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HAL_ChibiOS: continue main_loop branching from main instead of allocating a separate thread

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This commit is contained in:
Siddharth Purohit 2018-08-29 18:41:48 +05:30 committed by Andrew Tridgell
parent 56afc44c56
commit 0f07480faf
1 changed files with 9 additions and 8 deletions
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17
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
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@ -142,10 +142,16 @@ thread_t* get_main_thread()
}
static AP_HAL::HAL::Callbacks* g_callbacks;
static THD_FUNCTION(main_loop,arg)
static void main_loop()
{
daemon_task = chThdGetSelfX();
/*
switch to high priority for main loop
*/
chThdSetPriority(APM_MAIN_PRIORITY);
#ifdef HAL_I2C_CLEAR_BUS
// Clear all I2C Buses. This can be needed on some boards which
// can get a stuck I2C peripheral on boot
@ -237,13 +243,8 @@ void HAL_ChibiOS::run(int argc, char * const argv[], Callbacks* callbacks) const
assert(callbacks);
g_callbacks = callbacks;
void *main_thread_wa = hal.util->malloc_type(THD_WORKING_AREA_SIZE(APM_MAIN_THREAD_STACK_SIZE), AP_HAL::Util::MEM_FAST);
chThdCreateStatic(main_thread_wa,
APM_MAIN_THREAD_STACK_SIZE,
APM_MAIN_PRIORITY, /* Initial priority. */
main_loop, /* Thread function. */
nullptr); /* Thread parameter. */
chThdExit(0);
//Takeover main
main_loop();
}
const AP_HAL::HAL& AP_HAL::get_HAL() {