git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6472 35acf78f-673a-0410-8e92-d51de3d6d3f4

5 files changed, 420 insertions, 555 deletions

diff --git a/os/rt/include/ch.h b/os/rt/include/ch.h
index e96bc797c..c1360d4c4 100644
--- a/os/rt/include/ch.h
+++ b/os/rt/include/ch.h
@@ -66,15 +66,6 @@
 typedef struct thread thread_t;

 typedef struct virtual_timer virtual_timer_t;

 

-/* This function is special, it must be accessible from all modules.*/

-#ifdef __cplusplus

-extern "C" {

-#endif

-  void chSysHalt(const char *reason);

-#ifdef __cplusplus

-}

-#endif

-

 /* Inclusion of all the kernel sub-headers.*/

 #include "chtypes.h"

 #include "chconf.h"

@@ -82,11 +73,9 @@ extern "C" {
 #include "chdebug.h"

 #include "chtm.h"

 #include "chstats.h"

-#include "chglobal.h"

+#include "chschd.h"

 #include "chsys.h"

 #include "chvt.h"

-#include "chlists.h"

-#include "chschd.h"

 #include "chthreads.h"

 #include "chregistry.h"

 #include "chsem.h"

diff --git a/os/rt/include/chglobal.h b/os/rt/include/chglobal.h
deleted file mode 100644
index 3d8458f02..000000000
--- a/os/rt/include/chglobal.h
+++ /dev/null
@@ -1,321 +0,0 @@
-/*

-    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

-                 2011,2012,2013 Giovanni Di Sirio.

-

-    This file is part of ChibiOS/RT.

-

-    ChibiOS/RT is free software; you can redistribute it and/or modify

-    it under the terms of the GNU General Public License as published by

-    the Free Software Foundation; either version 3 of the License, or

-    (at your option) any later version.

-

-    ChibiOS/RT is distributed in the hope that it will be useful,

-    but WITHOUT ANY WARRANTY; without even the implied warranty of

-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

-    GNU General Public License for more details.

-

-    You should have received a copy of the GNU General Public License

-    along with this program.  If not, see <http://www.gnu.org/licenses/>.

-*/

-

-/**

- * @file    chglobal.h

- * @brief   Data structures with global scope header.

- *

- * @addtogroup global

- */

-

-#ifndef _CHGLOBAL_H_

-#define _CHGLOBAL_H_

-

-/*===========================================================================*/

-/* Module constants.                                                         */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Module pre-compile time settings.                                         */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Derived constants and error checks.                                       */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Module data structures and types.                                         */

-/*===========================================================================*/

-

-/**

- * @brief   Generic threads single link list, it works like a stack.

- */

-typedef struct {

-  thread_t              *p_next;    /**< @brief Next in the list/queue.     */

-} threads_list_t;

-

-/**

- * @extends threads_list_t

- *

- * @brief   Generic threads bidirectional linked list header and element.

- */

-typedef struct {

-  thread_t              *p_next;    /**< @brief Next in the list/queue.     */

-  thread_t              *p_prev;    /**< @brief Previous in the queue.      */

-} threads_queue_t;

-

-/**

- * @extends threads_queue_t

- *

- * @brief   Ready list header.

- */

-typedef struct {

-  threads_queue_t       r_queue;    /**< @brief Threads queue.              */

-  tprio_t               r_prio;     /**< @brief This field must be

-                                                initialized to zero.        */

-  struct context        r_ctx;      /**< @brief Not used, present because

-                                                offsets.                    */

-#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)

-  thread_t              *r_newer;   /**< @brief Newer registry element.     */

-  thread_t              *r_older;   /**< @brief Older registry element.     */

-#endif

-  /* End of the fields shared with the thread_t structure.*/

-  thread_t              *r_current; /**< @brief The currently running

-                                                thread.                     */

-} ready_list_t;

-

-/**

- * @extends threads_queue_t

- *

- * @brief   Structure representing a thread.

- * @note    Not all the listed fields are always needed, by switching off some

- *          not needed ChibiOS/RT subsystems it is possible to save RAM space

- *          by shrinking the @p thread_t structure.

