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Keep ChibiOS 2 compatibility, fix ISR names for ChibiOS 3.

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This commit is contained in:
Michael Spieler
2015-09-08 18:32:49 +02:00
parent 3efd9bdfd0
commit a767b77de2
4 changed files with 49 additions and 4 deletions
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libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
+22
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@@ -23,13 +23,25 @@ bool BusEvent::wait(uavcan::MonotonicDuration duration)
if (msec <= 0)
{
# if (CH_KERNEL_MAJOR == 2)
ret = sem_.waitTimeout(TIME_IMMEDIATE);
# else // ChibiOS 3
ret = sem_.wait(TIME_IMMEDIATE);
# endif
}
else
{
# if (CH_KERNEL_MAJOR == 2)
ret = sem_.waitTimeout((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
# else // ChibiOS 3
ret = sem_.wait((msec > MaxDelayMSec) ? MS2ST(MaxDelayMSec) : MS2ST(msec));
# endif
}
# if (CH_KERNEL_MAJOR == 2)
return ret == RDY_OK;
# else // ChibiOS 3
return ret == MSG_OK;
# endif
}
void BusEvent::signal()
@@ -39,9 +51,15 @@ void BusEvent::signal()
void BusEvent::signalFromInterrupt()
{
# if (CH_KERNEL_MAJOR == 2)
chSysLockFromIsr();
sem_.signalI();
chSysUnlockFromIsr();
# else // ChibiOS 3
chSysLockFromISR();
sem_.signalI();
chSysUnlockFromISR();
# endif
}
/*
@@ -49,7 +67,11 @@ void BusEvent::signalFromInterrupt()
*/
void Mutex::lock()
{
# if (CH_KERNEL_MAJOR == 2)
chibios_rt::BaseThread::unlockMutex();
# else // ChibiOS 3
mtx_.lock();
# endif
}
void Mutex::unlock()