1 files changed, 5 insertions, 12 deletions

diff --git a/ports/esp32/mpthreadport.c b/ports/esp32/mpthreadport.c
index b002c880e..52d4d7ff4 100644
--- a/ports/esp32/mpthreadport.c
+++ b/ports/esp32/mpthreadport.c
@@ -47,7 +47,6 @@ typedef struct _thread_t {
     int ready;              // whether the thread is ready and running
     void *arg;              // thread Python args, a GC root pointer
     void *stack;            // pointer to the stack
-    StaticTask_t *tcb;      // pointer to the Task Control Block
     size_t stack_len;       // number of words in the stack
     struct _thread_t *next;
 } thread_t;
@@ -125,16 +124,14 @@ void mp_thread_create_ex(void *(*entry)(void*), void *arg, size_t *stack_size, i
         *stack_size = MP_THREAD_MIN_STACK_SIZE; // minimum stack size
     }
 
-    // allocate TCB, stack and linked-list node (must be outside thread_mutex lock)
-    StaticTask_t *tcb = m_new(StaticTask_t, 1);
-    StackType_t *stack = m_new(StackType_t, *stack_size / sizeof(StackType_t));
+    // Allocate linked-list node (must be outside thread_mutex lock)
     thread_t *th = m_new_obj(thread_t);
 
     mp_thread_mutex_lock(&thread_mutex, 1);
 
     // create thread
-    TaskHandle_t id = xTaskCreateStaticPinnedToCore(freertos_entry, name, *stack_size / sizeof(StackType_t), arg, priority, stack, tcb, 0);
-    if (id == NULL) {
+    BaseType_t result = xTaskCreate(freertos_entry, name, *stack_size / sizeof(StackType_t), arg, priority, &th->id);
+    if (result != pdPASS) {
         mp_thread_mutex_unlock(&thread_mutex);
         nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, "can't create thread"));
     }
@@ -143,11 +140,9 @@ void mp_thread_create_ex(void *(*entry)(void*), void *arg, size_t *stack_size, i
     *stack_size -= 1024;
 
     // add thread to linked list of all threads
-    th->id = id;
     th->ready = 0;
     th->arg = arg;
-    th->stack = stack;
-    th->tcb = tcb;
+    th->stack = pxTaskGetStackStart(th->id);
     th->stack_len = *stack_size / sizeof(StackType_t);
     th->next = thread;
     thread = th;
@@ -175,7 +170,7 @@ void vPortCleanUpTCB(void *tcb) {
     mp_thread_mutex_lock(&thread_mutex, 1);
     for (thread_t *th = thread; th != NULL; prev = th, th = th->next) {
         // unlink the node from the list
-        if (th->tcb == tcb) {
+        if ((void*)th->id == tcb) {
             if (prev != NULL) {
                 prev->next = th->next;
             } else {
@@ -183,8 +178,6 @@ void vPortCleanUpTCB(void *tcb) {
                 thread = th->next;
             }
             // explicitly release all its memory
-            m_del(StaticTask_t, th->tcb, 1);
-            m_del(StackType_t, th->stack, th->stack_len);
             m_del(thread_t, th, 1);
             break;
         }