- */

-typedef struct thread {

-  thread_t              *p_next;    /**< @brief Next in the list/queue.     */

-  /* End of the fields shared with the threads_list_t structure.*/

-  thread_t              *p_prev;    /**< @brief Previous in the queue.      */

-  /* End of the fields shared with the threads_queue_t structure.*/

-  tprio_t               p_prio;     /**< @brief Thread priority.            */

-  struct context        p_ctx;      /**< @brief Processor context.          */

-#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)

-  thread_t              *p_newer;   /**< @brief Newer registry element.     */

-  thread_t              *p_older;   /**< @brief Older registry element.     */

-#endif

-  /* End of the fields shared with the ReadyList structure. */

-#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)

-  /**

-   * @brief Thread name or @p NULL.

-   */

-  const char            *p_name;

-#endif

-#if CH_DBG_ENABLE_STACK_CHECK || defined(__DOXYGEN__)

-  /**

-   * @brief Thread stack boundary.

-   */

-  stkalign_t            *p_stklimit;

-#endif

-  /**

-   * @brief Current thread state.

-   */

-  tstate_t              p_state;

-  /**

-   * @brief Various thread flags.

-   */

-  tmode_t               p_flags;

-#if CH_CFG_USE_DYNAMIC || defined(__DOXYGEN__)

-  /**

-   * @brief References to this thread.

-   */

-  trefs_t               p_refs;

-#endif

-  /**

-   * @brief Number of ticks remaining to this thread.

-   */

-#if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__)

-  tslices_t             p_preempt;

-#endif

-#if CH_DBG_THREADS_PROFILING || defined(__DOXYGEN__)

-  /**

-   * @brief Thread consumed time in ticks.

-   * @note  This field can overflow.

-   */

-  volatile systime_t    p_time;

-#endif

-  /**

-   * @brief State-specific fields.

-   * @note  All the fields declared in this union are only valid in the

-   *        specified state or condition and are thus volatile.

-   */

-  union {

-    /**

-     * @brief Thread wakeup code.

-     * @note  This field contains the low level message sent to the thread

-     *        by the waking thread or interrupt handler. The value is valid

-     *        after exiting the @p chSchWakeupS() function.

-     */

-    msg_t               rdymsg;

-    /**

-     * @brief Thread exit code.

-     * @note  The thread termination code is stored in this field in order

-     *        to be retrieved by the thread performing a @p chThdWait() on

-     *        this thread.

-     */

-    msg_t               exitcode;

-    /**

-     * @brief Pointer to a generic "wait" object.

-     * @note  This field is used to get a generic pointer to a synchronization

-     *        object and is valid when the thread is in one of the wait

-     *        states.

-     */

-    void                *wtobjp;

-#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)

-    /**

-     * @brief Enabled events mask.

-     * @note  This field is only valid while the thread is in the

-     *        @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.

-     */

-    eventmask_t         ewmask;

-#endif

-  }                     p_u;

-#if CH_CFG_USE_WAITEXIT || defined(__DOXYGEN__)

-  /**

-   * @brief Termination waiting list.

-   */

-  threads_list_t        p_waiting;

-#endif

-#if CH_CFG_USE_MESSAGES || defined(__DOXYGEN__)

-  /**

-   * @brief Messages queue.

-   */

-  threads_queue_t       p_msgqueue;

-  /**

-   * @brief Thread message.

-   */

-  msg_t                 p_msg;

-#endif

-#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)

-  /**

-   * @brief Pending events mask.

-   */

-  eventmask_t           p_epending;

-#endif

-#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)

-  /**

-   * @brief List of the mutexes owned by this thread.

-   * @note  The list is terminated by a @p NULL in this field.

-   */

-  struct mutex          *p_mtxlist;

-  /**

-   * @brief Thread's own, non-inherited, priority.

-   */

-  tprio_t               p_realprio;

-#endif

-#if (CH_CFG_USE_DYNAMIC && CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__)

-  /**

-   * @brief Memory Pool where the thread workspace is returned.

-   */

-  void                  *p_mpool;

-#endif

-#if CH_DBG_STATISTICS || defined(__DOXYGEN__)

-  time_measurement_t    p_stats;

-#endif

-#if defined(CH_CFG_THREAD_EXTRA_FIELDS)

-  /* Extra fields defined in chconf.h.*/

-  CH_CFG_THREAD_EXTRA_FIELDS

-#endif

-} thread_t;

-

-/**

- * @brief   Virtual timers list header.

