git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@437 35acf78f-673a-0410-8e92-d51de3d6d3f4

21 files changed, 283 insertions, 66 deletions

diff --git a/demos/ARM7-AT91SAM7X-GCC/chconf.h b/demos/ARM7-AT91SAM7X-GCC/chconf.h
index 57cc9d013..13c3766e4 100644
--- a/demos/ARM7-AT91SAM7X-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7X-GCC/chconf.h
@@ -147,6 +147,12 @@
  *  are included in the kernel.*/

 #define CH_USE_MEMPOOLS

 

+/** Configuration option: if specified then the dynamic objects creation APIs

+ *  are included in the kernel.

+ * @note requires \p CH_USE_WAITEXIT.

+ */

+#define CH_USE_DYNAMIC

+

 /** Configuration option: Frequency of the system timer that drives the system

  *  ticks. This also defines the system time unit.*/

 #define CH_FREQUENCY 1000

diff --git a/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h b/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h
index 57cc9d013..13c3766e4 100644
--- a/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h
+++ b/demos/ARM7-AT91SAM7X-WEB-GCC/chconf.h
@@ -147,6 +147,12 @@
  *  are included in the kernel.*/

 #define CH_USE_MEMPOOLS

 

+/** Configuration option: if specified then the dynamic objects creation APIs

+ *  are included in the kernel.

+ * @note requires \p CH_USE_WAITEXIT.

+ */

+#define CH_USE_DYNAMIC

+

 /** Configuration option: Frequency of the system timer that drives the system

  *  ticks. This also defines the system time unit.*/

 #define CH_FREQUENCY 1000

diff --git a/demos/ARM7-LPC214x-G++/chconf.h b/demos/ARM7-LPC214x-G++/chconf.h
index 292074816..3bf626af0 100644
--- a/demos/ARM7-LPC214x-G++/chconf.h
+++ b/demos/ARM7-LPC214x-G++/chconf.h
@@ -147,6 +147,12 @@
  *  are included in the kernel.*/

 #define CH_USE_MEMPOOLS

 

+/** Configuration option: if specified then the dynamic objects creation APIs

+ *  are included in the kernel.

+ * @note requires \p CH_USE_WAITEXIT.

+ */

+#define CH_USE_DYNAMIC

+

 /** Configuration option: Frequency of the system timer that drives the system

  *  ticks. This also defines the system time unit.*/

 #define CH_FREQUENCY 1000

diff --git a/demos/ARM7-LPC214x-GCC-minimal/chconf.h b/demos/ARM7-LPC214x-GCC-minimal/chconf.h
index 206272504..da927fe6a 100644
--- a/demos/ARM7-LPC214x-GCC-minimal/chconf.h
+++ b/demos/ARM7-LPC214x-GCC-minimal/chconf.h
@@ -147,6 +147,12 @@
  *  are included in the kernel.*/

 //#define CH_USE_MEMPOOLS

 

+/** Configuration option: if specified then the dynamic objects creation APIs

+ *  are included in the kernel.

+ * @note requires \p CH_USE_WAITEXIT.

+ */

+//#define CH_USE_DYNAMIC

+

 /** Configuration option: Frequency of the system timer that drives the system

  *  ticks. This also defines the system time unit.*/

 #define CH_FREQUENCY 1000

diff --git a/demos/ARM7-LPC214x-GCC/chconf.h b/demos/ARM7-LPC214x-GCC/chconf.h
index 57cc9d013..13c3766e4 100644
--- a/demos/ARM7-LPC214x-GCC/chconf.h
+++ b/demos/ARM7-LPC214x-GCC/chconf.h
@@ -147,6 +147,12 @@
  *  are included in the kernel.*/

 #define CH_USE_MEMPOOLS

 

+/** Configuration option: if specified then the dynamic objects creation APIs

+ *  are included in the kernel.

+ * @note requires \p CH_USE_WAITEXIT.

+ */

+#define CH_USE_DYNAMIC

+

 /** Configuration option: Frequency of the system timer that drives the system

  *  ticks. This also defines the system time unit.*/

 #define CH_FREQUENCY 1000

diff --git a/demos/ARMCM3-STM32F103-GCC/chconf.h b/demos/ARMCM3-STM32F103-GCC/chconf.h
index 57cc9d013..13c3766e4 100644
--- a/demos/ARMCM3-STM32F103-GCC/chconf.h
+++ b/demos/ARMCM3-STM32F103-GCC/chconf.h
@@ -147,6 +147,12 @@
  *  are included in the kernel.*/

 #define CH_USE_MEMPOOLS

 

+/** Configuration option: if specified then the dynamic objects creation APIs

+ *  are included in the kernel.

