From 0e29bcc4ab192f6744c8e24f6eccb7d78eb5e054 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 7 Jul 2018 10:39:24 +1000
Subject: [PATCH] AP_IOMCU: use thread_create() API

---
 libraries/AP_IOMCU/AP_IOMCU.cpp | 19 +++----------------
 libraries/AP_IOMCU/AP_IOMCU.h   |  1 -
 2 files changed, 3 insertions(+), 17 deletions(-)

diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp
index 42fb3a50bc..b13829a35d 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.cpp
+++ b/libraries/AP_IOMCU/AP_IOMCU.cpp
@@ -133,26 +133,13 @@ void AP_IOMCU::init(void)
     if (!boardconfig || boardconfig->io_enabled() == 1) {
         check_crc();
     }
-        
-    thread_ctx = chThdCreateFromHeap(NULL,
-                                     THD_WORKING_AREA_SIZE(1024),
-                                     "IOMCU",
-                                     183,
-                                     thread_start,
-                                     this);
-    if (thread_ctx == nullptr) {
+
+    if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_IOMCU::thread_main, void), "IOMCU",
+                                      1024, AP_HAL::Scheduler::PRIORITY_BOOST, 1)) {
         AP_HAL::panic("Unable to allocate IOMCU thread");
     }
 }
 
-/*
-  static function to enter thread_main()
- */
-void AP_IOMCU::thread_start(void *ctx)
-{
-    ((AP_IOMCU *)ctx)->thread_main();
-}
-
 /*
   handle event failure
  */
diff --git a/libraries/AP_IOMCU/AP_IOMCU.h b/libraries/AP_IOMCU/AP_IOMCU.h
index 1f21c9eb84..69c76df29b 100644
--- a/libraries/AP_IOMCU/AP_IOMCU.h
+++ b/libraries/AP_IOMCU/AP_IOMCU.h
@@ -87,7 +87,6 @@ public:
 private:
     AP_HAL::UARTDriver &uart;
 
-    static void thread_start(void *ctx);
     void thread_main(void);
 
     // read count 16 bit registers