- * @note    The timers list is implemented as a double link bidirectional list

- *          in order to make the unlink time constant, the reset of a virtual

- *          timer is often used in the code.

- */

-typedef struct {

-  virtual_timer_t       *vt_next;   /**< @brief Next timer in the delta

-                                                list.                       */

-  virtual_timer_t       *vt_prev;   /**< @brief Last timer in the delta

-                                                list.                       */

-  systime_t             vt_delta;   /**< @brief Must be initialized to -1.  */

-#if CH_CFG_ST_TIMEDELTA == 0 || defined(__DOXYGEN__)

-  volatile systime_t    vt_systime; /**< @brief System Time counter.        */

-#endif

-#if CH_CFG_ST_TIMEDELTA > 0 || defined(__DOXYGEN__)

-  /**

-   * @brief   System time of the last tick event.

-   */

-  systime_t             vt_lasttime;/**< @brief System time of the last

-                                                tick event.                 */

-#endif

-} virtual_timers_list_t;

-

-/**

- * @brief   System data structure.

- * @note    This structure contain all the data areas used by the OS except

- *          stacks.

- */

-typedef struct ch_system {

-  /**

-   * @brief   Ready list header.

-   */

-  ready_list_t          rlist;

-  /**

-   * @brief   Virtual timers delta list header.

-   */

-  virtual_timers_list_t vtlist;

-#if CH_CFG_USE_TM || defined(__DOXYGEN__)

-  /**

-   * @brief   Measurement calibration value.

-   */

-  rtcnt_t               measurement_offset;

-#endif

-#if CH_DBG_STATISTICS || defined(__DOXYGEN__)

-  /**

-   * @brief   Global kernel statistics.

-   */

-  kernel_stats_t        kernel_stats;

-#endif

-#if CH_DBG_ENABLED || defined(__DOXYGEN__)

-  /**

-   * @brief   Pointer to the panic message.

-   * @details This pointer is meant to be accessed through the debugger, it is

-   *          written once and then the system is halted.

-   */

-  const char            *dbg_panic_msg;

-#endif

-#if CH_DBG_SYSTEM_STATE_CHECK || defined(__DOXYGEN__)

-  /**

-   * @brief   ISR nesting level.

-   */

-  cnt_t                 dbg_isr_cnt;

-  /**

-   * @brief   Lock nesting level.

-   */

-  cnt_t                 dbg_lock_cnt;

-#endif

-#if CH_DBG_ENABLE_TRACE || defined(__DOXYGEN__)

-  /**

-   * @brief   Public trace buffer.

-   */

-  ch_trace_buffer_t     dbg_trace_buffer;

-#endif

-} ch_system_t;

-

-/*===========================================================================*/

-/* Module macros.                                                            */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* External declarations.                                                    */

-/*===========================================================================*/

-

-#if !defined(__DOXYGEN__)

-extern ch_system_t ch;

-#endif

-

-/*===========================================================================*/

-/* Module inline functions.                                                  */

-/*===========================================================================*/

-

-#endif /* _CHGLOBAL_H_ */

-

-/** @} */

diff --git a/os/rt/include/chlists.h b/os/rt/include/chlists.h
deleted file mode 100644
index f49ce679f..000000000
--- a/os/rt/include/chlists.h
+++ /dev/null
@@ -1,217 +0,0 @@
-/*

-    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

-                 2011,2012,2013 Giovanni Di Sirio.

-

-    This file is part of ChibiOS/RT.

-

-    ChibiOS/RT is free software; you can redistribute it and/or modify

-    it under the terms of the GNU General Public License as published by

-    the Free Software Foundation; either version 3 of the License, or

-    (at your option) any later version.

-

-    ChibiOS/RT is distributed in the hope that it will be useful,

-    but WITHOUT ANY WARRANTY; without even the implied warranty of

-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

-    GNU General Public License for more details.

-

-    You should have received a copy of the GNU General Public License

-    along with this program.  If not, see <http://www.gnu.org/licenses/>.

-*/

-

-/**

- * @file    chlists.h

- * @brief   Thread queues and lists header.