+ * @note requires \p CH_USE_WAITEXIT.

+ */

+#define CH_USE_DYNAMIC

+

 /** Configuration option: Frequency of the system timer that drives the system

  *  ticks. This also defines the system time unit.*/

 #define CH_FREQUENCY 1000

diff --git a/demos/AVR-AT90CANx-GCC/chconf.h b/demos/AVR-AT90CANx-GCC/chconf.h
index eca46b974..a3c3697af 100644
--- a/demos/AVR-AT90CANx-GCC/chconf.h
+++ b/demos/AVR-AT90CANx-GCC/chconf.h
@@ -147,6 +147,12 @@
  *  are included in the kernel.*/

 #define CH_USE_MEMPOOLS

 

+/** Configuration option: if specified then the dynamic objects creation APIs

+ *  are included in the kernel.

+ * @note requires \p CH_USE_WAITEXIT.

+ */

+#define CH_USE_DYNAMIC

+

 /** Configuration option: Frequency of the system timer that drives the system

  *  ticks. This also defines the system time unit.*/

 #define CH_FREQUENCY 1000

diff --git a/demos/AVR-ATmega128-GCC/chconf.h b/demos/AVR-ATmega128-GCC/chconf.h
index c44cd39d5..f3975e8a4 100644
--- a/demos/AVR-ATmega128-GCC/chconf.h
+++ b/demos/AVR-ATmega128-GCC/chconf.h
@@ -147,6 +147,12 @@
  *  are included in the kernel.*/

 #define CH_USE_MEMPOOLS

 

+/** Configuration option: if specified then the dynamic objects creation APIs

+ *  are included in the kernel.

+ * @note requires \p CH_USE_WAITEXIT.

+ */

+#define CH_USE_DYNAMIC

+

 /** Configuration option: Frequency of the system timer that drives the system

  *  ticks. This also defines the system time unit.*/

 #define CH_FREQUENCY 1000

diff --git a/demos/MSP430-MSP430x1611-GCC/chconf.h b/demos/MSP430-MSP430x1611-GCC/chconf.h
index 0d1773a6a..40a333f1c 100644
--- a/demos/MSP430-MSP430x1611-GCC/chconf.h
+++ b/demos/MSP430-MSP430x1611-GCC/chconf.h
@@ -148,6 +148,12 @@
  *  are included in the kernel.*/

 #define CH_USE_MEMPOOLS

 

+/** Configuration option: if specified then the dynamic objects creation APIs

+ *  are included in the kernel.

+ * @note requires \p CH_USE_WAITEXIT.

+ */

+#define CH_USE_DYNAMIC

+

 /** Configuration option: Frequency of the system timer that drives the system

  *  ticks. This also defines the system time unit.*/

 #define CH_FREQUENCY 1000

diff --git a/demos/Win32-MinGW/chconf.h b/demos/Win32-MinGW/chconf.h
index b52281cfa..c5bbf0410 100644
--- a/demos/Win32-MinGW/chconf.h
+++ b/demos/Win32-MinGW/chconf.h
@@ -148,6 +148,12 @@
  *  are included in the kernel.*/

 #define CH_USE_MEMPOOLS

 

+/** Configuration option: if specified then the dynamic objects creation APIs

+ *  are included in the kernel.

+ * @note requires \p CH_USE_WAITEXIT.

+ */

+#define CH_USE_DYNAMIC

+

 /** Configuration option: Frequency of the system timer that drives the system

  *  ticks. This also defines the system time unit.*/

 #define CH_FREQUENCY 1000

diff --git a/docs/Doxyfile b/docs/Doxyfile
index 4e317e174..3abb12ff1 100644
--- a/docs/Doxyfile
+++ b/docs/Doxyfile
@@ -260,7 +260,8 @@ PREDEFINED             = __JUST_STUBS__ \
                          CH_USE_MESSAGES_EVENT \
                          CH_USE_MESSAGES_PRIORITY \
                          CH_USE_DEBUG \
-                         CH_USE_TRACE
+                         CH_USE_TRACE \
+                         CH_USE_DYNAMIC
 EXPAND_AS_DEFINED      = 
 SKIP_FUNCTION_MACROS   = YES
 #---------------------------------------------------------------------------
diff --git a/readme.txt b/readme.txt
index f68d6979a..446995854 100644
--- a/readme.txt
+++ b/readme.txt
@@ -75,13 +75,16 @@ Win32-MinGW            - ChibiOS/RT simulator and demo into a WIN32 process,
 *****************************************************************************

 

 *** 0.7.1 ***

-- NEW: New chThdInit() API, this API allows to quickly create threads in the

-  PRSUSPENDED state. This API also allows to start threads from interrupt

-  handlers.

