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HAL_ChibiOS: allow for no RCIN or TIMER thread

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saves memory on iomcu
This commit is contained in:
Andrew Tridgell 2018-10-06 10:32:00 +10:00
parent 4674a1c68d
commit 15141a6a5a
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_HAL_ChibiOS/Scheduler.cpp
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@ -39,8 +39,12 @@
using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
#ifndef HAL_NO_TIMER_THREAD
THD_WORKING_AREA(_timer_thread_wa, TIMER_THD_WA_SIZE);
#endif
#ifndef HAL_NO_RCIN_THREAD
THD_WORKING_AREA(_rcin_thread_wa, RCIN_THD_WA_SIZE);
#endif
#ifndef HAL_USE_EMPTY_IO
THD_WORKING_AREA(_io_thread_wa, IO_THD_WA_SIZE);
#endif
@ -55,19 +59,24 @@ void Scheduler::init()
{
chBSemObjectInit(&_timer_semaphore, false);
chBSemObjectInit(&_io_semaphore, false);
#ifndef HAL_NO_TIMER_THREAD
// setup the timer thread - this will call tasks at 1kHz
_timer_thread_ctx = chThdCreateStatic(_timer_thread_wa,
sizeof(_timer_thread_wa),
APM_TIMER_PRIORITY, /* Initial priority. */
_timer_thread, /* Thread function. */
this); /* Thread parameter. */
#endif
#ifndef HAL_NO_RCIN_THREAD
// setup the RCIN thread - this will call tasks at 1kHz
_rcin_thread_ctx = chThdCreateStatic(_rcin_thread_wa,
sizeof(_rcin_thread_wa),
APM_RCIN_PRIORITY, /* Initial priority. */
_rcin_thread, /* Thread function. */
this); /* Thread parameter. */
#endif
#ifndef HAL_USE_EMPTY_IO
// the IO thread runs at lower priority
_io_thread_ctx = chThdCreateStatic(_io_thread_wa,