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AP_RTC: added get_semaphore()

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This commit is contained in:
Andrew Tridgell 2020-01-04 11:05:51 +11:00
parent 2e1b4cadc2
commit dc3e345a05
2 changed files with 7 additions and 0 deletions
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1
libraries/AP_RTC/AP_RTC.cpp
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@ -63,6 +63,7 @@ void AP_RTC::set_utc_usec(uint64_t time_utc_usec, source_type type)
// can't allow time to go backwards, ever
return;
}
WITH_SEMAPHORE(rsem);
rtc_shift = tmp;

6
libraries/AP_RTC/AP_RTC.h
View File

@ -49,9 +49,15 @@ public:
return _singleton;
}
// allow threads to lock against RTC update
HAL_Semaphore &get_semaphore(void) {
return rsem;
}
private:
static AP_RTC *_singleton;
HAL_Semaphore_Recursive rsem;
source_type rtc_source_type = SOURCE_NONE;
int64_t rtc_shift;