 #if CH_CFG_USE_MUTEXES == TRUE
 
@@ -23,16 +24,28 @@ extern const AP_HAL::HAL& hal;
 
 using namespace ChibiOS;
 
+// constructor
+Semaphore::Semaphore()
+{
+    static_assert(sizeof(_lock) >= sizeof(mutex_t), "invalid mutex size");
+#if CH_CFG_USE_MUTEXES == TRUE
+    mutex_t *mtx = (mutex_t *)_lock;
+    chMtxObjectInit(mtx);
+#endif
+}
+
 bool Semaphore::give()
 {
-    chMtxUnlock(&_lock);
+    mutex_t *mtx = (mutex_t *)_lock;
+    chMtxUnlock(mtx);
     return true;
 }
 
 bool Semaphore::take(uint32_t timeout_ms)
 {
+    mutex_t *mtx = (mutex_t *)_lock;
     if (timeout_ms == HAL_SEMAPHORE_BLOCK_FOREVER) {
-        chMtxLock(&_lock);
+        chMtxLock(mtx);
         return true;
     }
     if (take_nonblocking()) {
@@ -50,7 +63,23 @@ bool Semaphore::take(uint32_t timeout_ms)
 
 bool Semaphore::take_nonblocking()
 {
-    return chMtxTryLock(&_lock);
+    mutex_t *mtx = (mutex_t *)_lock;
+    return chMtxTryLock(mtx);
+}
+
+bool Semaphore::check_owner(void)
+{
+    mutex_t *mtx = (mutex_t *)_lock;
+#if CH_CFG_USE_MUTEXES == TRUE
+    return mtx->owner == chThdGetSelfX();
+#else
+    return true;
+#endif
+}
+
+void Semaphore::assert_owner(void)
+{
+    osalDbgAssert(check_owner(), "owner");
 }
 
 #endif // CH_CFG_USE_MUTEXES

libraries/AP_HAL_ChibiOS/Semaphores.h

@@ -16,31 +16,24 @@
  */
 #pragma once
 
+#include <stdint.h>
 #include <AP_HAL/AP_HAL_Boards.h>
-
-#include "AP_HAL_ChibiOS.h"
-
+#include <AP_HAL/AP_HAL_Macros.h>
+#include <AP_HAL/Semaphores.h>
+#include "AP_HAL_ChibiOS_Namespace.h"
 
 class ChibiOS::Semaphore : public AP_HAL::Semaphore {
 public:
-    Semaphore() {
-#if CH_CFG_USE_MUTEXES == TRUE
-        chMtxObjectInit(&_lock);
-#endif
-    }
-    bool give();
-    bool take(uint32_t timeout_ms);
-    bool take_nonblocking();
-    bool check_owner(void) {
-#if CH_CFG_USE_MUTEXES == TRUE
-        return _lock.owner == chThdGetSelfX();
-#else
-        return true;
-#endif
-    }
-    void assert_owner(void) {
-        osalDbgAssert(check_owner(), "owner");
-    }
+    Semaphore();
+    bool give() override;
+    bool take(uint32_t timeout_ms) override;
+    bool take_nonblocking() override;
+
+    // methods within HAL_ChibiOS only
+    bool check_owner(void);
+    void assert_owner(void);
 private:
-    mutex_t _lock;
+    // to avoid polluting the global namespace with the 'ch' variable,
+    // we declare the lock as a uint64_t, and cast inside the cpp file
+    uint64_t _lock[2];
 };

libraries/AP_HAL_ChibiOS/Util.h

@@ -18,7 +18,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include "AP_HAL_ChibiOS_Namespace.h"
-#include "Semaphores.h"
+#include "AP_HAL_ChibiOS.h"
 
 class ChibiOS::Util : public AP_HAL::Util {
 public:

libraries/AP_HAL_ChibiOS/hwdef/common/chconf.h

@@ -39,6 +39,14 @@
  */
 /*===========================================================================*/
 
+#if !defined(FALSE)
+#define FALSE                               0
+#endif
+
+#if !defined(TRUE)
+#define TRUE                                1
+#endif
+
 #ifdef HAL_CHIBIOS_ENABLE_ASSERTS
 #define CH_DBG_ENABLE_ASSERTS TRUE
 #define CH_DBG_ENABLE_CHECKS TRUE