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AP_HAL_ChibiOS: split out a calculate_thread_priority method

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Peter Barker 2021-03-18 13:10:29 +11:00 committed by Andrew Tridgell
parent 8b278b52b3
commit cfacb5d34d
2 changed files with 23 additions and 11 deletions
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30
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -626,18 +626,9 @@ void Scheduler::thread_create_trampoline(void *ctx)
free(t);
}
/*
create a new thread
*/
bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_t stack_size, priority_base base, int8_t priority)
// calculates an integer to be used as the priority for a newly-created thread
uint8_t Scheduler::calculate_thread_priority(priority_base base, int8_t priority) const
{
// take a copy of the MemberProc, it is freed after thread exits
AP_HAL::MemberProc *tproc = (AP_HAL::MemberProc *)malloc(sizeof(proc));
if (!tproc) {
return false;
}
*tproc = proc;
uint8_t thread_priority = APM_IO_PRIORITY;
static const struct {
priority_base base;
@ -662,6 +653,23 @@ bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_
break;
}
}
return thread_priority;
}
/*
create a new thread
*/
bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_t stack_size, priority_base base, int8_t priority)
{
// take a copy of the MemberProc, it is freed after thread exits
AP_HAL::MemberProc *tproc = (AP_HAL::MemberProc *)malloc(sizeof(proc));
if (!tproc) {
return false;
}
*tproc = proc;
const uint8_t thread_priority = calculate_thread_priority(base, priority);
thread_t *thread_ctx = thread_create_alloc(THD_WORKING_AREA_SIZE(stack_size),
name,
thread_priority,

4
libraries/AP_HAL_ChibiOS/Scheduler.h
View File

@ -170,6 +170,10 @@ private:
binary_semaphore_t _timer_semaphore;
binary_semaphore_t _io_semaphore;
#endif
// calculates an integer to be used as the priority for a newly-created thread
uint8_t calculate_thread_priority(priority_base base, int8_t priority) const;
static void _timer_thread(void *arg);
static void _rcout_thread(void *arg);
static void _rcin_thread(void *arg);