-- CHANGE: The chThdCreate() API no more has the mode parameter, a different

-  API is now used in order to start suspended threads.

+- NEW: New chThdInit() and chThdCreateStatic() APIs now replace the old

+  chThdCreate() and chThdCreateFast() that are marked as deprecated.

+  The new APIs use one less parameter and are faster.

+- NEW: New dynamic chThdCreateFromHeap() and chthdCreateFromMemoryPool() APIs.

+  The dynamic APIs are only included if the CH_USE_DYNAMIC option is specified

+  into the project configuration file.

 - FIX: The chThdCreate() had a regression in 0.7.0, the mode parameter was

-  ignored. Note that in this version the mode parameter had been removed.

+  ignored. Note that in this version the API is deprecated and the bug

+  documented as correct behavior. If you need to create a suspended thread

+  please use the new chThdInit() API.

 

 *** 0.7.0 ***

 - NEW: Memory Heap Allocator functionality added. The allocator implements a

diff --git a/src/chinit.c b/src/chinit.c
index 0063fa458..0d4aafea1 100644
--- a/src/chinit.c
+++ b/src/chinit.c
@@ -49,7 +49,7 @@ void chSysInit(void) {
   /*
    * Now this instructions flow becomes the main thread.
    */
-  init_thread(NORMALPRIO, &mainthread);
+  init_thread(&mainthread, NORMALPRIO);
   mainthread.p_state = PRCURR;
   currp = &mainthread;
 
@@ -61,8 +61,8 @@ void chSysInit(void) {
    * serve interrupts in its context while keeping the lowest energy saving
    * mode compatible with the system status.
    */
-  chThdCreateFast(IDLEPRIO, waIdleThread, sizeof(waIdleThread),
-                  (tfunc_t)_IdleThread);
+  chThdCreateStatic(waIdleThread, sizeof(waIdleThread),
+                    IDLEPRIO, (tfunc_t)_IdleThread, NULL);
 }
 
 /**
diff --git a/src/chthreads.c b/src/chthreads.c
index e98bb725f..f4d355a4b 100644
--- a/src/chthreads.c
+++ b/src/chthreads.c
@@ -27,7 +27,7 @@
 /*
  * Initializes a thread structure.
  */
-void init_thread(tprio_t prio, Thread *tp) {
+void init_thread(Thread *tp, tprio_t prio) {
   static tid_t nextid = 0;
 
   tp->p_tid = nextid++;
@@ -83,8 +83,8 @@ static void memfill(uint8_t *p, uint32_t n, uint8_t v) {
  * @note This function can be used to start a thead from within an interrupt
  *       handler by manually making it ready with \p chSchReadyI().
  */
-Thread *chThdInit(tprio_t prio, void *workspace,
-                  size_t wsize, tfunc_t pf, void *arg) {
+Thread *chThdInit(void *workspace, size_t wsize,
+                  tprio_t prio, tfunc_t pf, void *arg) {
   /* thread structure is layed out in the lower part of the thread workspace */
   Thread *tp = workspace;
 
@@ -95,17 +95,17 @@ Thread *chThdInit(tprio_t prio, void *workspace,
   memfill(workspace, wsize, MEM_FILL_PATTERN);
 #endif
   SETUP_CONTEXT(workspace, wsize, pf, arg);
-  init_thread(prio, tp);
+  init_thread(tp, prio);
   return tp;
 }
 