- *

- * @addtogroup queues_list

- * @{

- */

-

-#ifndef _CHLISTS_H_

-#define _CHLISTS_H_

-

-/*===========================================================================*/

-/* Module constants.                                                         */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Module pre-compile time settings.                                         */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Derived constants and error checks.                                       */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Module data structures and types.                                         */

-/*===========================================================================*/

-

-/*===========================================================================*/

-/* Module macros.                                                            */

-/*===========================================================================*/

-

-/**

- * @brief   Data part of a static threads queue initializer.

- * @details This macro should be used when statically initializing a threads

- *          queue that is part of a bigger structure.

- *

- * @param[in] name      the name of the threads queue variable

- */

-#define _threads_queue_t_DATA(name) {(thread_t *)&name, (thread_t *)&name}

-

-/**

- * @brief   Static threads queue initializer.

- * @details Statically initialized threads queues require no explicit

- *          initialization using @p queue_init().

- *

- * @param[in] name      the name of the threads queue variable

- */

-#define threads_queue_t_DECL(name)                                          \

-  threads_queue_t name = _threads_queue_t_DATA(name)

-

-/*===========================================================================*/

-/* External declarations.                                                    */

-/*===========================================================================*/

-

-#ifdef __cplusplus

-extern "C" {

-#endif

-  msg_t chQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t timeout);

-  void chQueueWakeupOneI(threads_queue_t *tqp, msg_t msg);

-  void chQueueWakeupAllI(threads_queue_t *tqp, msg_t msg);

-#ifdef __cplusplus

-}

-#endif

-

-/*===========================================================================*/

-/* Module inline functions.                                                  */

-/*===========================================================================*/

-

-/**

- * @brief   Threads list initialization.

- *

- * @notapi

- */

-static inline void list_init(threads_list_t *tlp) {

-

-  tlp->p_next = (thread_t *)tlp;

-}

-

-/**

- * @brief   Evaluates to @p true if the specified threads list is empty.

- *

- * @notapi

- */

-static inline bool list_isempty(threads_list_t *tlp) {

-

-  return (bool)(tlp->p_next == (thread_t *)tlp);

-}

-

-/**

- * @brief   Evaluates to @p true if the specified threads list is not empty.

- *

- * @notapi

- */

-static inline bool list_notempty(threads_list_t *tlp) {

-

-  return (bool)(tlp->p_next != (thread_t *)tlp);

-}

-

-/**

- * @brief   Threads queue initialization.

- *

- * @notapi

- */

-static inline void queue_init(threads_queue_t *tqp) {

-

-  tqp->p_next = tqp->p_prev = (thread_t *)tqp;

-}

-

-/**

- * @brief   Evaluates to @p true if the specified threads queue is empty.

- *

- * @notapi

- */

-static inline bool queue_isempty(threads_queue_t *tqp) {

-

-  return (bool)(tqp->p_next == (thread_t *)tqp);

-}

-

-/**

- * @brief   Evaluates to @p true if the specified threads queue is not empty.

- *

- * @notapi

- */

-static inline bool queue_notempty(threads_queue_t *tqp) {

-

-  return (bool)(tqp->p_next != (thread_t *)tqp);

-}

-

-/* If the performance code path has been chosen then all the following

-   functions are inlined into the various kernel modules.*/

-#if CH_CFG_OPTIMIZE_SPEED

-static inline void list_insert(thread_t *tp, threads_list_t *tlp) {

-

-  tp->p_next = tlp->p_next;

-  tlp->p_next = tp;

-}

-

-static inline thread_t *list_remove(threads_list_t *tlp) {

-

-  thread_t *tp = tlp->p_next;

-  tlp->p_next = tp->p_next;

-  return tp;

-}

-

-static inline void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) {

-

-  thread_t *cp = (thread_t *)tqp;

-  do {

-    cp = cp->p_next;

-  } while ((cp != (thread_t *)tqp) && (cp->p_prio >= tp->p_prio));

-  tp->p_next = cp;

-  tp->p_prev = cp->p_prev;

-  tp->p_prev->p_next = cp->p_prev = tp;

-}

-

-static inline void queue_insert(thread_t *tp, threads_queue_t *tqp) {

-

-  tp->p_next = (thread_t *)tqp;

-  tp->p_prev = tqp->p_prev;

