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HAL_ChibiOS: use blocking semaphore for new_input()

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this prevents a race where we continually fail to get new input
This commit is contained in:
Andrew Tridgell 2020-01-30 08:25:24 +11:00
parent 05f095f338
commit c8395bb2c1
1 changed files with 6 additions and 7 deletions
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13
libraries/AP_HAL_ChibiOS/RCInput.cpp
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@ -73,13 +73,12 @@ bool RCInput::new_input()
if (!_init) { if (!_init) {
return false; return false;
} }
if (!rcin_mutex.take_nonblocking()) { bool valid;
return false; {
} WITH_SEMAPHORE(rcin_mutex);
bool valid = _rcin_timestamp_last_signal != _last_read; valid = _rcin_timestamp_last_signal != _last_read;
_last_read = _rcin_timestamp_last_signal; _last_read = _rcin_timestamp_last_signal;
rcin_mutex.give(); }
#if HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
if (!_radio_init) { if (!_radio_init) {
@ -134,7 +133,7 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
memcpy(periods, _rc_values, len*sizeof(periods[0])); memcpy(periods, _rc_values, len*sizeof(periods[0]));
} }
#if HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
if (radio && channel == 0) { if (radio) {
// hook to allow for update of radio on main thread, for mavlink sends // hook to allow for update of radio on main thread, for mavlink sends
radio->update(); radio->update();
} }