 /**
- * Creates a new thread.
+ * Creates a new thread into a static memory area.
+ * @param workspace pointer to a working area dedicated to the thread stack
+ * @param wsize size of the working area.
  * @param prio the priority level for the new thread. Usually the threads are
  *             created with priority \p NORMALPRIO, priorities
  *             can range from \p LOWPRIO to \p HIGHPRIO.
- * @param workspace pointer to a working area dedicated to the thread stack
- * @param wsize size of the working area.
  * @param pf the thread function. Returning from this function automatically
  *           terminates the thread.
  * @param arg an argument passed to the thread function. It can be \p NULL.
@@ -114,16 +114,113 @@ Thread *chThdInit(tprio_t prio, void *workspace,
  * @note A thread can terminate by calling \p chThdExit() or by simply
  *       returning from its main function.
  */
-Thread *chThdCreate(tprio_t prio, void *workspace,
-                    size_t wsize, tfunc_t pf, void *arg) {
+Thread *chThdCreateStatic(void *workspace, size_t wsize,
+                          tprio_t prio, tfunc_t pf, void *arg) {
 
-  Thread *tp = chThdInit(prio, workspace, wsize, pf, arg);
+  Thread *tp = chThdInit(workspace, wsize, prio, pf, arg);
   chSysLock();
   chSchWakeupS(tp, RDY_OK);
   chSysUnlock();
   return tp;
 }
 
+#if defined(CH_USE_DYNAMIC) && defined(CH_USE_WAITEXIT) && defined(CH_USE_HEAP)
+/**
+ * Creates a new thread allocating the memory from the heap.
+ * @param wsize size of the working area to be allocated
+ * @param prio the priority level for the new thread. Usually the threads are
+ *             created with priority \p NORMALPRIO, priorities
+ *             can range from \p LOWPRIO to \p HIGHPRIO.
+ * @param pf the thread function. Returning from this function automatically
+ *           terminates the thread.
+ * @param arg an argument passed to the thread function. It can be \p NULL.
+ * @return the pointer to the \p Thread structure allocated for the
+ *         thread into the working space area or \p NULL if the memory cannot
+ *         be allocated.
+ * @note A thread can terminate by calling \p chThdExit() or by simply
+ *       returning from its main function.
+ * @note The memory allocated for the thread is not released when the thread
+ *       terminates but when a \p chThdWait() is performed.
+ * @note The function is available only if the \p CH_USE_DYNAMIC,
+ *       \p CH_USE_HEAP and \p CH_USE_WAITEXIT options are enabled
+ *       in \p chconf.h.
+ */
+Thread *chThdCreateFromHeap(size_t wsize, tprio_t prio,
+                            tfunc_t pf, void *arg) {
+
+  void *workspace = chHeapAlloc(wsize);
+  if (workspace == NULL)
+    return NULL;
+  Thread *tp = chThdInit(workspace, wsize, prio, pf, arg);
+  tp->p_flags |= P_MEM_MODE_HEAP;
+  chSysLock();
+  chSchWakeupS(tp, RDY_OK);
+  chSysUnlock();
+  return tp;
+}
+#endif /* defined(CH_USE_DYNAMIC) && defined(CH_USE_WAITEXIT) && defined(CH_USE_HEAP) */
+
+#if defined(CH_USE_DYNAMIC) && defined(CH_USE_WAITEXIT) && defined(CH_USE_MEMPOOLS)
+/**
+ * Creates a new thread allocating the memory from the specified Memory Pool.
+ * @param mp the memory pool
+ * @param prio the priority level for the new thread. Usually the threads are
+ *             created with priority \p NORMALPRIO, priorities
+ *             can range from \p LOWPRIO to \p HIGHPRIO.
+ * @param pf the thread function. Returning from this function automatically
+ *           terminates the thread.
+ * @param arg an argument passed to the thread function. It can be \p NULL.
+ * @return the pointer to the \p Thread structure allocated for the
+ *         thread into the working space area or \p NULL if the memory cannot
+ *         be allocated.
+ * @note A thread can terminate by calling \p chThdExit() or by simply
+ *       returning from its main function.
+ * @note The memory allocated for the thread is not released when the thread
+ *       terminates but when a \p chThdWait() is performed.
+ * @note The function is available only if the \p CH_USE_DYNAMIC,
+ *       \p CH_USE_MEMPOOLS and \p CH_USE_WAITEXIT options are enabled
+ *       in \p chconf.h.
+ */
+Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio,
+                                  tfunc_t pf, void *arg) {
+
+  void *workspace = chPoolAlloc(mp);
+  if (workspace == NULL)
+    return NULL;
+  Thread *tp = chThdInit(workspace, mp->mp_object_size, prio, pf, arg);
+  tp->p_flags |= P_MEM_MODE_MEMPOOL;
+  tp->p_mpool = mp;
+  chSysLock();
+  chSchWakeupS(tp, RDY_OK);
+  chSysUnlock();
+  return tp;
+}
+#endif /* defined(CH_USE_DYNAMIC) && defined(CH_USE_WAITEXIT) && defined(CH_USE_MEMPOOLS) */
+
+/**
+ * Creates a new thread.
+ * @param prio the priority level for the new thread. Usually the threads are
+ *             created with priority \p NORMALPRIO, priorities
+ *             can range from \p LOWPRIO to \p HIGHPRIO.
+ * @param mode ignored
+ * @param workspace pointer to a working area dedicated to the thread stack
+ * @param wsize size of the working area.
+ * @param pf the thread function. Returning from this function automatically
+ *           terminates the thread.
+ * @param arg an argument passed to the thread function. It can be \p NULL.
+ * @return the pointer to the \p Thread structure allocated for the
+ *         thread into the working space area.
+ * @note A thread can terminate by calling \p chThdExit() or by simply
+ *       returning from its main function.
+ * @deprecated Please use \p chThdCreateStatic() or \p chThdInit() instead,
+ *             this function will be removed in version 1.0.0.
+ */
+Thread *chThdCreate(tprio_t prio, tmode_t mode, void *workspace,
+                    size_t wsize, tfunc_t pf, void *arg) {
+
+  return chThdCreateStatic(workspace, wsize, prio, pf, arg);
+}
+
 /**
  * Creates a new thread.
  * @param prio the priority level for the new thread. Usually the threads are
@@ -137,16 +234,13 @@ Thread *chThdCreate(tprio_t prio, void *workspace,
  *         thread into the working space area.
  * @note A thread can terminate by calling \p chThdExit() or by simply
  *       returning from its main function.
- * @deprecated
+ * @deprecated Please use \p chThdCreateStatic() or \p chThdInit() instead,
+ *             this function will be removed in version 1.0.0.
  */
 Thread *chThdCreateFast(tprio_t prio, void *workspace,
                         size_t wsize, tfunc_t pf) {
 
