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39 lines
1.3 KiB
39 lines
1.3 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* Code by Andrew Tridgell and Siddharth Bharat Purohit |
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*/ |
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#pragma once |
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#include <stdint.h> |
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#include <AP_HAL/AP_HAL_Boards.h> |
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#include <AP_HAL/AP_HAL_Macros.h> |
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#include <AP_HAL/Semaphores.h> |
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#include "AP_HAL_ChibiOS_Namespace.h" |
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class ChibiOS::Semaphore : public AP_HAL::Semaphore { |
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public: |
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Semaphore(); |
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virtual bool give() override; |
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virtual bool take(uint32_t timeout_ms) override; |
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virtual bool take_nonblocking() override; |
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// methods within HAL_ChibiOS only |
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bool check_owner(void); |
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void assert_owner(void); |
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protected: |
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// to avoid polluting the global namespace with the 'ch' variable, |
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// we declare the lock as a uint32_t array, and cast inside the cpp file |
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uint32_t _lock[5]; |
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};
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