-  tp->p_prev->p_next = tqp->p_prev = tp;

-}

-

-static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {

-  thread_t *tp = tqp->p_next;

-

-  (tqp->p_next = tp->p_next)->p_prev = (thread_t *)tqp;

-  return tp;

-}

-

-static inline thread_t *queue_lifo_remove(threads_queue_t *tqp) {

-  thread_t *tp = tqp->p_prev;

-

-  (tqp->p_prev = tp->p_prev)->p_next = (thread_t *)tqp;

-  return tp;

-}

-

-static inline thread_t *queue_dequeue(thread_t *tp) {

-

-  tp->p_prev->p_next = tp->p_next;

-  tp->p_next->p_prev = tp->p_prev;

-  return tp;

-}

-#endif /* CH_CFG_OPTIMIZE_SPEED */

-

-/**

- * @brief   Initializes a threads queue object.

- *

- * @param[out] tqp      pointer to the threads queue object

- *

- * @init

- */

-static inline void chQueueObjectInit(threads_queue_t *tqp) {

-

-  queue_init(tqp);

-}

-

-#endif /* _CHLISTS_H_ */

diff --git a/os/rt/include/chschd.h b/os/rt/include/chschd.h
index b4160acc6..718cedd58 100644
--- a/os/rt/include/chschd.h
+++ b/os/rt/include/chschd.h
@@ -87,6 +87,262 @@
 /* Module data structures and types.                                         */

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

 

+/**

+ * @brief   Generic threads single link list, it works like a stack.

+ */

+typedef struct {

+  thread_t              *p_next;    /**< @brief Next in the list/queue.     */

+} threads_list_t;

+

+/**

+ * @extends threads_list_t

+ *

+ * @brief   Generic threads bidirectional linked list header and element.

+ */

+typedef struct {

+  thread_t              *p_next;    /**< @brief Next in the list/queue.     */

+  thread_t              *p_prev;    /**< @brief Previous in the queue.      */

+} threads_queue_t;

+

+/**

+ * @extends threads_queue_t

+ *

+ * @brief   Ready list header.

+ */

+typedef struct {

+  threads_queue_t       r_queue;    /**< @brief Threads queue.              */

+  tprio_t               r_prio;     /**< @brief This field must be

+                                                initialized to zero.        */

+  struct context        r_ctx;      /**< @brief Not used, present because

+                                                offsets.                    */

+#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)

+  thread_t              *r_newer;   /**< @brief Newer registry element.     */

+  thread_t              *r_older;   /**< @brief Older registry element.     */

+#endif

+  /* End of the fields shared with the thread_t structure.*/

+  thread_t              *r_current; /**< @brief The currently running

+                                                thread.                     */

+} ready_list_t;

+

+/**

+ * @extends threads_queue_t

+ *

+ * @brief   Structure representing a thread.

+ * @note    Not all the listed fields are always needed, by switching off some

+ *          not needed ChibiOS/RT subsystems it is possible to save RAM space

+ *          by shrinking the @p thread_t structure.

+ */

+typedef struct thread {

+  thread_t              *p_next;    /**< @brief Next in the list/queue.     */

+  /* End of the fields shared with the threads_list_t structure.*/

+  thread_t              *p_prev;    /**< @brief Previous in the queue.      */

+  /* End of the fields shared with the threads_queue_t structure.*/

+  tprio_t               p_prio;     /**< @brief Thread priority.            */

+  struct context        p_ctx;      /**< @brief Processor context.          */

+#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)

+  thread_t              *p_newer;   /**< @brief Newer registry element.     */

+  thread_t              *p_older;   /**< @brief Older registry element.     */

+#endif

+  /* End of the fields shared with the ReadyList structure. */

+#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)

+  /**

+   * @brief Thread name or @p NULL.

+   */

+  const char            *p_name;

+#endif

+#if CH_DBG_ENABLE_STACK_CHECK || defined(__DOXYGEN__)

+  /**

+   * @brief Thread stack boundary.

+   */

+  stkalign_t            *p_stklimit;

+#endif

+  /**

+   * @brief Current thread state.

+   */

+  tstate_t              p_state;

+  /**

+   * @brief Various thread flags.

