git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6257 35acf78f-673a-0410-8e92-d51de3d6d3f4

4 files changed, 151 insertions, 151 deletions

diff --git a/demos/nil/NIL-STM32F051-DISCOVERY/main.c b/demos/nil/NIL-STM32F051-DISCOVERY/main.c
index 2600550bb..d92c94b35 100644
--- a/demos/nil/NIL-STM32F051-DISCOVERY/main.c
+++ b/demos/nil/NIL-STM32F051-DISCOVERY/main.c
@@ -29,9 +29,9 @@ THD_FUNCTION(Thread1, arg) {
 

   while (true) {

 //    gpioSetPad(GPIOC, GPIOC_LED4);

-    nilThdSleepMilliseconds(500);

+    chThdSleepMilliseconds(500);

 //    gpioClearPad(GPIOC, GPIOC_LED4);

-    nilThdSleepMilliseconds(500);

+    chThdSleepMilliseconds(500);

   }

 }

 

@@ -45,9 +45,9 @@ THD_FUNCTION(Thread2, arg) {
 

   while (true) {

 //    gpioSetPad(GPIOC, GPIOC_LED3);

-    nilThdSleepMilliseconds(250);

+    chThdSleepMilliseconds(250);

 //    gpioClearPad(GPIOC, GPIOC_LED3);

-    nilThdSleepMilliseconds(250);

+    chThdSleepMilliseconds(250);

   }

 }

 

@@ -71,7 +71,7 @@ int main(void) {
    * - Nil RTOS initialization.

    */

 //  hwInit();

-  nilSysInit();

+  chSysInit();

 

   /* This is now the idle thread loop, you may perform here a low priority

      task but you must never try to sleep or wait in this loop.*/

diff --git a/os/nil/include/nil.h b/os/nil/include/nil.h
index 5f4b09768..898ec6f35 100644
--- a/os/nil/include/nil.h
+++ b/os/nil/include/nil.h
@@ -43,11 +43,11 @@
  */

 #define _NIL_                           /**< @brief Nil RTOS identification.*/

 

-#define NIL_KERNEL_VERSION      "0.1.0alpha"

+#define CH_KERNEL_VERSION      "0.1.0alpha"

 

-#define NIL_KERNEL_MAJOR        0

-#define NIL_KERNEL_MINOR        1

-#define NIL_KERNEL_PATCH        0

+#define CH_KERNEL_MAJOR        0

+#define CH_KERNEL_MINOR        1

+#define CH_KERNEL_PATCH        0

 /** @} */

 

 /**

@@ -84,14 +84,14 @@
  * @name    Thread state related macros

  * @{

  */

-#define NIL_THD_READY           0   /**< @brief Thread ready or executing.  */

-#define NIL_THD_SLEEPING        1   /**< @brief Thread sleeping.            */

-#define NIL_THD_SUSP            2   /**< @brief Thread suspended.           */

-#define NIL_THD_WTSEM           3   /**< @brief Thread waiting on semaphore.*/

-#define NIL_THD_IS_READY(tr)    ((tr)->state == NIL_THD_READY)

-#define NIL_THD_IS_SLEEPING(tr) ((tr)->state == NIL_THD_SLEEPING)

-#define NIL_THD_IS_SUSP(tr)     ((tr)->state == NIL_THD_SUSP)

-#define NIL_THD_IS_WTSEM(tr)    ((tr)->state == NIL_THD_WTSEM)

+#define NIL_STATE_READY         0   /**< @brief Thread ready or executing.  */

+#define NIL_STATE_SLEEPING      1   /**< @brief Thread sleeping.            */

+#define NIL_STATE_SUSP          2   /**< @brief Thread suspended.           */

+#define NIL_STATE_WTSEM         3   /**< @brief Thread waiting on semaphore.*/

+#define NIL_THD_IS_READY(tr)    ((tr)->state == NIL_STATE_READY)

+#define NIL_THD_IS_SLEEPING(tr) ((tr)->state == NIL_STATE_SLEEPING)

+#define NIL_THD_IS_SUSP(tr)     ((tr)->state == NIL_STATE_SUSP)

+#define NIL_THD_IS_WTSEM(tr)    ((tr)->state == NIL_STATE_WTSEM)

 /** @} */

 

