git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6169 35acf78f-673a-0410-8e92-d51de3d6d3f4

11 files changed, 104 insertions, 111 deletions

diff --git a/os/rt/src/chcond.c b/os/rt/src/chcond.c
index 9ea003c7b..cc3ee2e40 100644
--- a/os/rt/src/chcond.c
+++ b/os/rt/src/chcond.c
@@ -93,7 +93,7 @@ void chCondSignal(condition_variable_t *cp) {
 

   chSysLock();

   if (queue_notempty(&cp->c_queue))

-    chSchWakeupS(queue_fifo_remove(&cp->c_queue), RDY_OK);

+    chSchWakeupS(queue_fifo_remove(&cp->c_queue), MSG_OK);

   chSysUnlock();

 }

 

@@ -115,7 +115,7 @@ void chCondSignalI(condition_variable_t *cp) {
 

   if (queue_notempty(&cp->c_queue)) {

     thread_t *tp = queue_fifo_remove(&cp->c_queue);

-    tp->p_u.rdymsg = RDY_OK;

+    tp->p_u.rdymsg = MSG_OK;

     chSchReadyI(tp);

   }

 }

@@ -152,10 +152,10 @@ void chCondBroadcastI(condition_variable_t *cp) {
   chDbgCheck(cp != NULL);

 

   /* Empties the condition variable queue and inserts all the threads into the

-     ready list in FIFO order. The wakeup message is set to @p RDY_RESET in

+     ready list in FIFO order. The wakeup message is set to @p MSG_RESET in

      order to make a chCondBroadcast() detectable from a chCondSignal().*/

   while (cp->c_queue.p_next != (void *)&cp->c_queue)

-    chSchReadyI(queue_fifo_remove(&cp->c_queue))->p_u.rdymsg = RDY_RESET;

+    chSchReadyI(queue_fifo_remove(&cp->c_queue))->p_u.rdymsg = MSG_RESET;

 }

 

 /**

@@ -168,9 +168,9 @@ void chCondBroadcastI(condition_variable_t *cp) {
  * @param[in] cp        pointer to the @p condition_variable_t structure

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

  *                      released from the condition variable.

- * @retval RDY_OK       if the condition variable has been signaled using

+ * @retval MSG_OK       if the condition variable has been signaled using

  *                      @p chCondSignal().

- * @retval RDY_RESET    if the condition variable has been signaled using

+ * @retval MSG_RESET    if the condition variable has been signaled using

  *                      @p chCondBroadcast().

  *

  * @api

@@ -194,9 +194,9 @@ msg_t chCondWait(condition_variable_t *cp) {
  * @param[in] cp        pointer to the @p condition_variable_t structure

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

  *                      released from the condition variable.

- * @retval RDY_OK       if the condition variable has been signaled using

+ * @retval MSG_OK       if the condition variable has been signaled using

  *                      @p chCondSignal().

- * @retval RDY_RESET    if the condition variable has been signaled using

+ * @retval MSG_RESET    if the condition variable has been signaled using

  *                      @p chCondBroadcast().

  *

  * @sclass

@@ -239,11 +239,11 @@ msg_t chCondWaitS(condition_variable_t *cp) {
  *                      .

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

  *                      released from the condition variable.

- * @retval RDY_OK       if the condition variable has been signaled using

+ * @retval MSG_OK       if the condition variable has been signaled using

  *                      @p chCondSignal().

- * @retval RDY_RESET    if the condition variable has been signaled using

+ * @retval MSG_RESET    if the condition variable has been signaled using

  *                      @p chCondBroadcast().

- * @retval RDY_TIMEOUT  if the condition variable has not been signaled within

+ * @retval MSG_TIMEOUT  if the condition variable has not been signaled within

  *                      the specified timeout.

  *

  * @api

@@ -276,11 +276,11 @@ msg_t chCondWaitTimeout(condition_variable_t *cp, systime_t time) {
  *                      .

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

  *                      released from the condition variable.

- * @retval RDY_OK       if the condition variable has been signaled using

+ * @retval MSG_OK       if the condition variable has been signaled using

  *                      @p chCondSignal().

- * @retval RDY_RESET    if the condition variable has been signaled using

+ * @retval MSG_RESET    if the condition variable has been signaled using

  *                      @p chCondBroadcast().

- * @retval RDY_TIMEOUT  if the condition variable has not been signaled within

+ * @retval MSG_TIMEOUT  if the condition variable has not been signaled within

  *                      the specified timeout.