-  Thread *tp = chThdInit(prio, workspace, wsize, pf, NULL);
-  chSysLock();
-  chSchWakeupS(tp, RDY_OK);
-  chSysUnlock();
-  return tp;
+  return chThdCreateStatic(workspace, wsize, prio, pf, NULL);
 }
 
 /**
@@ -245,9 +339,21 @@ void chThdExit(msg_t msg) {
 /**
  * Blocks the execution of the invoking thread until the specified thread
  * terminates then the exit code is returned.
- *
- * @param tp the pointer to the thread
- * @return the exit code
+ * The memory used by the exited thread is handled in different ways depending
+ * on the API that spawned the thread:
+ * <ul>
+ * <li>If the thread was spawned by \p chThdCreateStatic() or by \p chThdInit()
+ *     then nothing happens and the thread working area is not released or
+ *     modified in any way. This is the default, totally static, behavior.</li>
+ * <li>If the thread was spawned by \p chThdCreateFromHeap() then the working
+ *     area is returned to the system heap.</li>
+ * <li>If the thread was spawned by \p chThdCreateFromMemoryPool() then the
+ *     working area is returned to the owning memory pool.</li>
+ * </ul>
+ * @param tp the thread pointer
+ * @return the exit code from the terminated thread
+ * @note After invoking \p chThdWait() the thread pointer becomes invalid and
+ *       must not be used as parameter for further system calls.
  * @note The function is available only if the \p CH_USE_WAITEXIT
  *       option is enabled in \p chconf.h.
  */
@@ -262,8 +368,33 @@ msg_t chThdWait(Thread *tp) {
   }
   msg = tp->p_exitcode;
 
+#ifndef CH_USE_DYNAMIC
+  chSysUnlock();
+  return msg;
+#else /* CH_USE_DYNAMIC */
+  if (notempty(&tp->p_waiting)) {
+    chSysUnlock();
+    return msg;
+  }
+
+  /* This is the last thread waiting for termination, returning memory.*/
+  tmode_t mode = tp->p_flags & P_MEM_MODE_MASK;
   chSysUnlock();
+
+  switch (mode) {
+#ifdef CH_USE_HEAP
+  case P_MEM_MODE_HEAP:
+    chHeapFree(tp);
+    break;
+#endif
+#ifdef CH_USE_MEMPOOLS
+  case P_MEM_MODE_MEMPOOL:
+    chPoolFree(tp->p_mpool, tp);
+    break;
+#endif
+  }
   return msg;
+#endif /* CH_USE_DYNAMIC */
 }
 #endif /* CH_USE_WAITEXIT */
 
diff --git a/src/include/ch.h b/src/include/ch.h
index 7325de0db..0ccb42455 100644
--- a/src/include/ch.h
+++ b/src/include/ch.h
@@ -37,13 +37,13 @@
 #include "mutexes.h"