 /*===========================================================================*/

@@ -163,9 +163,9 @@
 #endif

 

 #if NIL_CFG_ENABLE_ASSERTS

-#define NIL_DBG_ENABLED                 TRUE

+#define CH_DBG_ENABLED                 TRUE

 #else

-#define NIL_DBG_ENABLED                 FALSE

+#define CH_DBG_ENABLED                 FALSE

 #endif

 

 /*===========================================================================*/

@@ -222,7 +222,7 @@ struct nil_thread {
   intctx_t              *ctxp;  /**< @brief Pointer to internal context.    */

   tstate_t              state;  /**< @brief Thread state.                   */

   /* Note, the following union contains a pointer while the thread is in a

-     sleeping state (!NIL_THD_IS_READY()) else contains the wake-up message.*/

+     sleeping state (!CH_THD_IS_READY()) else contains the wake-up message.*/

   union {

     msg_t               msg;    /**< @brief Wake-up message.                */

     void                *p;     /**< @brief Generic pointer.                */

@@ -271,7 +271,7 @@ typedef struct {
    * @brief   Thread structures for all the defined threads.

    */

   thread_t          threads[NIL_CFG_NUM_THREADS + 1];

-#if NIL_DBG_ENABLED || defined(__DOXYGEN__)

+#if CH_DBG_ENABLED || defined(__DOXYGEN__)

   /**

    * @brief   Panic message.

    * @note    This field is only present if some debug options have been

@@ -288,7 +288,7 @@ typedef struct {
 /**

  * @brief   String quotation macro.

  */

-#define __NIL_QUOTE(p) #p

+#define __CH_QUOTE(p) #p

 

 /**

  * @name    Threads tables definition macros

@@ -375,7 +375,7 @@ typedef struct {
  *

  * @special

  */

-#define NIL_IRQ_PROLOGUE() PORT_IRQ_PROLOGUE()

+#define CH_IRQ_PROLOGUE() PORT_IRQ_PROLOGUE()

 

 /**

  * @brief   IRQ handler exit code.

@@ -383,7 +383,7 @@ typedef struct {
  *

  * @special

  */

-#define NIL_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE()

+#define CH_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE()

 

 /**

  * @brief   Standard normal IRQ handler declaration.

@@ -392,7 +392,7 @@ typedef struct {
  *

  * @special

  */

-#define NIL_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)

+#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)

 /** @} */

 

 /**

@@ -406,7 +406,7 @@ typedef struct {
  *

  * @special

  */

-#define NIL_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id)

+#define CH_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id)

 /** @} */

 

 /**

@@ -464,28 +464,28 @@ typedef struct {
  *

  * @special

  */

-#define nilSysDisable() port_disable()

+#define chSysDisable() port_disable()

 

 /**

  * @brief   Enters the kernel lock mode.

  *

  * @special

  */

-#define nilSysEnable() port_enable()

+#define chSysEnable() port_enable()

 

 /**

  * @brief   Enters the kernel lock mode.

  *

  * @special

  */

-#define nilSysLock() port_lock()

+#define chSysLock() port_lock()

 

 /**

  * @brief   Leaves the kernel lock mode.

  *

  * @special

  */

-#define nilSysUnlock() port_unlock()

+#define chSysUnlock() port_unlock()

 

 /**

  * @brief   Enters the kernel lock mode from within an interrupt handler.

@@ -499,7 +499,7 @@ typedef struct {
  *

  * @special

  */

-#define nilSysLockFromISR() port_lock_from_isr()

+#define chSysLockFromISR() port_lock_from_isr()

 

 /**

  * @brief   Leaves the kernel lock mode from within an interrupt handler.

@@ -514,7 +514,7 @@ typedef struct {
  *

  * @special

  */

-#define nilSysUnlockFromISR() port_unlock_from_isr()

+#define chSysUnlockFromISR() port_unlock_from_isr()

 

 /**

  * @brief   Delays the invoking thread for the specified number of seconds.

