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AP_HAL_ChibiOS: Scheduler: clean up expected delay functions #28972

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merged 2 commits into from
Dec 31, 2024
Merged

AP_HAL_ChibiOS: Scheduler: clean up expected delay functions #28972

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7bf19ac
Revert "HAL_ChibiOS: expect a long delay on flash page erase"
tpwrules Dec 30, 2024
0ad1df2
AP_HAL_ChibiOS: Storage: fix up delay comment
tpwrules Dec 30, 2024
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16 changes: 1 addition & 15 deletions libraries/AP_HAL_ChibiOS/Scheduler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -752,7 +752,7 @@ bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_
be used to prevent watchdog reset during expected long delays
A value of zero cancels the previous expected delay
*/
void Scheduler::_expect_delay_ms(uint32_t ms)
void Scheduler::expect_delay_ms(uint32_t ms)
{
if (!in_main_thread()) {
// only for main thread
Expand All @@ -762,8 +762,6 @@ void Scheduler::_expect_delay_ms(uint32_t ms)
// pat once immediately
watchdog_pat();

WITH_SEMAPHORE(expect_delay_sem);

if (ms == 0) {
if (expect_delay_nesting > 0) {
expect_delay_nesting--;
Expand All @@ -789,18 +787,6 @@ void Scheduler::_expect_delay_ms(uint32_t ms)
}
}

/*
this is _expect_delay_ms() with check that we are in the main thread
*/
void Scheduler::expect_delay_ms(uint32_t ms)
{
if (!in_main_thread()) {
// only for main thread
return;
}
_expect_delay_ms(ms);
}

// pat the watchdog
void Scheduler::watchdog_pat(void)
{
Expand Down
2 changes: 0 additions & 2 deletions libraries/AP_HAL_ChibiOS/Scheduler.h
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Expand Up @@ -115,7 +115,6 @@ class ChibiOS::Scheduler : public AP_HAL::Scheduler {
be used to prevent watchdog reset during expected long delays
A value of zero cancels the previous expected delay
*/
void _expect_delay_ms(uint32_t ms);
void expect_delay_ms(uint32_t ms) override;

/*
Expand Down Expand Up @@ -153,7 +152,6 @@ class ChibiOS::Scheduler : public AP_HAL::Scheduler {
uint32_t expect_delay_start;
uint32_t expect_delay_length;
uint32_t expect_delay_nesting;
HAL_Semaphore expect_delay_sem;

AP_HAL::MemberProc _timer_proc[CHIBIOS_SCHEDULER_MAX_TIMER_PROCS];
uint8_t _num_timer_procs;
Expand Down
7 changes: 1 addition & 6 deletions libraries/AP_HAL_ChibiOS/Storage.cpp
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Expand Up @@ -421,12 +421,7 @@ bool Storage::_flash_erase_sector(uint8_t sector)
// erasing a page can take long enough that USB may not initialise properly if it happens
// while the host is connecting. Only do a flash erase if we have been up for more than 4s
for (uint8_t i=0; i<STORAGE_FLASH_RETRIES; i++) {
/*
a sector erase stops the whole MCU. We need to setup a long
expected delay, and not only when running in the main
thread. We can't use EXPECT_DELAY_MS() as it checks we are
in the main thread
*/
// a sector erase stops the whole MCU so set up a long expected delay
EXPECT_DELAY_MS(1000);
#if AP_FLASH_STORAGE_DOUBLE_PAGE
if (hal.flash->erasepage(_flash_page+sector) && hal.flash->erasepage(_flash_page+sector+1)) {
Expand Down
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