 #include "events.h"

 #include "messages.h"

+#include "heap.h"

+#include "mempools.h"

 #include "threads.h"

 #include "inline.h"

 #include "sleep.h"

 #include "queues.h"

 #include "serial.h"

-#include "heap.h"

-#include "mempools.h"

 #include "debug.h"

 

 /*

diff --git a/src/include/threads.h b/src/include/threads.h
index a98faf792..a1c8167b8 100644
--- a/src/include/threads.h
+++ b/src/include/threads.h
@@ -106,6 +106,10 @@ struct Thread {
   /** Thread's own, non-inherited, priority. */
   tprio_t           p_realprio;
 #endif
+#if defined(CH_USE_DYNAMIC) && defined(CH_USE_MEMPOOLS)
+  /** Memory Pool where the thread workspace is returned. */
+  void              *p_mpool;
+#endif
 #ifdef CH_USE_THREAD_EXT
   THREAD_EXT_FIELDS
 #endif
@@ -134,8 +138,14 @@ struct Thread {
 /** Thread state: After termination.*/
 #define PREXIT      10
 
-/** Thread option: Termination requested flag.*/
-#define P_TERMINATE 1
+/*
+ * Various flags into the thread p_flags field.
+ */
+#define P_MEM_MODE_MASK         3       /* Thread memory mode mask.     */
+#define P_MEM_MODE_STATIC       0       /* Thread memory mode: static.  */
+#define P_MEM_MODE_HEAP         1       /* Thread memory mode: heap.    */
+#define P_MEM_MODE_MEMPOOL      2       /* Thread memory mode: mempool. */
+#define P_TERMINATE             4       /* Termination requested.       */
 
 /** Pseudo priority used by the ready list header, do not use.*/
 #define NOPRIO      0
@@ -151,7 +161,7 @@ struct Thread {
 #define ABSPRIO     255
 
 /* Not an API, don't use into the application code.*/
-void init_thread(tprio_t prio, Thread *tp);
+void init_thread(Thread *tp, tprio_t prio);
 
 /** Thread function.*/
 typedef msg_t (*tfunc_t)(void *);
@@ -162,9 +172,15 @@ typedef msg_t (*tfunc_t)(void *);
 #ifdef __cplusplus
 extern "C" {
 #endif
-  Thread *chThdInit(tprio_t prio, void *workspace,
-                    size_t wsize, tfunc_t pf, void *arg);
-  Thread *chThdCreate(tprio_t prio, void *workspace,
+  Thread *chThdInit(void *workspace, size_t wsize,
+                    tprio_t prio, tfunc_t pf, void *arg);
+  Thread *chThdCreateStatic(void *workspace, size_t wsize,
+                            tprio_t prio, tfunc_t pf, void *arg);
+  Thread *chThdCreateFromHeap(size_t wsize, tprio_t prio,
+                              tfunc_t pf, void *arg);
+  Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio,
+                                    tfunc_t pf, void *arg);
+  Thread *chThdCreate(tprio_t prio, tmode_t mode, void *workspace,
                       size_t wsize, tfunc_t pf, void *arg);
   Thread *chThdCreateFast(tprio_t prio, void *workspace,
                           size_t wsize, tfunc_t pf);
diff --git a/src/templates/chconf.h b/src/templates/chconf.h
index 48ef017a8..1f5ca1446 100644
--- a/src/templates/chconf.h
+++ b/src/templates/chconf.h
@@ -148,6 +148,12 @@
  *  are included in the kernel.*/

 #define CH_USE_MEMPOOLS

 

+/** Configuration option: if specified then the dynamic objects creation APIs

+ *  are included in the kernel.

+ * @note requires \p CH_USE_WAITEXIT.