  *

  * @sclass

@@ -297,7 +297,7 @@ msg_t chCondWaitTimeoutS(condition_variable_t *cp, systime_t time) {
   currp->p_u.wtobjp = cp;

   queue_prio_insert(currp, &cp->c_queue);

   msg = chSchGoSleepTimeoutS(CH_STATE_WTCOND, time);

-  if (msg != RDY_TIMEOUT)

+  if (msg != MSG_TIMEOUT)

     chMtxLockS(mp);

   return msg;

 }

diff --git a/os/rt/src/chdebug.c b/os/rt/src/chdebug.c
index 05b746357..696a293cd 100644
--- a/os/rt/src/chdebug.c
+++ b/os/rt/src/chdebug.c
@@ -83,7 +83,7 @@
 void _dbg_check_disable(void) {

 

   if ((ch.dbg_isr_cnt != 0) || (ch.dbg_lock_cnt != 0))

-    chDbgPanic("SV#1");

+    chSysHalt("SV#1");

 }

 

 /**

@@ -94,7 +94,7 @@ void _dbg_check_disable(void) {
 void _dbg_check_suspend(void) {

 

   if ((ch.dbg_isr_cnt != 0) || (ch.dbg_lock_cnt != 0))

-    chDbgPanic("SV#2");

+    chSysHalt("SV#2");

 }

 

 /**

@@ -105,7 +105,7 @@ void _dbg_check_suspend(void) {
 void _dbg_check_enable(void) {

 

   if ((ch.dbg_isr_cnt != 0) || (ch.dbg_lock_cnt != 0))

-    chDbgPanic("SV#3");

+    chSysHalt("SV#3");

 }

 

 /**

@@ -116,7 +116,7 @@ void _dbg_check_enable(void) {
 void _dbg_check_lock(void) {

 

   if ((ch.dbg_isr_cnt != 0) || (ch.dbg_lock_cnt != 0))

-    chDbgPanic("SV#4");

+    chSysHalt("SV#4");

   _dbg_enter_lock();

 }

 

@@ -128,7 +128,7 @@ void _dbg_check_lock(void) {
 void _dbg_check_unlock(void) {

 

   if ((ch.dbg_isr_cnt != 0) || (ch.dbg_lock_cnt <= 0))

-    chDbgPanic("SV#5");

+    chSysHalt("SV#5");

   _dbg_leave_lock();

 }

 

@@ -140,7 +140,7 @@ void _dbg_check_unlock(void) {
 void _dbg_check_lock_from_isr(void) {

 

   if ((ch.dbg_isr_cnt <= 0) || (ch.dbg_lock_cnt != 0))

-    chDbgPanic("SV#6");

+    chSysHalt("SV#6");

   _dbg_enter_lock();

 }

 

@@ -152,7 +152,7 @@ void _dbg_check_lock_from_isr(void) {
 void _dbg_check_unlock_from_isr(void) {

 

   if ((ch.dbg_isr_cnt <= 0) || (ch.dbg_lock_cnt <= 0))

-    chDbgPanic("SV#7");

+    chSysHalt("SV#7");

   _dbg_leave_lock();

 }

 

@@ -165,7 +165,7 @@ void _dbg_check_enter_isr(void) {
 

   port_lock_from_isr();

   if ((ch.dbg_isr_cnt < 0) || (ch.dbg_lock_cnt != 0))

-    chDbgPanic("SV#8");

+    chSysHalt("SV#8");

   ch.dbg_isr_cnt++;

   port_unlock_from_isr();

 }

@@ -179,7 +179,7 @@ void _dbg_check_leave_isr(void) {
 

   port_lock_from_isr();

   if ((ch.dbg_isr_cnt <= 0) || (ch.dbg_lock_cnt != 0))

-    chDbgPanic("SV#9");

+    chSysHalt("SV#9");

   ch.dbg_isr_cnt--;

   port_unlock_from_isr();

 }

@@ -195,7 +195,7 @@ void _dbg_check_leave_isr(void) {
 void chDbgCheckClassI(void) {

 

   if ((ch.dbg_isr_cnt < 0) || (ch.dbg_lock_cnt <= 0))

-    chDbgPanic("SV#10");

+    chSysHalt("SV#10");

 }

 

 /**

@@ -209,7 +209,7 @@ void chDbgCheckClassI(void) {
 void chDbgCheckClassS(void) {

 

   if ((ch.dbg_isr_cnt != 0) || (ch.dbg_lock_cnt <= 0))

-    chDbgPanic("SV#11");

+    chSysHalt("SV#11");

 }

 

 #endif /* CH_DBG_SYSTEM_STATE_CHECK */

@@ -244,17 +244,4 @@ void _dbg_trace(thread_t *otp) {
 }

 #endif /* CH_DBG_ENABLE_TRACE */

 

-#if CH_DBG_ENABLED || defined(__DOXYGEN__)

-/**

- * @brief   Prints a panic message on the console and then halts the system.

