void Scheduler::_io_thread(void* arg)
{
Scheduler *sched = (Scheduler *)arg;
chRegSetThreadName("apm_io");
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
}
uint32_t last_sd_start_ms = AP_HAL::millis();
while (true) {
sched->delay_microseconds(1000);
// run registered IO processes
sched->_run_io();
if (!hal.util->get_soft_armed()) {
// if sdcard hasn't mounted then retry it every 3s in the IO
// thread when disarmed
uint32_t now = AP_HAL::millis();
if (now - last_sd_start_ms > 3000) {
last_sd_start_ms = now;
sdcard_retry();
}
}
}
}
void Scheduler::_io_thread(void* arg)
{
Scheduler *sched = (Scheduler *)arg;
chRegSetThreadName("apm_io");
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
}
while (true) {
sched->delay_microseconds(1000);
// run registered IO processes
sched->_run_io();
}
}
void *Scheduler::_io_thread(void *arg)
{
Scheduler *sched = (Scheduler *)arg;
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
}
while (true) {
sched->delay_microseconds(1000);
// run registered IO processes
sched->_run_io();
}
return nullptr;
}