mirror of https://github.com/ArduPilot/ardupilot
95 lines
2.4 KiB
C++
95 lines
2.4 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Flymaple port by Mike McCauley
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#include "Semaphores.h"
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using namespace AP_HAL_FLYMAPLE_NS;
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#include "AP_HAL_FLYMAPLE.h"
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#include "Semaphores.h"
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#include "Scheduler.h"
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#include "FlymapleWirish.h"
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extern const AP_HAL::HAL& hal;
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// Constructor
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FLYMAPLESemaphore::FLYMAPLESemaphore() : _taken(false) {}
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bool FLYMAPLESemaphore::give() {
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if (!_taken) {
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return false;
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} else {
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_taken = false;
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return true;
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}
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}
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bool FLYMAPLESemaphore::take(uint32_t timeout_ms) {
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if (hal.scheduler->in_timerprocess()) {
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AP_HAL::panic("PANIC: FLYMAPLESemaphore::take used from "
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"inside timer process");
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return false; /* Never reached - panic does not return */
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}
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return _take_from_mainloop(timeout_ms);
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}
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bool FLYMAPLESemaphore::take_nonblocking() {
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if (hal.scheduler->in_timerprocess()) {
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return _take_nonblocking();
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} else {
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return _take_from_mainloop(0);
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}
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}
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bool FLYMAPLESemaphore::_take_from_mainloop(uint32_t timeout_ms) {
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/* Try to take immediately */
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if (_take_nonblocking()) {
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return true;
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} else if (timeout_ms == 0) {
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/* Return immediately if timeout is 0 */
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return false;
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}
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do {
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/* Delay 1ms until we can successfully take, or we timed out */
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hal.scheduler->delay(1);
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timeout_ms--;
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if (_take_nonblocking()) {
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return true;
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}
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} while (timeout_ms > 0);
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return false;
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}
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bool FLYMAPLESemaphore::_take_nonblocking() {
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bool result = false;
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noInterrupts();
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if (!_taken) {
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_taken = true;
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result = true;
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}
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interrupts();
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return result;
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}
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#endif
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