mirror of https://github.com/ArduPilot/ardupilot
HAL_ChibiOS: allocate threads from any heap
this fixes a failure on MatekF405-Wing where it fails to allocate the SPI thread for the IMU
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1191b59b08
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@ -114,12 +114,14 @@ AP_HAL::Device::PeriodicHandle DeviceBus::register_periodic_callback(uint32_t pe
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break;
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}
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thread_ctx = chThdCreateFromHeap(NULL,
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THD_WORKING_AREA_SIZE(1024),
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name,
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thread_priority, /* Initial priority. */
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DeviceBus::bus_thread, /* Thread function. */
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this); /* Thread parameter. */
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thread_ctx = thread_create_alloc(THD_WORKING_AREA_SIZE(1024),
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name,
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thread_priority, /* Initial priority. */
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DeviceBus::bus_thread, /* Thread function. */
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this); /* Thread parameter. */
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if (thread_ctx == nullptr) {
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AP_HAL::panic("Failed to create bus thread %s", name);
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}
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}
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DeviceBus::callback_info *callback = new DeviceBus::callback_info;
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if (callback == nullptr) {
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@ -460,8 +460,7 @@ bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_
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break;
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}
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}
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thread_t *thread_ctx = chThdCreateFromHeap(NULL,
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THD_WORKING_AREA_SIZE(stack_size),
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thread_t *thread_ctx = thread_create_alloc(THD_WORKING_AREA_SIZE(stack_size),
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name,
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thread_priority,
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thread_create_trampoline,
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@ -101,8 +101,7 @@ void UARTDriver::thread_init(void)
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return;
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}
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#if CH_CFG_USE_HEAP == TRUE
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uart_thread_ctx = chThdCreateFromHeap(NULL,
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THD_WORKING_AREA_SIZE(2048),
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uart_thread_ctx = thread_create_alloc(THD_WORKING_AREA_SIZE(2048),
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"apm_uart",
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APM_UART_PRIORITY,
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uart_thread,
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@ -224,6 +224,31 @@ size_t mem_available(void)
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return totalp;
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}
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/*
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allocate a thread on any available heap
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*/
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thread_t *thread_create_alloc(size_t size,
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const char *name, tprio_t prio,
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tfunc_t pf, void *arg)
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{
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thread_t *ret;
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// first try default heap
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ret = chThdCreateFromHeap(NULL, size, name, prio, pf, arg);
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if (ret != NULL) {
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return ret;
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}
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// now try other heaps
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uint8_t i;
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for (i=1; i<NUM_MEMORY_REGIONS; i++) {
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ret = chThdCreateFromHeap(&heaps[i], size, name, prio, pf, arg);
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if (ret != NULL) {
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return ret;
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}
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}
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return NULL;
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}
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#endif // CH_CFG_USE_HEAP
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@ -32,6 +32,7 @@ void show_stack_usage(void);
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size_t mem_available(void);
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void *malloc_dma(size_t size);
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void *malloc_fastmem(size_t size);
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thread_t *thread_create_alloc(size_t size, const char *name, tprio_t prio, tfunc_t pf, void *arg);
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// flush all dcache
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void memory_flush_all(void);
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