@@ -526,7 +526,7 @@ typedef struct {
  *

  * @api

  */

-#define nilThdSleepSeconds(sec) nilThdSleep(S2ST(sec))

+#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec))

 

 /**

  * @brief   Delays the invoking thread for the specified number of

@@ -539,7 +539,7 @@ typedef struct {
  *

  * @api

  */

-#define nilThdSleepMilliseconds(msec) nilThdSleep(MS2ST(msec))

+#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec))

 

 /**

  * @brief   Delays the invoking thread for the specified number of

@@ -552,7 +552,7 @@ typedef struct {
  *

  * @api

  */

-#define nilThdSleepMicroseconds(usec) nilThdSleep(US2ST(usec))

+#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))

 

 /**

  * @brief   Suspends the invoking thread for the specified time.

@@ -561,7 +561,7 @@ typedef struct {
  *

  * @sclass

  */

-#define nilThdSleepS(timeout) nilSchGoSleepTimeoutS(NIL_THD_SLEEPING, timeout)

+#define chThdSleepS(timeout) chSchGoSleepTimeoutS(NIL_STATE_SLEEPING, timeout)

 

 /**

  * @brief   Suspends the invoking thread until the system time arrives to the

@@ -571,8 +571,8 @@ typedef struct {
  *

  * @sclass

  */

-#define nilThdSleepUntilS(time)                                             \

-  nilSchGoSleepTimeoutS(NIL_THD_SLEEPING, (time) - nilTimeNow())

+#define chThdSleepUntilS(time)                                             \

+  chSchGoSleepTimeoutS(NIL_STATE_SLEEPING, (time) - chTimeNow())

 

 /**

  * @brief   Initializes a semaphore with the specified counter value.

@@ -583,7 +583,7 @@ typedef struct {
  *

  * @init

  */

-#define nilSemInit(sp, n) ((sp)->cnt = n)

+#define chSemInit(sp, n) ((sp)->cnt = n)

 

 /**

  * @brief   Performs a wait operation on a semaphore.

@@ -591,13 +591,13 @@ typedef struct {
  * @param[in] sp        pointer to a @p semaphore_t structure

  * @return              A message specifying how the invoking thread has been

  *                      released from the semaphore.

- * @retval NIL_MSG_OK   if the thread has not stopped on the semaphore or the

+ * @retval CH_MSG_OK   if the thread has not stopped on the semaphore or the

  *                      semaphore has been signaled.

- * @retval NIL_MSG_RST  if the semaphore has been reset using @p nilSemReset().

+ * @retval CH_MSG_RST  if the semaphore has been reset using @p chSemReset().

  *

  * @api

  */

-#define nilSemWait(sp) nilSemWaitTimeout(sp, TIME_INFINITE)

+#define chSemWait(sp) chSemWaitTimeout(sp, TIME_INFINITE)

 

 /**

  * @brief   Performs a wait operation on a semaphore.

@@ -605,29 +605,29 @@ typedef struct {
  * @param[in] sp        pointer to a @p semaphore_t structure

  * @return              A message specifying how the invoking thread has been

  *                      released from the semaphore.

- * @retval NIL_MSG_OK   if the thread has not stopped on the semaphore or the

+ * @retval CH_MSG_OK   if the thread has not stopped on the semaphore or the

  *                      semaphore has been signaled.

- * @retval NIL_MSG_RST  if the semaphore has been reset using @p nilSemReset().

+ * @retval CH_MSG_RST  if the semaphore has been reset using @p chSemReset().

  *

  * @sclass

  */

-#define nilSemWaitS(sp) nilSemWaitTimeoutS(sp, TIME_INFINITE)

+#define chSemWaitS(sp) chSemWaitTimeoutS(sp, TIME_INFINITE)

 

 /**

  * @brief   Current system time.

- * @details Returns the number of system ticks since the @p nilSysInit()

+ * @details Returns the number of system ticks since the @p chSysInit()

  *          invocation.

  * @note    The counter can reach its maximum and then restart from zero.

- * @note    This function is designed to work with the @p nilThdSleepUntil().

+ * @note    This function is designed to work with the @p chThdSleepUntil().

  *

  * @return              The system time in ticks.

