git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8940 35acf78f-673a-0410-8e92-d51de3d6d3f4

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diff --git a/os/rt/src/chdynamic.c b/os/rt/src/chdynamic.c
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+/*

+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio.

+

+    This file is part of ChibiOS.

+

+    ChibiOS 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 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    chdynamic.c

+ * @brief   Dynamic threads code.

+ *

+ * @addtogroup dynamic_threads

+ * @details Dynamic threads related APIs and services.

+ * @{

+ */

+

+#include "ch.h"

+

+#if (CH_CFG_USE_DYNAMIC == TRUE) || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Module local definitions.                                                 */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module exported variables.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module local types.                                                       */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module local variables.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module local functions.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module exported functions.                                                */

+/*===========================================================================*/

+

+#if (CH_CFG_USE_HEAP == TRUE) || defined(__DOXYGEN__)

+/**

+ * @brief   Creates a new thread allocating the memory from the heap.

+ * @pre     The configuration options @p CH_CFG_USE_DYNAMIC and

+ *          @p CH_CFG_USE_HEAP must be enabled in order to use this function.

+ * @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 automatically,

+ *          it is responsibility of the creator thread to call @p chThdWait()

+ *          and then release the allocated memory.

+ *

+ * @param[in] heapp     heap from which allocate the memory or @p NULL for the

+ *                      default heap

+ * @param[in] size      size of the working area to be allocated

+ * @param[in] name      thread name

+ * @param[in] prio      the priority level for the new thread

+ * @param[in] pf        the thread function

+ * @param[in] arg       an argument passed to the thread function. It can be

+ *                      @p NULL.

+ * @return              The pointer to the @p thread_t structure allocated for

+ *                      the thread into the working space area.

+ * @retval NULL         if the memory cannot be allocated.

+ *

+ * @api

+ */

+thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,

+                              const char *name, tprio_t prio,

+                              tfunc_t pf, void *arg) {

+  void *wsp;

+

+  wsp = chHeapAllocAligned(heapp, size, PORT_WORKING_AREA_ALIGN);

+  if (wsp == NULL) {

+    return NULL;

+  }

+

+  thread_descriptor_t td = {

+    name,

+    wsp,

+    (stkalign_t *)((uint8_t *)wsp + size),

+    prio,

+    pf,

+    arg

+  };

+

+  return chThdCreate(&td);

+}

+

+/**

+ * @brief   Releases a thread working area into the owner heap.

+ * @pre     The thread must have been created using @p chThdCreateFromHeap().

+ * @pre     The thread must be in the state @p CH_STATE_FINAL (terminated).

+ *

+ * @param[in] tp        the pointer to the thread

+ *

+ * @api

+ */

+void chThdFreeToHeap(thread_t *tp) {

+

+  chDbgCheck(tp != NULL);

+  chDbgAssert(tp->state == CH_STATE_FINAL, "not terminated");

+

+  chHeapFree(chthdGetStackLimitX(tp));

+}

+#endif /* CH_CFG_USE_HEAP == TRUE */

+

+#if (CH_CFG_USE_MEMPOOLS == TRUE) || defined(__DOXYGEN__)

+/**

+ * @brief   Creates a new thread allocating the memory from the specified

+ *          memory pool.

+ * @pre     The configuration options @p CH_CFG_USE_DYNAMIC and

+ *          @p CH_CFG_USE_MEMPOOLS must be enabled in order to use this

+ *          function.

+ * @pre     The pool must be initialized to contain only objects with

+ *          alignment @p PORT_WORKING_AREA_ALIGN.

+ * @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 automatically,

+ *          it is responsibility of the creator thread to call @p chThdWait()

+ *          and then release the allocated memory.

+ *

+ * @param[in] mp        pointer to the memory pool object

+ * @param[in] name      thread name

+ * @param[in] prio      the priority level for the new thread

+ * @param[in] pf        the thread function

+ * @param[in] arg       an argument passed to the thread function. It can be

+ *                      @p NULL.

+ * @return              The pointer to the @p thread_t structure allocated for

+ *                      the thread into the working space area.

+ * @retval  NULL        if the memory pool is empty.

+ *

+ * @api

+ */

+thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, const char *name,

+                                    tprio_t prio, tfunc_t pf, void *arg) {

+  void *wsp;

+

+  chDbgCheck(mp != NULL);

+

+  wsp = chPoolAlloc(mp);

+  if (wsp == NULL) {

+    return NULL;

+  }

+

+  thread_descriptor_t td = {

+    name,

+    wsp,

+    (stkalign_t *)((uint8_t *)wsp + mp->object_size),

+    prio,

+    pf,

+    arg

+  };

+

+  return chThdCreate(&td);

+}

+

+/**

+ * @brief   Releases a thread working area into a memory pool.

+ * @pre     The thread must have been created using @p chThdCreateFromMemoryPool().

+ * @pre     The thread must be in the state @p CH_STATE_FINAL (terminated).

+ *

+ * @param[in] tp        the pointer to the thread

+ * @param[in] mp        pointer to a @p memory_pool_t structure

+ *

+ * @api

+ */

+void chThdFreeToMemoryPool(thread_t *tp, memory_pool_t *mp) {

+

+  chDbgCheck((tp != NULL) && (mp != NULL));

+  chDbgAssert(tp->state == CH_STATE_FINAL, "not terminated");

+

+  chPoolFree(mp, (void *)chthdGetStackLimitX(tp));

+}

+#endif /* CH_CFG_USE_MEMPOOLS == TRUE */

+

+#endif /* CH_CFG_USE_DYNAMIC == TRUE */

+

+/** @} */