Method _io_thread

libraries/AP_HAL_ChibiOS/Scheduler.cpp:556–596

}

void Scheduler::_io_thread(void* arg)
{
    Scheduler *sched = (Scheduler *)arg;
    chRegSetThreadName("io");
    while (!sched->_hal_initialized) {
        sched->delay_microseconds(1000);
    }
#if HAL_LOGGING_ENABLED
    uint32_t last_sd_start_ms = AP_HAL::millis();
#endif
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
    uint32_t last_stack_check_ms = 0;
#endif
    while (true) {
        sched->delay_microseconds(1000);

        // run registered IO processes
        sched->_run_io();

#if HAL_LOGGING_ENABLED || CH_DBG_ENABLE_STACK_CHECK == TRUE
        uint32_t now = AP_HAL::millis();
#endif

#if HAL_LOGGING_ENABLED
        if (!hal.util->get_soft_armed()) {
            // if sdcard hasn't mounted then retry it every 3s in the IO
            // thread when disarmed
            if (now - last_sd_start_ms > 3000) {
                last_sd_start_ms = now;
                AP::FS().retry_mount();
            }
        }
#endif
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
        if (now - last_stack_check_ms > 1000) {
            last_stack_check_ms = now;
            sched->check_stack_free();
        }
#endif
    }
}

#if defined(STM32H7)
/*