  *

  * @iclass

  */

 #if NIL_CFG_TIMEDELTA == 0 || defined(__DOXYGEN__)

-#define nilTimeNowI() (nil.systime)

+#define chTimeNowI() (nil.systime)

 #else

-#define nilTimeNowI() port_timer_get_time()

+#define chTimeNowI() port_timer_get_time()

 #endif

 

 /**

@@ -644,7 +644,7 @@ typedef struct {
  *

  * @api

  */

-#define nilTimeIsWithin(time, start, end)                                   \

+#define chTimeIsWithin(time, start, end)                                   \

   ((end) > (start) ? ((time) >= (start)) && ((time) < (end)) :              \

                      ((time) >= (start)) || ((time) < (end)))

 

@@ -663,14 +663,14 @@ typedef struct {
  *

  * @api

  */

-#if !defined(nilDbgAssert)

-#define nilDbgAssert(c, r) {                                                \

+#if !defined(chDbgAssert)

+#define chDbgAssert(c, r) {                                                \

   if (!(c))                                                                 \

-    nilSysHalt("A:"__NIL_QUOTE(__FUNCTION__)":"__NIL_QUOTE(__LINE__));      \

+    chSysHalt("A:"__CH_QUOTE(__FUNCTION__)":"__CH_QUOTE(__LINE__));      \

 }

-#endif /* !defined(nilDbgAssert) */

+#endif /* !defined(chDbgAssert) */

 #else /* !NIL_CFG_ENABLE_ASSERTS */

-#define nilDbgAssert(c, r) /*{(void)(c);}*/

+#define chDbgAssert(c, r) /*{(void)(c);}*/

 #endif /* !NIL_CFG_ENABLE_ASSERTS */

 /** @} */

 

@@ -686,24 +686,24 @@ extern const thread_config_t nil_thd_configs[NIL_CFG_NUM_THREADS + 1];
 #ifdef __cplusplus

 extern "C" {

 #endif

-  void nilSysInit(void);

-  void nilSysHalt(const char *reason);

-  void nilSysTimerHandlerI(void);

-  thread_ref_t nilSchReadyI(thread_ref_t trp, msg_t msg);

-  msg_t nilSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout);

-  void nilSchRescheduleS(void);

-  msg_t nilThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout);

-  void nilThdResumeI(thread_ref_t *trp, msg_t msg);

-  void nilThdSleep(systime_t time);

-  void nilThdSleepUntil(systime_t time);

-  systime_t nilTimeNow(void);

-  bool nilTimeNowIsWithin(systime_t start, systime_t end);

-  msg_t nilSemWaitTimeout(semaphore_t *sp, systime_t time);

-  msg_t nilSemWaitTimeoutS(semaphore_t *sp, systime_t time);

-  void nilSemSignal(semaphore_t *sp);

-  void nilSemSignalI(semaphore_t *sp);

-  void nilSemReset(semaphore_t *sp, cnt_t n);

-  void nilSemResetI(semaphore_t *sp, cnt_t n);

+  void chSysInit(void);

+  void chSysHalt(const char *reason);

+  void chSysTimerHandlerI(void);

+  thread_ref_t chSchReadyI(thread_ref_t trp, msg_t msg);

+  msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout);

+  void chSchRescheduleS(void);

+  msg_t chThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout);

+  void chThdResumeI(thread_ref_t *trp, msg_t msg);

+  void chThdSleep(systime_t time);

+  void chThdSleepUntil(systime_t time);

+  systime_t chTimeNow(void);

+  bool chTimeNowIsWithin(systime_t start, systime_t end);

+  msg_t chSemWaitTimeout(semaphore_t *sp, systime_t time);

+  msg_t chSemWaitTimeoutS(semaphore_t *sp, systime_t time);

+  void chSemSignal(semaphore_t *sp);

+  void chSemSignalI(semaphore_t *sp);

+  void chSemReset(semaphore_t *sp, cnt_t n);

+  void chSemResetI(semaphore_t *sp, cnt_t n);

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/nil/ports/ARMCMx/compilers/GCC/nilcoreasm_v6m.s b/os/nil/ports/ARMCMx/compilers/GCC/nilcoreasm_v6m.s
index 7ab0f0432..8112d9802 100644
--- a/os/nil/ports/ARMCMx/compilers/GCC/nilcoreasm_v6m.s
+++ b/os/nil/ports/ARMCMx/compilers/GCC/nilcoreasm_v6m.s
@@ -89,7 +89,7 @@ _port_thread_start:
                 mov     r0, r5

                 blx     r4

                 mov     r3, #0

-                bl      nilSysHalt

+                bl      chSysHalt

 

 /*--------------------------------------------------------------------------*

  * Post-IRQ switch code.

