AP_HAL_ChibiOS: add semaphore to AnalogIn::channel to make it thread safe

4 years ago · 7c96522e44
2 changed files with 2 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
+++ b/libraries/AP_HAL_ChibiOS/AnalogIn.cpp
@ -357,6 +357,7 @@ void AnalogIn::_timer_tick(void)
				@@ -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);
--- a/libraries/AP_HAL_ChibiOS/AnalogIn.h
+++ b/libraries/AP_HAL_ChibiOS/AnalogIn.h
@ -88,6 +88,7 @@ private:
				@@ -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