From a9fbe106c95ea66b87e4aeef9097af0ce35ba823 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 12 Oct 2018 10:35:32 +1100
Subject: [PATCH] HAL_PX4: removed hal.util->new_semaphore()

replaced with HAL_Semaphore
---
 libraries/AP_HAL_PX4/AnalogIn.cpp | 74 +++++++++++++++----------------
 libraries/AP_HAL_PX4/AnalogIn.h   |  2 +-
 libraries/AP_HAL_PX4/Util.h       |  3 --
 3 files changed, 36 insertions(+), 43 deletions(-)

diff --git a/libraries/AP_HAL_PX4/AnalogIn.cpp b/libraries/AP_HAL_PX4/AnalogIn.cpp
index 597441ff34..f7ebf12211 100644
--- a/libraries/AP_HAL_PX4/AnalogIn.cpp
+++ b/libraries/AP_HAL_PX4/AnalogIn.cpp
@@ -17,6 +17,7 @@
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <errno.h>
 #include "GPIO.h"
+#include <AP_Common/Semaphore.h>
 
 #define ANLOGIN_DEBUGGING 0
 
@@ -79,7 +80,6 @@ PX4AnalogSource::PX4AnalogSource(int16_t pin, float initial_value) :
     _sum_value(0),
     _sum_ratiometric(0)
 {
-    _semaphore = hal.util->new_semaphore();
 #ifdef PX4_ANALOG_VCC_5V_PIN
     if (_pin == ANALOG_INPUT_BOARD_VCC) {
         _pin = PX4_ANALOG_VCC_5V_PIN;
@@ -94,19 +94,17 @@ void PX4AnalogSource::set_stop_pin(uint8_t p)
 
 float PX4AnalogSource::read_average() 
 {
-    if (_semaphore->take(1)) {
-        if (_sum_count == 0) {
-            _semaphore->give();
-            return _value;
-        }
-        _value = _sum_value / _sum_count;
-        _value_ratiometric = _sum_ratiometric / _sum_count;
-        _sum_value = 0;
-        _sum_ratiometric = 0;
-        _sum_count = 0;
-        _semaphore->give();
+    WITH_SEMAPHORE(_semaphore);
+
+    if (_sum_count == 0) {
         return _value;
     }
+    _value = _sum_value / _sum_count;
+    _value_ratiometric = _sum_ratiometric / _sum_count;
+    _sum_value = 0;
+    _sum_ratiometric = 0;
+    _sum_count = 0;
+
     return _value;
 }
 
@@ -162,16 +160,15 @@ void PX4AnalogSource::set_pin(uint8_t pin)
     if (_pin == pin) {
         return;
     }
-    if (_semaphore->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
-        _pin = pin;
-        _sum_value = 0;
-        _sum_ratiometric = 0;
-        _sum_count = 0;
-        _latest_value = 0;
-        _value = 0;
-        _value_ratiometric = 0;
-        _semaphore->give();
-    }
+
+    WITH_SEMAPHORE(_semaphore);
+    _pin = pin;
+    _sum_value = 0;
+    _sum_ratiometric = 0;
+    _sum_count = 0;
+    _latest_value = 0;
+    _value = 0;
+    _value_ratiometric = 0;
 }
 
 /*
@@ -179,23 +176,22 @@ void PX4AnalogSource::set_pin(uint8_t pin)
  */
 void PX4AnalogSource::_add_value(float v, float vcc5V)
 {
-    if (_semaphore->take(1)) {
-        _latest_value = v;
-        _sum_value += v;
-        if (vcc5V < 3.0f) {
-            _sum_ratiometric += v;
-        } else {
-            // this compensates for changes in the 5V rail relative to the
-            // 3.3V reference used by the ADC.
-            _sum_ratiometric += v * 5.0f / vcc5V;
-        }
-        _sum_count++;
-        if (_sum_count == 254) {
-            _sum_value /= 2;
-            _sum_ratiometric /= 2;
-            _sum_count /= 2;
-        }
-        _semaphore->give();
+    WITH_SEMAPHORE(_semaphore);
+
+    _latest_value = v;
+    _sum_value += v;
+    if (vcc5V < 3.0f) {
+        _sum_ratiometric += v;
+    } else {
+        // this compensates for changes in the 5V rail relative to the
+        // 3.3V reference used by the ADC.
+        _sum_ratiometric += v * 5.0f / vcc5V;
+    }
+    _sum_count++;
+    if (_sum_count == 254) {
+        _sum_value /= 2;
+        _sum_ratiometric /= 2;
+        _sum_count /= 2;
     }
 }
 
diff --git a/libraries/AP_HAL_PX4/AnalogIn.h b/libraries/AP_HAL_PX4/AnalogIn.h
index 47f7be5127..084696435b 100644
--- a/libraries/AP_HAL_PX4/AnalogIn.h
+++ b/libraries/AP_HAL_PX4/AnalogIn.h
@@ -47,7 +47,7 @@ private:
     float _sum_ratiometric;
     void _add_value(float v, float vcc5V);
     float _pin_scaler();
-    AP_HAL::Semaphore *_semaphore;
+    HAL_Semaphore _semaphore;
 };
 
 class PX4::PX4AnalogIn : public AP_HAL::AnalogIn {
diff --git a/libraries/AP_HAL_PX4/Util.h b/libraries/AP_HAL_PX4/Util.h
index 0425419276..0c9857524d 100644
--- a/libraries/AP_HAL_PX4/Util.h
+++ b/libraries/AP_HAL_PX4/Util.h
@@ -50,9 +50,6 @@ public:
     void perf_end(perf_counter_t) override;
     void perf_count(perf_counter_t) override;
     
-    // create a new semaphore
-    AP_HAL::Semaphore *new_semaphore(void) override { return new PX4::Semaphore; }
-
     void set_imu_temp(float current) override;
     void set_imu_target_temp(int8_t *target) override;