@@ -99,7 +99,7 @@ _port_thread_start:
                 .thumb_func

                 .globl  _port_switch_from_isr

 _port_switch_from_isr:

-                bl      nilSchRescheduleS

+                bl      chSchRescheduleS

                 .globl  _port_exit_from_isr

 _port_exit_from_isr:

                 ldr     r2, .L2

diff --git a/os/nil/src/nil.c b/os/nil/src/nil.c
index b9b44e4c9..a7677aeeb 100644
--- a/os/nil/src/nil.c
+++ b/os/nil/src/nil.c
@@ -65,7 +65,7 @@ nil_system_t nil;
  *

  * @special

  */

-void nilSysInit(void) {

+void chSysInit(void) {

   thread_ref_t tr;

   const thread_config_t *tcp;

 

@@ -76,7 +76,7 @@ void nilSysInit(void) {
   for (tr = &nil.threads[0], tcp = nil_thd_configs;

        tr < &nil.threads[NIL_CFG_NUM_THREADS];

        tr++, tcp++) {

-    tr->state = NIL_THD_READY;

+    tr->state = NIL_STATE_READY;

     tr->timeout = 0;

 

     /* Port dependent thread initialization.*/

@@ -94,7 +94,7 @@ void nilSysInit(void) {
   port_switch(nil.threads, &nil.threads[NIL_CFG_NUM_THREADS]);

 

   /* Interrupts enabled for the idle thread.*/

-  nilSysEnable();

+  chSysEnable();

 }

 

 /**

@@ -107,7 +107,7 @@ void nilSysInit(void) {
  *

  * @special

  */

-void nilSysHalt(const char *reason) {

+void chSysHalt(const char *reason) {

 

   port_disable();

 

@@ -133,7 +133,7 @@ void nilSysHalt(const char *reason) {
  *

  * @iclass

  */

-void nilSysTimerHandlerI(void) {

+void chSysTimerHandlerI(void) {

 

 #if NIL_CFG_TIMEDELTA == 0

   thread_ref_t tr = &nil.threads[0];

@@ -142,7 +142,7 @@ void nilSysTimerHandlerI(void) {
     /* Is the thread in a wait state with timeout?.*/

     if (tr->timeout > 0) {

 

-      nilDbgAssert(!NIL_THD_IS_READY(tr), "is ready");

+      chDbgAssert(!NIL_THD_IS_READY(tr), "is ready");

 

      /* Did the timer reach zero?*/

       if (--tr->timeout == 0) {

@@ -152,30 +152,30 @@ void nilSysTimerHandlerI(void) {
           tr->u1.semp->cnt++;

         else if (NIL_THD_IS_SUSP(tr))

           tr->u1.trp = NULL;

-        nilSchReadyI(tr, MSG_TIMEOUT);

+        chSchReadyI(tr, MSG_TIMEOUT);

       }

     }

     /* Lock released in order to give a preemption chance on those

        architectures supporting IRQ preemption.*/

-    nilSysUnlockFromISR();

+    chSysUnlockFromISR();

     tr++;

-    nilSysLockFromISR();

+    chSysLockFromISR();

   } while (tr < &nil.threads[NIL_CFG_NUM_THREADS]);

 #else

   thread_ref_t tr = &nil.threads[0];

   systime_t next = 0;

 

-  nilDbgAssert(nil.nexttime == port_timer_get_alarm(),

-               "nilSysTimerHandlerI(), #1", "time mismatch");

+  chDbgAssert(nil.nexttime == port_timer_get_alarm(),

+               "chSysTimerHandlerI(), #1", "time mismatch");

 

   do {

     /* Is the thread in a wait state with timeout?.*/

     if (tr->timeout > 0) {

 

-      nilDbgAssert(!NIL_THD_IS_READY(tr),

-                   "nilSysTimerHandlerI(), #2", "is ready");

-      nilDbgAssert(tr->timeout >= nil.nexttime - nil.lasttime,

-                   "nilSysTimerHandlerI(), #3", "skipped one");

+      chDbgAssert(!NIL_THD_IS_READY(tr),

+                   "chSysTimerHandlerI(), #2", "is ready");

+      chDbgAssert(tr->timeout >= nil.nexttime - nil.lasttime,

+                   "chSysTimerHandlerI(), #3", "skipped one");