+ */

+#define CH_USE_DYNAMIC

+

 /** Configuration option: Frequency of the system timer that drives the system

  *  ticks. This also defines the system time unit.*/

 #define CH_FREQUENCY 1000

diff --git a/test/testmsg.c b/test/testmsg.c
index 5e9cba0d8..fcf811fa1 100644
--- a/test/testmsg.c
+++ b/test/testmsg.c
@@ -47,7 +47,7 @@ static msg_t thread(void *p) {
 static void msg1_execute(void) {

   msg_t msg;

 

-  threads[0] = chThdCreate(chThdGetPriority()-1, wa[0], STKSIZE, thread, chThdSelf());

+  threads[0] = chThdCreateStatic(wa[0], STKSIZE, chThdGetPriority()-1, thread, chThdSelf());

   do {

     chMsgRelease(msg = chMsgWait());

     if (msg)

diff --git a/test/testmtx.c b/test/testmtx.c
index f5a4c139c..3954e9338 100644
--- a/test/testmtx.c
+++ b/test/testmtx.c
@@ -52,11 +52,11 @@ static void mtx1_execute(void) {
 

   tprio_t prio = chThdGetPriority(); // Bacause priority inheritance.

   chMtxLock(&m1);

-  threads[0] = chThdCreate(prio+1, wa[0], STKSIZE, thread1, "E");

-  threads[1] = chThdCreate(prio+2, wa[1], STKSIZE, thread1, "D");

-  threads[2] = chThdCreate(prio+3, wa[2], STKSIZE, thread1, "C");

-  threads[3] = chThdCreate(prio+4, wa[3], STKSIZE, thread1, "B");

-  threads[4] = chThdCreate(prio+5, wa[4], STKSIZE, thread1, "A");

+  threads[0] = chThdCreateStatic(wa[0], STKSIZE, prio+1, thread1, "E");

+  threads[1] = chThdCreateStatic(wa[1], STKSIZE, prio+2, thread1, "D");

+  threads[2] = chThdCreateStatic(wa[2], STKSIZE, prio+3, thread1, "C");

+  threads[3] = chThdCreateStatic(wa[3], STKSIZE, prio+4, thread1, "B");

+  threads[4] = chThdCreateStatic(wa[4], STKSIZE, prio+5, thread1, "A");

   chMtxUnlock();

   test_assert(prio == chThdGetPriority(), "priority return failure");

   test_wait_threads();

@@ -117,9 +117,9 @@ static msg_t thread4(void *p) {
  */

 static void mtx2_execute(void) {

 

-  threads[0] = chThdCreate(chThdGetPriority()-1, wa[0], STKSIZE, thread2, "A");

-  threads[1] = chThdCreate(chThdGetPriority()-3, wa[1], STKSIZE, thread3, "C");

-  threads[2] = chThdCreate(chThdGetPriority()-2, wa[2], STKSIZE, thread4, "B");

+  threads[0] = chThdCreateStatic(wa[0], STKSIZE, chThdGetPriority()-1, thread2, "A");

+  threads[1] = chThdCreateStatic(wa[1], STKSIZE, chThdGetPriority()-3, thread3, "C");

+  threads[2] = chThdCreateStatic(wa[2], STKSIZE, chThdGetPriority()-2, thread4, "B");

   test_wait_threads();

   test_assert_sequence("ABC");

 }

@@ -206,11 +206,11 @@ static msg_t thread9(void *p) {
  */

 static void mtx3_execute(void) {

 

-  threads[0] = chThdCreate(chThdGetPriority()-5, wa[0], STKSIZE, thread5, "E");

-  threads[1] = chThdCreate(chThdGetPriority()-4, wa[1], STKSIZE, thread6, "D");

-  threads[2] = chThdCreate(chThdGetPriority()-3, wa[2], STKSIZE, thread7, "C");

-  threads[3] = chThdCreate(chThdGetPriority()-2, wa[3], STKSIZE, thread8, "B");

-  threads[4] = chThdCreate(chThdGetPriority()-1, wa[4], STKSIZE, thread9, "A");

+  threads[0] = chThdCreateStatic(wa[0], STKSIZE, chThdGetPriority()-5, thread5, "E");

+  threads[1] = chThdCreateStatic(wa[1], STKSIZE, chThdGetPriority()-4, thread6, "D");

+  threads[2] = chThdCreateStatic(wa[2], STKSIZE, chThdGetPriority()-3, thread7, "C");

+  threads[3] = chThdCreateStatic(wa[3], STKSIZE, chThdGetPriority()-2, thread8, "B");

+  threads[4] = chThdCreateStatic(wa[4], STKSIZE, chThdGetPriority()-1, thread9, "A");

   test_wait_threads();

   test_assert_sequence("ABCDE");