+   */

+  tmode_t               p_flags;

+#if CH_CFG_USE_DYNAMIC || defined(__DOXYGEN__)

+  /**

+   * @brief References to this thread.

+   */

+  trefs_t               p_refs;

+#endif

+  /**

+   * @brief Number of ticks remaining to this thread.

+   */

+#if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__)

+  tslices_t             p_preempt;

+#endif

+#if CH_DBG_THREADS_PROFILING || defined(__DOXYGEN__)

+  /**

+   * @brief Thread consumed time in ticks.

+   * @note  This field can overflow.

+   */

+  volatile systime_t    p_time;

+#endif

+  /**

+   * @brief State-specific fields.

+   * @note  All the fields declared in this union are only valid in the

+   *        specified state or condition and are thus volatile.

+   */

+  union {

+    /**

+     * @brief Thread wakeup code.

+     * @note  This field contains the low level message sent to the thread

+     *        by the waking thread or interrupt handler. The value is valid

+     *        after exiting the @p chSchWakeupS() function.

+     */

+    msg_t               rdymsg;

+    /**

+     * @brief Thread exit code.

+     * @note  The thread termination code is stored in this field in order

+     *        to be retrieved by the thread performing a @p chThdWait() on

+     *        this thread.

+     */

+    msg_t               exitcode;

+    /**

+     * @brief Pointer to a generic "wait" object.

+     * @note  This field is used to get a generic pointer to a synchronization

+     *        object and is valid when the thread is in one of the wait

+     *        states.

+     */

+    void                *wtobjp;

+#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)

+    /**

+     * @brief Enabled events mask.

+     * @note  This field is only valid while the thread is in the

+     *        @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.

+     */

+    eventmask_t         ewmask;

+#endif

+  }                     p_u;

+#if CH_CFG_USE_WAITEXIT || defined(__DOXYGEN__)

+  /**

+   * @brief Termination waiting list.

+   */

+  threads_list_t        p_waiting;

+#endif

+#if CH_CFG_USE_MESSAGES || defined(__DOXYGEN__)

+  /**

+   * @brief Messages queue.

+   */

+  threads_queue_t       p_msgqueue;

+  /**

+   * @brief Thread message.

+   */

+  msg_t                 p_msg;

+#endif

+#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)

+  /**

+   * @brief Pending events mask.

+   */

+  eventmask_t           p_epending;

+#endif

+#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)

+  /**

+   * @brief List of the mutexes owned by this thread.

+   * @note  The list is terminated by a @p NULL in this field.

+   */

+  struct mutex          *p_mtxlist;

+  /**

+   * @brief Thread's own, non-inherited, priority.

+   */

+  tprio_t               p_realprio;

+#endif

+#if (CH_CFG_USE_DYNAMIC && CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__)

+  /**

+   * @brief Memory Pool where the thread workspace is returned.

+   */

+  void                  *p_mpool;

+#endif

+#if CH_DBG_STATISTICS || defined(__DOXYGEN__)

+  time_measurement_t    p_stats;

+#endif

+#if defined(CH_CFG_THREAD_EXTRA_FIELDS)

+  /* Extra fields defined in chconf.h.*/

+  CH_CFG_THREAD_EXTRA_FIELDS

+#endif

+} thread_t;

+

+/**

+ * @brief   Virtual timers list header.

+ * @note    The timers list is implemented as a double link bidirectional list

+ *          in order to make the unlink time constant, the reset of a virtual

+ *          timer is often used in the code.

+ */

+typedef struct {

+  virtual_timer_t       *vt_next;   /**< @brief Next timer in the delta

+                                                list.                       */

+  virtual_timer_t       *vt_prev;   /**< @brief Last timer in the delta

+                                                list.                       */

+  systime_t             vt_delta;   /**< @brief Must be initialized to -1.  */

+#if CH_CFG_ST_TIMEDELTA == 0 || defined(__DOXYGEN__)

+  volatile systime_t    vt_systime; /**< @brief System Time counter.        */

+#endif

+#if CH_CFG_ST_TIMEDELTA > 0 || defined(__DOXYGEN__)

+  /**

+   * @brief   System time of the last tick event.

+   */

+  systime_t             vt_lasttime;/**< @brief System time of the last

+                                                tick event.                 */

+#endif

+} virtual_timers_list_t;

+

+/**

+ * @brief   System data structure.