- *

- * @param[in] msg       the pointer to the panic message string

- */

-void chDbgPanic(const char *msg) {

-

-  ch.dbg_panic_msg = msg;

-  chSysHalt();

-}

-#endif /* CH_DBG_ENABLED */

-

 /** @} */

diff --git a/os/rt/src/chdynamic.c b/os/rt/src/chdynamic.c
index 5f174eda7..5dbea6c7e 100644
--- a/os/rt/src/chdynamic.c
+++ b/os/rt/src/chdynamic.c
@@ -165,7 +165,7 @@ thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,
   chSysLock();

   tp = chThdCreateI(wsp, size, prio, pf, arg);

   tp->p_flags = CH_FLAG_MODE_HEAP;

-  chSchWakeupS(tp, RDY_OK);

+  chSchWakeupS(tp, MSG_OK);

   chSysUnlock();

   return tp;

 }

@@ -217,7 +217,7 @@ thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, tprio_t prio,
   tp = chThdCreateI(wsp, mp->mp_object_size, prio, pf, arg);

   tp->p_flags = CH_FLAG_MODE_MEMPOOL;

   tp->p_mpool = mp;

-  chSchWakeupS(tp, RDY_OK);

+  chSchWakeupS(tp, MSG_OK);

   chSysUnlock();

   return tp;

 }

diff --git a/os/rt/src/chevents.c b/os/rt/src/chevents.c
index ad59f51c0..6b76d0480 100644
--- a/os/rt/src/chevents.c
+++ b/os/rt/src/chevents.c
@@ -279,7 +279,7 @@ void chEvtSignalI(thread_t *tp, eventmask_t mask) {
        ((tp->p_epending & tp->p_u.ewmask) != 0)) ||

       ((tp->p_state == CH_STATE_WTANDEVT) &&

        ((tp->p_epending & tp->p_u.ewmask) == tp->p_u.ewmask))) {

-    tp->p_u.rdymsg = RDY_OK;

+    tp->p_u.rdymsg = MSG_OK;

     chSchReadyI(tp);

   }

 }

@@ -475,7 +475,7 @@ eventmask_t chEvtWaitOneTimeout(eventmask_t mask, systime_t time) {
       return (eventmask_t)0;

     }

     ctp->p_u.ewmask = mask;

-    if (chSchGoSleepTimeoutS(CH_STATE_WTOREVT, time) < RDY_OK) {

+    if (chSchGoSleepTimeoutS(CH_STATE_WTOREVT, time) < MSG_OK) {

       chSysUnlock();

       return (eventmask_t)0;

     }

@@ -518,7 +518,7 @@ eventmask_t chEvtWaitAnyTimeout(eventmask_t mask, systime_t time) {
       return (eventmask_t)0;

     }

     ctp->p_u.ewmask = mask;

-    if (chSchGoSleepTimeoutS(CH_STATE_WTOREVT, time) < RDY_OK) {

+    if (chSchGoSleepTimeoutS(CH_STATE_WTOREVT, time) < MSG_OK) {

       chSysUnlock();

       return (eventmask_t)0;

     }

@@ -558,7 +558,7 @@ eventmask_t chEvtWaitAllTimeout(eventmask_t mask, systime_t time) {
       return (eventmask_t)0;

     }

     ctp->p_u.ewmask = mask;

-    if (chSchGoSleepTimeoutS(CH_STATE_WTANDEVT, time) < RDY_OK) {

+    if (chSchGoSleepTimeoutS(CH_STATE_WTANDEVT, time) < MSG_OK) {

       chSysUnlock();

       return (eventmask_t)0;

     }

diff --git a/os/rt/src/chlists.c b/os/rt/src/chlists.c
index 5bba30078..a0b4df08b 100644
--- a/os/rt/src/chlists.c
+++ b/os/rt/src/chlists.c
@@ -67,7 +67,7 @@
  *                      .

  * @return              The message from @p osalQueueWakeupOneI() or

  *                      @p osalQueueWakeupAllI() functions.

- * @retval RDY_TIMEOUT  if the thread has not been dequeued within the

+ * @retval MSG_TIMEOUT  if the thread has not been dequeued within the

  *                      specified timeout or if the function has been

  *                      invoked with @p TIME_IMMEDIATE as timeout

  *                      specification.

@@ -77,7 +77,7 @@
 msg_t chQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {

 

   if (TIME_IMMEDIATE == time)

-    return RDY_TIMEOUT;

+    return MSG_TIMEOUT;

 

   queue_insert(currp, tqp);

   return chSchGoSleepTimeoutS(CH_STATE_QUEUED, time);

diff --git a/os/rt/src/chmboxes.c b/os/rt/src/chmboxes.c
index 003c779ec..8e9e2bb40 100644
--- a/os/rt/src/chmboxes.c
+++ b/os/rt/src/chmboxes.c
@@ -96,7 +96,7 @@ void chMBObjectInit(mailbox_t *mbp, msg_t *buf, cnt_t n) {
 

 /**

  * @brief   Resets a @p mailbox_t object.

