HAL_PX4: removed hal.util->new_semaphore()

replaced with HAL_Semaphore

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;
@@ -94,9 +94,9 @@ void PX4AnalogSource::set_stop_pin(uint8_t p)
 
 float PX4AnalogSource::read_average() 
 {
-    if (_semaphore->take(1)) {
+    WITH_SEMAPHORE(_semaphore);
+
     if (_sum_count == 0) {
-            _semaphore->give();
         return _value;
     }
     _value = _sum_value / _sum_count;
@@ -104,9 +104,7 @@ float PX4AnalogSource::read_average()
     _sum_value = 0;
     _sum_ratiometric = 0;
     _sum_count = 0;
-        _semaphore->give();
-        return _value;
-    }
+
     return _value;
 }
 
@@ -162,7 +160,8 @@ void PX4AnalogSource::set_pin(uint8_t pin)
     if (_pin == pin) {
         return;
     }
-    if (_semaphore->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
+
+    WITH_SEMAPHORE(_semaphore);
     _pin = pin;
     _sum_value = 0;
     _sum_ratiometric = 0;
@@ -170,8 +169,6 @@ void PX4AnalogSource::set_pin(uint8_t pin)
     _latest_value = 0;
     _value = 0;
     _value_ratiometric = 0;
-        _semaphore->give();
-    }
 }
 
 /*
@@ -179,7 +176,8 @@ void PX4AnalogSource::set_pin(uint8_t pin)
  */
 void PX4AnalogSource::_add_value(float v, float vcc5V)
 {
-    if (_semaphore->take(1)) {
+    WITH_SEMAPHORE(_semaphore);
+
     _latest_value = v;
     _sum_value += v;
     if (vcc5V < 3.0f) {
@@ -195,8 +193,6 @@ void PX4AnalogSource::_add_value(float v, float vcc5V)
         _sum_ratiometric /= 2;
         _sum_count /= 2;
     }
-        _semaphore->give();
-    }
 }
 
 

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 {

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;