 

       tr->timeout -= nil.nexttime - nil.lasttime;

       if (tr->timeout == 0) {

@@ -185,7 +185,7 @@ void nilSysTimerHandlerI(void) {
           tr->u1.semp->cnt++;

         else if (NIL_THD_IS_SUSP(tr))

           tr->u1.trp = NULL;

-        nilSchReadyI(tr, NIL_MSG_TMO);

+        chSchReadyI(tr, NIL_MSG_TMO);

       }

       else {

         if (tr->timeout <= next - 1)

@@ -194,9 +194,9 @@ void nilSysTimerHandlerI(void) {
     }

     /* Lock released in order to give a preemption chance on those

        architectures supporting IRQ preemption.*/

-    nilSysUnlockFromISR();

+    chSysUnlockFromISR();

     tr++;

-    nilSysLockFromISR();

+    chSysLockFromISR();

   } while (tr < &nil.threads[NIL_CFG_NUM_THREADS]);

   nil.lasttime = nil.nexttime;

   if (next > 0) {

@@ -218,16 +218,16 @@ void nilSysTimerHandlerI(void) {
  *

  * @return              The same reference passed as parameter.

  */

-thread_ref_t nilSchReadyI(thread_ref_t tr, msg_t msg) {

+thread_ref_t chSchReadyI(thread_ref_t tr, msg_t msg) {

 

-  nilDbgAssert((tr >= nil.threads) &&

+  chDbgAssert((tr >= nil.threads) &&

                (tr < &nil.threads[NIL_CFG_NUM_THREADS]),

                "pointer out of range");

-  nilDbgAssert(!NIL_THD_IS_READY(tr), "already ready");

-  nilDbgAssert(nil.next <= nil.current, "priority ordering");

+  chDbgAssert(!NIL_THD_IS_READY(tr), "already ready");

+  chDbgAssert(nil.next <= nil.current, "priority ordering");

 

   tr->u1.msg = msg;

-  tr->state = NIL_THD_READY;

+  tr->state = NIL_STATE_READY;

   tr->timeout = 0;

   if (tr < nil.next)

     nil.next = tr;

@@ -239,7 +239,7 @@ thread_ref_t nilSchReadyI(thread_ref_t tr, msg_t msg) {
  *

  * @sclass

  */

-void nilSchRescheduleS() {

+void chSchRescheduleS() {

   thread_ref_t otr = nil.current;

   thread_ref_t ntr = nil.next;

 

@@ -271,10 +271,10 @@ void nilSchRescheduleS() {
  *

  * @sclass

  */

-msg_t nilSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {

+msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {

   thread_ref_t ntr, otr = nil.current;

 

-  nilDbgAssert(otr != &nil.threads[NIL_CFG_NUM_THREADS],

+  chDbgAssert(otr != &nil.threads[NIL_CFG_NUM_THREADS],

                "idle cannot sleep");

 

   /* Storing the wait object for the current thread.*/

@@ -282,7 +282,7 @@ msg_t nilSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
 

 #if NIL_CFG_TIMEDELTA > 0

   if (timeout != TIME_INFINITE) {

-    systime_t time = nilTimeNowI() + timeout;

+    systime_t time = chTimeNowI() + timeout;

 

     /* TIMEDELTA makes sure to have enough time to reprogram the timer

        before the free-running timer counter reaches the selected timeout.*/

@@ -297,7 +297,7 @@ msg_t nilSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
     else {

       /* Special case, there are already other threads with a timeout

          activated, evaluating the order.*/

-      if (nilTimeIsWithin(time, nil.lasttime, nil.nexttime)) {

+      if (chTimeIsWithin(time, nil.lasttime, nil.nexttime)) {

         port_timer_set_alarm(time);

         nil.nexttime = time;

       }

@@ -329,7 +329,7 @@ msg_t nilSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
 

     /* Points to the next thread in lowering priority order.*/

     ntr++;

-    nilDbgAssert(ntr <= &nil.threads[NIL_CFG_NUM_THREADS],

+    chDbgAssert(ntr <= &nil.threads[NIL_CFG_NUM_THREADS],

                  "pointer out of range");

   }

 }

@@ -348,13 +348,13 @@ msg_t nilSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
  *

  * @sclass

  */

-msg_t nilThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout) {

+msg_t chThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout) {

 

