Function main_loop

libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp:211–319

static AP_HAL::HAL::Callbacks* g_callbacks;

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
    ChibiOS::I2CBus::clear_all();
#endif

#if AP_HAL_SHARED_DMA_ENABLED
    ChibiOS::Shared_DMA::init();
#endif

    peripheral_power_enable();

    hal.serial(0)->begin(SERIAL0_BAUD);

#if (HAL_USE_SPI == TRUE) && defined(HAL_SPI_CHECK_CLOCK_FREQ)
    // optional test of SPI clock frequencies
    ChibiOS::SPIDevice::test_clock_freq();
#endif

    hal.analogin->init();
    hal.scheduler->init();

    /*
      run setup() at low priority to ensure CLI doesn't hang the
      system, and to allow initial sensor read loops to run
     */
    hal_chibios_set_priority(APM_STARTUP_PRIORITY);

    if (stm32_was_watchdog_reset()) {
        // load saved watchdog data
        stm32_watchdog_load((uint32_t *)&utilInstance.persistent_data, (sizeof(utilInstance.persistent_data)+3)/4);
        utilInstance.last_persistent_data = utilInstance.persistent_data;
    }

    schedulerInstance.hal_initialized();

    g_callbacks->setup();

#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
    utilInstance.apply_persistent_params();
#endif

#if HAL_FLASH_PROTECTION
    if (AP_BoardConfig::unlock_flash()) {
        stm32_flash_unprotect_flash();
    } else {
        stm32_flash_protect_flash(false, AP_BoardConfig::protect_flash());
        stm32_flash_protect_flash(true, AP_BoardConfig::protect_bootloader());
    }