ChibiOS Free Embedded RTOS

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int main(void) {
   uint32_t ApplicationAddress = FLASH_BASE;
   uint32_t stack = *(__IO uint32_t*) ApplicationAddress;
   pFunction Jump_To_Application = (pFunction) (*(__IO uint32_t*) (ApplicationAddress + 4));
   halInit();
   chSysInit();

   /* init dshell */
   dshell_init();

   while (!restart_flag) {
      /* create shell */
      dshell_create();

      chThdSleepMicroseconds(200);
   } /* main while */

   dshell_exit();

   chSysDisable();
   /* Clear pending interrupts just to be on the save side*/
   SCB_ICSR = ICSR_PENDSVCLR;

   /* Disable all interrupts */
   for(i=0; i<8; i++)
      NVIC->ICER[i] = NVIC->IABR[i];

   __set_MSP(stack);
   Jump_To_Application();

   return 0;
}

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void dshell_init(void) {
   /*
    * Shell manager initialization.
    */
   shellInit();

   /*
    * Activates the serial driver 6 and SDC driver 1 using default
    * configuration.
    */
   /*
    * Activates the serial driver 1 using the driver default configuration.
    * PA2(TX) and PA3(RX) are routed to USART2.
    */
   sdStart(&SD2, NULL);
   palSetPadMode(GPIOA, GPIOA_USART2_TXD, PAL_MODE_ALTERNATE(7));
   palSetPadMode(GPIOA, GPIOA_USART2_RXD, PAL_MODE_ALTERNATE(7));
}

void dshell_create(void) {
   if (!shelltp)// && (SDU1.config->usbp->state == USB_ACTIVE))
         shelltp = shellCreateStatic(&shell_cfg1, waShellThread, sizeof(waShellThread), NORMALPRIO);
   else if (chThdTerminated(shelltp)) {
      chThdRelease(shelltp);    /* Recovers memory of the previous shell.   */
       shelltp = NULL;           /* Triggers spawning of a new shell.        */
   }
}

void dshell_exit(void) {
   /* shellExit(RDY_OK); */
   sdStop(&SD2);
}

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void dshell_exit(void) {
   sdStop(&SD2);

   if(shelltp) {
      chThdTerminate(shelltp);     // Requesting termination.
   }

   if (shelltp && chThdTerminated(shelltp)) {
      chThdWait(shelltp);
      shelltp = NULL;
   }

}

Code: Select all

void dshell_exit(void) {

   if(shelltp) {
      chThdTerminate(shelltp);     // Requesting termination.
   }

   if (shelltp && chThdTerminated(shelltp)) {
      chThdWait(shelltp);
      shelltp = NULL;
   }

   sdStop(&SD2);
}

Code: Select all

void dshell_exit(void) {

   chSysLock();
   chIQResetI(&SD2);
   chSysUnlock();

   if (shelltp && chThdTerminated(shelltp)) {
      chThdWait(shelltp);
      shelltp = NULL;
   }

   sdStop(&SD2);
}