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hwdef: change HAL_NO_MONITOR_THREAD out for HAL_MONITOR_THREAD_ENABLED

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... and use a default value for peripherals
This commit is contained in:
Peter Barker 2024-04-03 17:02:13 +11:00 committed by Andrew Tridgell
parent 3a834e83c7
commit 90b2a2acaa
47 changed files with 12 additions and 94 deletions
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12
libraries/AP_HAL_ChibiOS/Scheduler.cpp
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@ -64,6 +64,10 @@ using namespace ChibiOS;
#define HAL_RCIN_THREAD_ENABLED 1
#endif
#ifndef HAL_MONITOR_THREAD_ENABLED
#define HAL_MONITOR_THREAD_ENABLED 1
#endif
extern const AP_HAL::HAL& hal;
#ifndef HAL_NO_TIMER_THREAD
THD_WORKING_AREA(_timer_thread_wa, TIMER_THD_WA_SIZE);
@ -80,7 +84,7 @@ THD_WORKING_AREA(_io_thread_wa, IO_THD_WA_SIZE);
#ifndef HAL_USE_EMPTY_STORAGE
THD_WORKING_AREA(_storage_thread_wa, STORAGE_THD_WA_SIZE);
#endif
#ifndef HAL_NO_MONITOR_THREAD
#if HAL_MONITOR_THREAD_ENABLED
THD_WORKING_AREA(_monitor_thread_wa, MONITOR_THD_WA_SIZE);
#endif
@ -100,7 +104,7 @@ void Scheduler::init()
chBSemObjectInit(&_timer_semaphore, false);
chBSemObjectInit(&_io_semaphore, false);
#ifndef HAL_NO_MONITOR_THREAD
#if HAL_MONITOR_THREAD_ENABLED
// setup the monitor thread - this is used to detect software lockups
_monitor_thread_ctx = chThdCreateStatic(_monitor_thread_wa,
sizeof(_monitor_thread_wa),
@ -407,7 +411,7 @@ bool Scheduler::in_expected_delay(void) const
return false;
}
#ifndef HAL_NO_MONITOR_THREAD
#if HAL_MONITOR_THREAD_ENABLED
void Scheduler::_monitor_thread(void *arg)
{
Scheduler *sched = (Scheduler *)arg;
@ -513,7 +517,7 @@ void Scheduler::_monitor_thread(void *arg)
#endif
}
}
#endif // HAL_NO_MONITOR_THREAD
#endif // HAL_MONITOR_THREAD_ENABLED
void Scheduler::_rcin_thread(void *arg)
{

2
libraries/AP_HAL_ChibiOS/hwdef/AR-F407SmartBat/hwdef.dat
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@ -30,8 +30,6 @@ PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW HIGH
CAN_ORDER 1
define HAL_NO_MONITOR_THREAD
# debugger support
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

2
libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef.dat
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@ -32,7 +32,6 @@ MAIN_STACK 0x300
# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0xA00
define HAL_NO_MONITOR_THREAD
# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 512
@ -92,7 +91,6 @@ COMPASS QMC5883L I2C:0:0xd false ROTATION_YAW_180
define HAL_USE_ADC FALSE
# disable unnecessary threads
define HAL_NO_MONITOR_THREAD
define HAL_NO_TIMER_THREAD
# enable LED

2
libraries/AP_HAL_ChibiOS/hwdef/AeroFox-PMU/hwdef.inc
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@ -36,8 +36,6 @@ MAIN_STACK 0x300
# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0xA00
define HAL_NO_MONITOR_THREAD
# setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 512

3
libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat
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@ -89,9 +89,6 @@ PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768
define AP_PARAM_MAX_EMBEDDED_PARAM 0

2
libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat
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@ -90,8 +90,6 @@ PA4 RTK_RESET_N OUTPUT HIGH
# PPS
PA7 PPS INPUT PULLUP
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768
# we setup a small defaults.parm

4
libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
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@ -119,10 +119,6 @@ PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768
# we setup a small defaults.parm

1
libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
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@ -109,7 +109,6 @@ PB1 VSENSE4 ADC1 SCALE(1)
define AP_STATS_ENABLED 1
define HAL_NO_GCS
define HAL_NO_MONITOR_THREAD
define AP_PARAM_MAX_EMBEDDED_PARAM 512

1
libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
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@ -112,7 +112,6 @@ PB1 VSENSE4 ADC1 SCALE(1)
define AP_STATS_ENABLED 1
define HAL_NO_GCS
define HAL_NO_MONITOR_THREAD
define AP_PARAM_MAX_EMBEDDED_PARAM 512

2
libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat
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@ -35,8 +35,6 @@ define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1
define HAL_COMPASS_MAX_SENSORS 1
define HAL_NO_MONITOR_THREAD
define HAL_USE_RTC FALSE
define HAL_BARO_ALLOW_INIT_NO_BARO

2
libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
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@ -32,8 +32,6 @@ define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1
define HAL_COMPASS_MAX_SENSORS 1
define HAL_NO_MONITOR_THREAD
define HAL_USE_RTC FALSE
define HAL_GCS_ENABLED 1