-  nilDbgAssert(*trp == NULL, "not NULL");

+  chDbgAssert(*trp == NULL, "not NULL");

 

   *trp = nil.current;

   nil.current->u1.trp = trp;

-  return nilSchGoSleepTimeoutS(NIL_THD_SUSP, timeout);

+  return chSchGoSleepTimeoutS(NIL_STATE_SUSP, timeout);

 }

 

 /**

@@ -367,15 +367,15 @@ msg_t nilThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout) {
  *

  * @iclass

  */

-void nilThdResumeI(thread_ref_t *trp, msg_t msg) {

+void chThdResumeI(thread_ref_t *trp, msg_t msg) {

 

   if (*trp != NULL) {

     thread_ref_t tr = *trp;

 

-    nilDbgAssert(NIL_THD_IS_SUSP(tr), "not suspended");

+    chDbgAssert(NIL_THD_IS_SUSP(tr), "not suspended");

 

     *trp = NULL;

-    nilSchReadyI(tr, msg);

+    chSchReadyI(tr, msg);

   }

 }

 

@@ -386,11 +386,11 @@ void nilThdResumeI(thread_ref_t *trp, msg_t msg) {
  *

  * @api

  */

-void nilThdSleep(systime_t time) {

+void chThdSleep(systime_t time) {

 

-  nilSysLock();

-  nilThdSleepS(time);

-  nilSysUnlock();

+  chSysLock();

+  chThdSleepS(time);

+  chSysUnlock();

 }

 

 /**

@@ -401,30 +401,30 @@ void nilThdSleep(systime_t time) {
  *

  * @api

  */

-void nilThdSleepUntil(systime_t time) {

+void chThdSleepUntil(systime_t time) {

 

-  nilSysLock();

-  nilThdSleepUntilS(time);

-  nilSysUnlock();

+  chSysLock();

+  chThdSleepUntilS(time);

+  chSysUnlock();

 }

 

 /**

  * @brief   Current system time.

- * @details Returns the number of system ticks since the @p nilSysInit()

+ * @details Returns the number of system ticks since the @p chSysInit()

  *          invocation.

  * @note    The counter can reach its maximum and then restart from zero.

- * @note    This function is designed to work with the @p nilThdSleepUntil().

+ * @note    This function is designed to work with the @p chThdSleepUntil().

  *

  * @return              The system time in ticks.

  *

  * @api

  */

-systime_t nilTimeNow(void) {

+systime_t chTimeNow(void) {

   systime_t time;

 

-  nilSysLock();

-  time = nilTimeNowI();

-  nilSysUnlock();

+  chSysLock();

+  time = chTimeNowI();

+  chSysUnlock();

   return time;

 }

 

@@ -442,10 +442,10 @@ systime_t nilTimeNow(void) {
  *

  * @api

  */

-bool nilTimeNowIsWithin(systime_t start, systime_t end) {

+bool chTimeNowIsWithin(systime_t start, systime_t end) {

 

-  systime_t time = nilTimeNow();

-  return nilTimeIsWithin(time, start, end);

+  systime_t time = chTimeNow();

+  return chTimeIsWithin(time, start, end);

 }

 

 /**

@@ -461,18 +461,18 @@ bool nilTimeNowIsWithin(systime_t start, systime_t end) {
  *                      released from the semaphore.

  * @retval NIL_MSG_OK   if the thread has not stopped on the semaphore or the

  *                      semaphore has been signaled.

- * @retval NIL_MSG_RST  if the semaphore has been reset using @p nilSemReset().

+ * @retval NIL_MSG_RST  if the semaphore has been reset using @p chSemReset().

  * @retval NIL_MSG_TMO  if the semaphore has not been signaled or reset within

  *                      the specified timeout.

  *

  * @api

  */

-msg_t nilSemWaitTimeout(semaphore_t *sp, systime_t timeout) {

+msg_t chSemWaitTimeout(semaphore_t *sp, systime_t timeout) {

   msg_t msg;

 

-  nilSysLock();

-  msg = nilSemWaitTimeoutS(sp, timeout);

-  nilSysUnlock();

+  chSysLock();

+  msg = chSemWaitTimeoutS(sp, timeout);

+  chSysUnlock();

   return msg;

 }

 

@@ -489,13 +489,13 @@ msg_t nilSemWaitTimeout(semaphore_t *sp, systime_t timeout) {
  *                      released from the semaphore.