+ * @note    This structure contain all the data areas used by the OS except

+ *          stacks.

+ */

+typedef struct ch_system {

+  /**

+   * @brief   Ready list header.

+   */

+  ready_list_t          rlist;

+  /**

+   * @brief   Virtual timers delta list header.

+   */

+  virtual_timers_list_t vtlist;

+#if CH_CFG_USE_TM || defined(__DOXYGEN__)

+  /**

+   * @brief   Measurement calibration value.

+   */

+  rtcnt_t               measurement_offset;

+#endif

+#if CH_DBG_STATISTICS || defined(__DOXYGEN__)

+  /**

+   * @brief   Global kernel statistics.

+   */

+  kernel_stats_t        kernel_stats;

+#endif

+#if CH_DBG_ENABLED || defined(__DOXYGEN__)

+  /**

+   * @brief   Pointer to the panic message.

+   * @details This pointer is meant to be accessed through the debugger, it is

+   *          written once and then the system is halted.

+   */

+  const char            *dbg_panic_msg;

+#endif

+#if CH_DBG_SYSTEM_STATE_CHECK || defined(__DOXYGEN__)

+  /**

+   * @brief   ISR nesting level.

+   */

+  cnt_t                 dbg_isr_cnt;

+  /**

+   * @brief   Lock nesting level.

+   */

+  cnt_t                 dbg_lock_cnt;

+#endif

+#if CH_DBG_ENABLE_TRACE || defined(__DOXYGEN__)

+  /**

+   * @brief   Public trace buffer.

+   */

+  ch_trace_buffer_t     dbg_trace_buffer;

+#endif

+} ch_system_t;

+

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

 /* Module macros.                                                            */

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

@@ -120,6 +376,10 @@
 /* External declarations.                                                    */

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

 

+#if !defined(__DOXYGEN__)

+extern ch_system_t ch;

+#endif

+

 /*

  * Scheduler APIs.

  */

@@ -144,6 +404,122 @@ extern "C" {
 /* Module inline functions.                                                  */

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

 

+ /**

+  * @brief   Threads list initialization.

+  *

+  * @notapi

+  */

+ static inline void list_init(threads_list_t *tlp) {

+

+   tlp->p_next = (thread_t *)tlp;

+ }

+

+ /**

+  * @brief   Evaluates to @p true if the specified threads list is empty.

+  *

+  * @notapi

+  */

+ static inline bool list_isempty(threads_list_t *tlp) {

+

+   return (bool)(tlp->p_next == (thread_t *)tlp);

+ }

+

+ /**

+  * @brief   Evaluates to @p true if the specified threads list is not empty.

+  *

+  * @notapi

+  */

+ static inline bool list_notempty(threads_list_t *tlp) {

+

+   return (bool)(tlp->p_next != (thread_t *)tlp);

+ }

+

+ /**

+  * @brief   Threads queue initialization.

+  *

+  * @notapi

+  */

+ static inline void queue_init(threads_queue_t *tqp) {

+

+   tqp->p_next = tqp->p_prev = (thread_t *)tqp;

+ }

+

+ /**

+  * @brief   Evaluates to @p true if the specified threads queue is empty.

+  *

+  * @notapi

+  */

+ static inline bool queue_isempty(threads_queue_t *tqp) {

+

+   return (bool)(tqp->p_next == (thread_t *)tqp);

+ }

+

+ /**

+  * @brief   Evaluates to @p true if the specified threads queue is not empty.

+  *

+  * @notapi

+  */

+ static inline bool queue_notempty(threads_queue_t *tqp) {

+

+   return (bool)(tqp->p_next != (thread_t *)tqp);

+ }

+

+ /* If the performance code path has been chosen then all the following

+    functions are inlined into the various kernel modules.*/

+ #if CH_CFG_OPTIMIZE_SPEED

+ static inline void list_insert(thread_t *tp, threads_list_t *tlp) {

+

+   tp->p_next = tlp->p_next;

+   tlp->p_next = tp;

+ }

+

+ static inline thread_t *list_remove(threads_list_t *tlp) {

+

+   thread_t *tp = tlp->p_next;

+   tlp->p_next = tp->p_next;

+   return tp;