2
libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
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@ -31,8 +31,6 @@ define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1
define HAL_COMPASS_MAX_SENSORS 1
define HAL_NO_MONITOR_THREAD
define HAL_USE_RTC FALSE
define HAL_BARO_ALLOW_INIT_NO_BARO

2
libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat
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@ -23,8 +23,6 @@ define HAL_PERIPH_ENABLE_SERIAL_OPTIONS
define AP_NETWORKING_BACKEND_PPP 1
define HAL_NO_MONITOR_THREAD
define HAL_USE_RTC FALSE
# use amber LED

3
libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
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@ -110,9 +110,6 @@ define DMA_RESERVE_SIZE 0
PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768
# we setup a small defaults.parm

4
libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef.dat
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@ -130,10 +130,6 @@ define HAL_UART_MIN_RX_SIZE 128
define HAL_UART_STACK_SIZE 0x200
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 0x200
define STORAGE_THD_WA_SIZE 512
define IO_THD_WA_SIZE 512

2
libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef-bl.dat
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@ -45,8 +45,6 @@ STM32_VDD 330U
PB8 LED_SCK OUTPUT LOW
PB9 LED_DI OUTPUT HIGH
define HAL_NO_MONITOR_THREAD
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

2
libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat
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@ -45,8 +45,6 @@ STM32_VDD 330U
PB8 LED_SCK OUTPUT LOW
PB9 LED_DI OUTPUT HIGH
define HAL_NO_MONITOR_THREAD
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

3
libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef.dat
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@ -92,9 +92,6 @@ define HAL_USE_ADC FALSE
define STM32_ADC_USE_ADC1 FALSE
define HAL_DISABLE_ADC_DRIVER TRUE
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 0x200
define STORAGE_THD_WA_SIZE 512
define IO_THD_WA_SIZE 512

4
libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat
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@ -101,10 +101,6 @@ define HAL_UART_MIN_RX_SIZE 128
define HAL_UART_STACK_SIZE 0x200
define HAL_NO_MONITOR_THREAD
# only one I2C bus
I2C_ORDER I2C1

2
libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef.dat
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@ -81,8 +81,6 @@ PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768
# we setup a small defaults.parm

2
libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
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@ -109,8 +109,6 @@ PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2
PB14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768
# we setup a small defaults.parm

4
libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat
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@ -126,10 +126,6 @@ PB12 CAN2_RX CAN2
PB13 CAN2_TX CAN2
PA4 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768
# we setup a small defaults.parm

1
libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat
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@ -40,7 +40,6 @@ define HAL_PERIPH_ADSB_PORT_DEFAULT 3
# default ADSB off by setting 0 baudrate
define HAL_PERIPH_ADSB_BAUD_DEFAULT 0
define HAL_NO_MONITOR_THREAD
define HAL_USE_RTC FALSE
define AP_SCRIPTING_ENABLED 0

1
libraries/AP_HAL_ChibiOS/hwdef/MatekL431-BattMon/hwdef.dat
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@ -13,7 +13,6 @@ SPIDEV INA23X SPI1 DEVID1 SPARE_CS MODE1 10*MHZ 10*MHZ
define HAL_USE_ADC FALSE
# disable unnecessary threads
define HAL_NO_MONITOR_THREAD
define HAL_NO_RCOUT_THREAD
define HAL_NO_TIMER_THREAD

1
libraries/AP_HAL_ChibiOS/hwdef/MatekL431-GPS/hwdef.dat
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@ -37,7 +37,6 @@ PB11 USART3_RX USART3 SPEED_HIGH
define HAL_USE_ADC FALSE
# disable unnecessary threads
define HAL_NO_MONITOR_THREAD
define HAL_NO_RCOUT_THREAD
define HAL_NO_TIMER_THREAD
undef HAL_RCIN_THREAD_ENABLED

2
libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef.inc
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@ -38,8 +38,6 @@ MAIN_STACK 0x300
# PROCESS_STACK controls stack for main thread
PROCESS_STACK 0xA00
define HAL_NO_MONITOR_THREAD
# we setup a small defaults.parm
define AP_PARAM_MAX_EMBEDDED_PARAM 512

3
libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat
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@ -87,9 +87,6 @@ define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE
PA4 VSENSE ADC1 SCALE(2)
define HAL_NO_MONITOR_THREAD
define AP_PARAM_MAX_EMBEDDED_PARAM 512
define HAL_PERIPH_ENABLE_GPS

2
libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat
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@ -95,8 +95,6 @@ define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE
PA4 VSENSE ADC1 SCALE(2)
define HAL_NO_MONITOR_THREAD
define AP_PARAM_MAX_EMBEDDED_PARAM 512
define HAL_PERIPH_ENABLE_GPS

2
libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
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@ -24,8 +24,6 @@ define HAL_PERIPH_ENABLE_SERIAL_OPTIONS
define AP_NETWORKING_BACKEND_PPP 1
define HAL_NO_MONITOR_THREAD
define HAL_USE_RTC FALSE
# use blue LED