 }

diff --git a/test/testrdy.c b/test/testrdy.c
index fd6b7b17f..2d39e5ff4 100644
--- a/test/testrdy.c
+++ b/test/testrdy.c
@@ -40,11 +40,11 @@ static void rdy1_teardown(void) {
 

 static void rdy1_execute(void) {

 

-  threads[0] = chThdCreate(chThdGetPriority()-5, wa[0], STKSIZE, thread, "E");

-  threads[1] = chThdCreate(chThdGetPriority()-4, wa[1], STKSIZE, thread, "D");

-  threads[2] = chThdCreate(chThdGetPriority()-3, wa[2], STKSIZE, thread, "C");

-  threads[3] = chThdCreate(chThdGetPriority()-2, wa[3], STKSIZE, thread, "B");

-  threads[4] = chThdCreate(chThdGetPriority()-1, wa[4], STKSIZE, thread, "A");

+  threads[0] = chThdCreateStatic(wa[0], STKSIZE, chThdGetPriority()-5, thread, "E");

+  threads[1] = chThdCreateStatic(wa[1], STKSIZE, chThdGetPriority()-4, thread, "D");

+  threads[2] = chThdCreateStatic(wa[2], STKSIZE, chThdGetPriority()-3, thread, "C");

+  threads[3] = chThdCreateStatic(wa[3], STKSIZE, chThdGetPriority()-2, thread, "B");

+  threads[4] = chThdCreateStatic(wa[4], STKSIZE, chThdGetPriority()-1, thread, "A");

   test_wait_threads();

   test_assert_sequence("ABCDE");

 }

@@ -69,11 +69,11 @@ static void rdy2_teardown(void) {
 

 static void rdy2_execute(void) {

 

-  threads[1] = chThdCreate(chThdGetPriority()-4, wa[1], STKSIZE, thread, "D");

-  threads[0] = chThdCreate(chThdGetPriority()-5, wa[0], STKSIZE, thread, "E");

-  threads[4] = chThdCreate(chThdGetPriority()-1, wa[4], STKSIZE, thread, "A");

-  threads[3] = chThdCreate(chThdGetPriority()-2, wa[3], STKSIZE, thread, "B");

-  threads[2] = chThdCreate(chThdGetPriority()-3, wa[2], STKSIZE, thread, "C");

+  threads[1] = chThdCreateStatic(wa[1], STKSIZE, chThdGetPriority()-4, thread, "D");

+  threads[0] = chThdCreateStatic(wa[0], STKSIZE, chThdGetPriority()-5, thread, "E");

+  threads[4] = chThdCreateStatic(wa[4], STKSIZE, chThdGetPriority()-1, thread, "A");

+  threads[3] = chThdCreateStatic(wa[3], STKSIZE, chThdGetPriority()-2, thread, "B");

+  threads[2] = chThdCreateStatic(wa[2], STKSIZE, chThdGetPriority()-3, thread, "C");

   test_wait_threads();

   test_assert_sequence("ABCDE");

 }

diff --git a/test/testsem.c b/test/testsem.c
index 4442117e9..6afa715cb 100644
--- a/test/testsem.c
+++ b/test/testsem.c
@@ -47,11 +47,11 @@ static msg_t thread(void *p) {
 

 static void sem1_execute(void) {

 

-  threads[0] = chThdCreate(chThdGetPriority()+5, wa[0], STKSIZE, thread, "A");

-  threads[1] = chThdCreate(chThdGetPriority()+1, wa[1], STKSIZE, thread, "B");

-  threads[2] = chThdCreate(chThdGetPriority()+3, wa[2], STKSIZE, thread, "C");

-  threads[3] = chThdCreate(chThdGetPriority()+4, wa[3], STKSIZE, thread, "D");

-  threads[4] = chThdCreate(chThdGetPriority()+2, wa[4], STKSIZE, thread, "E");

+  threads[0] = chThdCreateStatic(wa[0], STKSIZE, chThdGetPriority()+5, thread, "A");

+  threads[1] = chThdCreateStatic(wa[1], STKSIZE, chThdGetPriority()+1, thread, "B");

+  threads[2] = chThdCreateStatic(wa[2], STKSIZE, chThdGetPriority()+3, thread, "C");

+  threads[3] = chThdCreateStatic(wa[3], STKSIZE, chThdGetPriority()+4, thread, "D");

+  threads[4] = chThdCreateStatic(wa[4], STKSIZE, chThdGetPriority()+2, thread, "E");

   chSemSignal(&sem1);

   chSemSignal(&sem1);

   chSemSignal(&sem1);