From 7c96522e44dafcfc22e03123e40ce9398b63ca2f Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 5 Feb 2021 13:18:04 +0000
Subject: [PATCH] AP_HAL_ChibiOS: add semaphore to AnalogIn::channel to make it
 thread safe

---
 libraries/AP_HAL_ChibiOS/AnalogIn.cpp | 1 +
 libraries/AP_HAL_ChibiOS/AnalogIn.h   | 1 +
 2 files changed, 2 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/AnalogIn.cpp b/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
index c4ce8e1595..a8031c74a2 100644
--- a/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
+++ b/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
@@ -357,6 +357,7 @@ void AnalogIn::_timer_tick(void)
 
 AP_HAL::AnalogSource* AnalogIn::channel(int16_t pin)
 {
+    WITH_SEMAPHORE(_semaphore);
     for (uint8_t j=0; j<ANALOG_MAX_CHANNELS; j++) {
         if (_channels[j] == nullptr) {
             _channels[j] = new AnalogSource(pin);
diff --git a/libraries/AP_HAL_ChibiOS/AnalogIn.h b/libraries/AP_HAL_ChibiOS/AnalogIn.h
index 437f8bdeee..29a58137be 100644
--- a/libraries/AP_HAL_ChibiOS/AnalogIn.h
+++ b/libraries/AP_HAL_ChibiOS/AnalogIn.h
@@ -88,6 +88,7 @@ private:
     static adcsample_t *samples;
     static uint32_t sample_sum[];
     static uint32_t sample_count;
+    HAL_Semaphore _semaphore;
 };
 
 #endif // HAL_USE_ADC