2
libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat
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@ -35,8 +35,6 @@ define GPS_MAX_RECEIVERS 1
define GPS_MAX_INSTANCES 1
define HAL_COMPASS_MAX_SENSORS 1
define HAL_NO_MONITOR_THREAD
define HAL_USE_RTC FALSE
define HAL_BARO_ALLOW_INIT_NO_BARO

2
libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat
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@ -34,8 +34,6 @@ define HAL_USE_RTC FALSE
define DMA_RESERVE_SIZE 0
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768
# we setup a small defaults.parm

1
libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat
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@ -95,7 +95,6 @@ PA12 CAN1_TX CAN1
# use DNA
define HAL_CAN_DEFAULT_NODE_ID 0
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768
# disable dual GPS and GPS blending to save flash space

1
libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat
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@ -104,7 +104,6 @@ PB8 CAN1_RX CAN1
PB9 CAN1_TX CAN1
PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768
# we setup a small defaults.parm

1
libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef.dat
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@ -92,7 +92,6 @@ define HAL_USE_ADC TRUE
define STM32_ADC_USE_ADC1 TRUE
PA0 VDD_5V_SENS ADC1 SCALE(2)
define HAL_NO_MONITOR_THREAD
define AP_PARAM_MAX_EMBEDDED_PARAM 512
define HAL_PERIPH_ENABLE_MAG

1
libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
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@ -37,7 +37,6 @@ PROCESS_STACK 0xA00
# save memory
define HAL_GCS_ENABLED 0
define HAL_NO_MONITOR_THREAD
define HAL_NO_LOGGING
define HAL_USE_ADC FALSE

1
libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
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@ -68,7 +68,6 @@ define HAL_NO_GPIO_IRQ
define HAL_USE_RTC FALSE
define DMA_RESERVE_SIZE 0
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768

1
libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat
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@ -36,7 +36,6 @@ MAIN_STACK 0x300
PROCESS_STACK 0xA00
# save memory
define HAL_NO_MONITOR_THREAD
define HAL_USE_ADC FALSE
# we setup a small defaults.parm

1
libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNorth/hwdef.dat
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@ -36,7 +36,6 @@ MAIN_STACK 0x300
PROCESS_STACK 0xA00
# save memory
define HAL_NO_MONITOR_THREAD
define HAL_USE_ADC FALSE
# we setup a small defaults.parm

1
libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueSpeed/hwdef.dat
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@ -36,7 +36,6 @@ MAIN_STACK 0x300
PROCESS_STACK 0xA00
# save memory
define HAL_NO_MONITOR_THREAD
define HAL_USE_ADC FALSE
# we setup a small defaults.parm

2
libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat
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@ -87,8 +87,6 @@ define HAL_UART_MIN_RX_SIZE 128
define HAL_UART_STACK_SIZE 256
define STORAGE_THD_WA_SIZE 512
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768
define AP_PARAM_MAX_EMBEDDED_PARAM 0

3
libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
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@ -130,9 +130,6 @@ BARO MS56XX SPI:ms5611
define HAL_BARO_ALLOW_INIT_NO_BARO
define HAL_NO_MONITOR_THREAD
define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO

3
libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc
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@ -98,9 +98,6 @@ define HAL_UART_STACK_SIZE 256
define STORAGE_THD_WA_SIZE 300
define IO_THD_WA_SIZE 300
define HAL_NO_MONITOR_THREAD
# only one I2C bus
I2C_ORDER I2C1

2
libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat
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@ -43,8 +43,6 @@ define HAL_USE_RTC FALSE
define DMA_RESERVE_SIZE 0
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768
# we setup a small defaults.parm

1
libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.inc
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@ -108,7 +108,6 @@ define PORT_INT_REQUIRED_STACK 64
# avoid timer threads to save memory
define HAL_NO_TIMER_THREAD
define HAL_NO_MONITOR_THREAD
define HAL_NO_RCOUT_THREAD # also disables LED thread
define AP_HAL_SHARED_DMA_ENABLED 0

2
libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
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@ -80,8 +80,6 @@ define PORT_INT_REQUIRED_STACK 64
PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
define HAL_NO_MONITOR_THREAD
define AP_PARAM_MAX_EMBEDDED_PARAM 512
# keep ROMFS uncompressed as we don't have enough RAM

2
libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat
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@ -100,8 +100,6 @@ PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1
PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
define HAL_NO_MONITOR_THREAD
define HAL_DEVICE_THREAD_STACK 768
# we setup a small defaults.parm

4
libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
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@ -325,6 +325,10 @@
#define HAL_RCIN_THREAD_ENABLED 0
#endif
#ifndef HAL_MONITOR_THREAD_ENABLED
#define HAL_MONITOR_THREAD_ENABLED 0
#endif
#ifndef HAL_SCHEDULER_LOOP_DELAY_ENABLED
#define HAL_SCHEDULER_LOOP_DELAY_ENABLED 0
#endif