  * @retval NIL_MSG_OK   if the thread has not stopped on the semaphore or the

  *                      semaphore has been signaled.

- * @retval NIL_MSG_RST  if the semaphore has been reset using @p nilSemReset().

+ * @retval NIL_MSG_RST  if the semaphore has been reset using @p chSemReset().

  * @retval NIL_MSG_TMO  if the semaphore has not been signaled or reset within

  *                      the specified timeout.

  *

  * @sclass

  */

-msg_t nilSemWaitTimeoutS(semaphore_t *sp, systime_t timeout) {

+msg_t chSemWaitTimeoutS(semaphore_t *sp, systime_t timeout) {

 

   /* Note, the semaphore counter is a volatile variable so accesses are

      manually optimized.*/

@@ -505,7 +505,7 @@ msg_t nilSemWaitTimeoutS(semaphore_t *sp, systime_t timeout) {
       return MSG_TIMEOUT;

     sp->cnt = cnt - 1;

     nil.current->u1.semp = sp;

-    return nilSchGoSleepTimeoutS(NIL_THD_WTSEM, timeout);

+    return chSchGoSleepTimeoutS(NIL_STATE_WTSEM, timeout);

   }

   sp->cnt = cnt - 1;

   return MSG_OK;

@@ -522,12 +522,12 @@ msg_t nilSemWaitTimeoutS(semaphore_t *sp, systime_t timeout) {
  *

  * @api

  */

-void nilSemSignal(semaphore_t *sp) {

+void chSemSignal(semaphore_t *sp) {

 

-  nilSysLock();

-  nilSemSignalI(sp);

-  nilSchRescheduleS();

-  nilSysUnlock();

+  chSysLock();

+  chSemSignalI(sp);

+  chSchRescheduleS();

+  chSysUnlock();

 }

 

 /**

@@ -541,7 +541,7 @@ void nilSemSignal(semaphore_t *sp) {
  *

  * @iclass

  */

-void nilSemSignalI(semaphore_t *sp) {

+void chSemSignalI(semaphore_t *sp) {

 

   if (++sp->cnt <= 0) {

     thread_ref_t tr = nil.threads;

@@ -549,9 +549,9 @@ void nilSemSignalI(semaphore_t *sp) {
       /* Is this thread waiting on this semaphore?*/

       if (tr->u1.semp == sp) {

 

-        nilDbgAssert(NIL_THD_IS_WTSEM(tr), "not waiting");

+        chDbgAssert(NIL_THD_IS_WTSEM(tr), "not waiting");

 

-        nilSchReadyI(tr, MSG_OK);

+        chSchReadyI(tr, MSG_OK);

         return;

       }

       tr++;

@@ -575,12 +575,12 @@ void nilSemSignalI(semaphore_t *sp) {
  *

  * @api

  */

-void nilSemReset(semaphore_t *sp, cnt_t n) {

+void chSemReset(semaphore_t *sp, cnt_t n) {

 

-  nilSysLock();

-  nilSemResetI(sp, n);

-  nilSchRescheduleS();

-  nilSysUnlock();

+  chSysLock();

+  chSemResetI(sp, n);

+  chSchRescheduleS();

+  chSysUnlock();

 }

 

 /**

@@ -599,7 +599,7 @@ void nilSemReset(semaphore_t *sp, cnt_t n) {
  *

  * @iclass

  */

-void nilSemResetI(semaphore_t *sp, cnt_t n) {

+void chSemResetI(semaphore_t *sp, cnt_t n) {

   thread_ref_t tr;

   cnt_t cnt;

 

@@ -610,10 +610,10 @@ void nilSemResetI(semaphore_t *sp, cnt_t n) {
     /* Is this thread waiting on this semaphore?*/

     if (tr->u1.semp == sp) {

 

-      nilDbgAssert(NIL_THD_IS_WTSEM(tr), "not waiting");

+      chDbgAssert(NIL_THD_IS_WTSEM(tr), "not waiting");

 

       cnt++;

-      nilSchReadyI(tr, MSG_RESET);

+      chSchReadyI(tr, MSG_RESET);

     }

     tr++;

   }