+ }

+

+ static inline void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) {

+

+   thread_t *cp = (thread_t *)tqp;

+   do {

+     cp = cp->p_next;

+   } while ((cp != (thread_t *)tqp) && (cp->p_prio >= tp->p_prio));

+   tp->p_next = cp;

+   tp->p_prev = cp->p_prev;

+   tp->p_prev->p_next = cp->p_prev = tp;

+ }

+

+ static inline void queue_insert(thread_t *tp, threads_queue_t *tqp) {

+

+   tp->p_next = (thread_t *)tqp;

+   tp->p_prev = tqp->p_prev;

+   tp->p_prev->p_next = tqp->p_prev = tp;

+ }

+

+ static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {

+   thread_t *tp = tqp->p_next;

+

+   (tqp->p_next = tp->p_next)->p_prev = (thread_t *)tqp;

+   return tp;

+ }

+

+ static inline thread_t *queue_lifo_remove(threads_queue_t *tqp) {

+   thread_t *tp = tqp->p_prev;

+

+   (tqp->p_prev = tp->p_prev)->p_next = (thread_t *)tqp;

+   return tp;

+ }

+

+ static inline thread_t *queue_dequeue(thread_t *tp) {

+

+   tp->p_prev->p_next = tp->p_next;

+   tp->p_next->p_prev = tp->p_prev;

+   return tp;

+ }

+#endif /* CH_CFG_OPTIMIZE_SPEED */

+

 /**

  * @brief   Determines if the current thread must reschedule.

  * @details This function returns @p true if there is a ready thread with

diff --git a/os/rt/include/chthreads.h b/os/rt/include/chthreads.h
index 1dcad9b48..e1a8b496d 100644
--- a/os/rt/include/chthreads.h
+++ b/os/rt/include/chthreads.h
@@ -159,6 +159,29 @@ typedef msg_t (*tfunc_t)(void *);
 /** @} */

 

 /**

+ * @name    Threads queues

+ */

+/**

+ * @brief   Data part of a static threads queue object initializer.

+ * @details This macro should be used when statically initializing a threads

+ *          queue that is part of a bigger structure.

+ *

+ * @param[in] name      the name of the threads queue variable

+ */

+#define _threads_queue_t_DATA(name) {(thread_t *)&name, (thread_t *)&name}

+

+/**

+ * @brief   Static threads queue object initializer.

+ * @details Statically initialized threads queues require no explicit

+ *          initialization using @p queue_init().

+ *

+ * @param[in] name      the name of the threads queue variable

+ */

+#define threads_queue_t_DECL(name)                                          \

+  threads_queue_t name = _threads_queue_t_DATA(name)

+/** @} */

+

+/**

  * @name    Macro Functions

  * @{

  */

@@ -218,11 +241,14 @@ extern "C" {
                               tprio_t prio, tfunc_t pf, void *arg);

   thread_t *chThdStart(thread_t *tp);

   tprio_t chThdSetPriority(tprio_t newprio);

-  msg_t chThreadSuspendS(thread_reference_t *trp);

-  msg_t chThreadSuspendTimeoutS(thread_reference_t *trp, systime_t timeout);

-  void chThreadResumeI(thread_reference_t *trp, msg_t msg);

-  void chThreadResumeS(thread_reference_t *trp, msg_t msg);

-  void chThreadResume(thread_reference_t *trp, msg_t msg);

+  msg_t chThdSuspendS(thread_reference_t *trp);

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

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

+  void chThdResumeS(thread_reference_t *trp, msg_t msg);

+  void chThdResume(thread_reference_t *trp, msg_t msg);

+  msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout);

+  void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg);

+  void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg);

   void chThdTerminate(thread_t *tp);

   void chThdSleep(systime_t time);

   void chThdSleepUntil(systime_t time);

@@ -337,6 +363,18 @@ static inline void chThdSleepS(systime_t time) {
   chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);

 }

 

+/**

+ * @brief   Initializes a threads queue object.

+ *

+ * @param[out] tqp      pointer to the threads queue object

+ *

+ * @init

+ */

+static inline void chThdQueueObjectInit(threads_queue_t *tqp) {

+

+  queue_init(tqp);

+}

+

 #endif /* _CHTHREADS_H_ */

 

 /** @} */