HAL_ChibiOS: allow HAL_Semaphore in the bootloader

2024-01-13 16:29:47 +11:00 · 2024-01-13 16:29:47 +11:00 · 654b70da67
commit 654b70da67
parent 4289a4bb3a
1 changed files with 4 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/Semaphores.cpp
+++ b/libraries/AP_HAL_ChibiOS/Semaphores.cpp
@ -53,6 +53,9 @@ bool Semaphore::take(uint32_t timeout_ms)
    if (take_nonblocking()) {
        return true;
    }
+#ifdef HAL_BOOTLOADER_BUILD
+    return false;
+#else
    uint64_t start = AP_HAL::micros64();
    do {
        hal.scheduler->delay_microseconds(200);
@ -61,6 +64,7 @@ bool Semaphore::take(uint32_t timeout_ms)
        }
    } while ((AP_HAL::micros64() - start) < timeout_ms*1000);
    return false;
+#endif
 }

 bool Semaphore::take_nonblocking()