mirror of https://github.com/ArduPilot/ardupilot
36 lines
1.1 KiB
C++
36 lines
1.1 KiB
C++
/*
|
|
* This file is free software: you can redistribute it and/or modify it
|
|
* under the terms of the GNU General Public License as published by the
|
|
* Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This file is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
|
* See the GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
* Code by Andrew Tridgell and Siddharth Bharat Purohit
|
|
*/
|
|
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL_Boards.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
|
#include "AP_HAL_ChibiOS.h"
|
|
|
|
class ChibiOS::Semaphore : public AP_HAL::Semaphore {
|
|
public:
|
|
Semaphore() {
|
|
chMtxObjectInit(&_lock);
|
|
}
|
|
bool give();
|
|
bool take(uint32_t timeout_ms);
|
|
bool take_nonblocking();
|
|
private:
|
|
mutex_t _lock;
|
|
};
|
|
#endif // CONFIG_HAL_BOARD
|