mirror of https://github.com/ArduPilot/ardupilot
41 lines
684 B
C++
41 lines
684 B
C++
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#include "Semaphores.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
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using namespace SMACCM;
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SMACCMSemaphore::SMACCMSemaphore()
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: m_semaphore(NULL)
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{
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}
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void SMACCMSemaphore::init()
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{
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m_semaphore = xSemaphoreCreateMutex();
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}
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bool SMACCMSemaphore::take(uint32_t timeout_ms)
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{
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portTickType delay;
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if (timeout_ms == HAL_SEMAPHORE_BLOCK_FOREVER)
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delay = portMAX_DELAY;
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else
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delay = timeout_ms / portTICK_RATE_MS;
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return xSemaphoreTake(m_semaphore, delay);
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}
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bool SMACCMSemaphore::take_nonblocking()
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{
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return xSemaphoreTake(m_semaphore, 0);
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}
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bool SMACCMSemaphore::give()
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{
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return xSemaphoreGive(m_semaphore);
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
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