Method run

libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp:321–355

}

void HAL_ChibiOS::run(int argc, char * const argv[], Callbacks* callbacks) const
{
#if defined(HAL_EARLY_WATCHDOG_INIT) && !defined(DISABLE_WATCHDOG)
    stm32_watchdog_init();
    stm32_watchdog_pat();
#endif
    /*
     * System initializations.
     * - ChibiOS HAL initialization, this also initializes the configured device drivers
     *   and performs the board-specific initializations.
     * - Kernel initialization, the main() function becomes a thread and the
     *   RTOS is active.
     */

#if HAL_USE_SERIAL_USB == TRUE
    usb_initialise();
#endif

#ifdef HAL_STDOUT_SERIAL
    //STDOUT Initialisation
    SerialConfig stdoutcfg =
    {
      HAL_STDOUT_BAUDRATE,
      0,
      USART_CR2_STOP1_BITS,
      0
    };
    sdStart((SerialDriver*)&HAL_STDOUT_SERIAL, &stdoutcfg);
#endif

    g_callbacks = callbacks;

    //Takeover main
    main_loop();
}

static HAL_ChibiOS hal_chibios;