- * @details All the waiting threads are resumed with status @p RDY_RESET and

+ * @details All the waiting threads are resumed with status @p MSG_RESET and

  *          the queued messages are lost.

  *

  * @param[in] mbp       the pointer to an initialized @p mailbox_t object

@@ -128,9 +128,9 @@ void chMBReset(mailbox_t *mbp) {
  *                      - @a TIME_INFINITE no timeout.

  *                      .

  * @return              The operation status.

- * @retval RDY_OK       if a message has been correctly posted.

- * @retval RDY_RESET    if the mailbox has been reset while waiting.

- * @retval RDY_TIMEOUT  if the operation has timed out.

+ * @retval MSG_OK       if a message has been correctly posted.

+ * @retval MSG_RESET    if the mailbox has been reset while waiting.

+ * @retval MSG_TIMEOUT  if the operation has timed out.

  *

  * @api

  */

@@ -156,9 +156,9 @@ msg_t chMBPost(mailbox_t *mbp, msg_t msg, systime_t time) {
  *                      - @a TIME_INFINITE no timeout.

  *                      .

  * @return              The operation status.

- * @retval RDY_OK       if a message has been correctly posted.

- * @retval RDY_RESET    if the mailbox has been reset while waiting.

- * @retval RDY_TIMEOUT  if the operation has timed out.

+ * @retval MSG_OK       if a message has been correctly posted.

+ * @retval MSG_RESET    if the mailbox has been reset while waiting.

+ * @retval MSG_TIMEOUT  if the operation has timed out.

  *

  * @sclass

  */

@@ -169,7 +169,7 @@ msg_t chMBPostS(mailbox_t *mbp, msg_t msg, systime_t time) {
   chDbgCheck(mbp != NULL);

 

   rdymsg = chSemWaitTimeoutS(&mbp->mb_emptysem, time);

-  if (rdymsg == RDY_OK) {

+  if (rdymsg == MSG_OK) {

     *mbp->mb_wrptr++ = msg;

     if (mbp->mb_wrptr >= mbp->mb_top)

       mbp->mb_wrptr = mbp->mb_buffer;

@@ -187,8 +187,8 @@ msg_t chMBPostS(mailbox_t *mbp, msg_t msg, systime_t time) {
  * @param[in] mbp       the pointer to an initialized @p mailbox_t object

  * @param[in] msg       the message to be posted on the mailbox

  * @return              The operation status.

- * @retval RDY_OK       if a message has been correctly posted.

- * @retval RDY_TIMEOUT  if the mailbox is full and the message cannot be

+ * @retval MSG_OK       if a message has been correctly posted.

+ * @retval MSG_TIMEOUT  if the mailbox is full and the message cannot be

  *                      posted.

  *

  * @iclass

@@ -199,13 +199,13 @@ msg_t chMBPostI(mailbox_t *mbp, msg_t msg) {
   chDbgCheck(mbp != NULL);

 

   if (chSemGetCounterI(&mbp->mb_emptysem) <= 0)

-    return RDY_TIMEOUT;

+    return MSG_TIMEOUT;

   chSemFastWaitI(&mbp->mb_emptysem);

   *mbp->mb_wrptr++ = msg;

   if (mbp->mb_wrptr >= mbp->mb_top)

     mbp->mb_wrptr = mbp->mb_buffer;

   chSemSignalI(&mbp->mb_fullsem);

-  return RDY_OK;

+  return MSG_OK;

 }

 

 /**

@@ -221,9 +221,9 @@ msg_t chMBPostI(mailbox_t *mbp, msg_t msg) {
  *                      - @a TIME_INFINITE no timeout.

  *                      .

  * @return              The operation status.

- * @retval RDY_OK       if a message has been correctly posted.

- * @retval RDY_RESET    if the mailbox has been reset while waiting.

- * @retval RDY_TIMEOUT  if the operation has timed out.

+ * @retval MSG_OK       if a message has been correctly posted.

+ * @retval MSG_RESET    if the mailbox has been reset while waiting.

+ * @retval MSG_TIMEOUT  if the operation has timed out.

  *

  * @api

  */

@@ -249,9 +249,9 @@ msg_t chMBPostAhead(mailbox_t *mbp, msg_t msg, systime_t time) {
  *                      - @a TIME_INFINITE no timeout.

  *                      .

  * @return              The operation status.

- * @retval RDY_OK       if a message has been correctly posted.

- * @retval RDY_RESET    if the mailbox has been reset while waiting.

- * @retval RDY_TIMEOUT  if the operation has timed out.

+ * @retval MSG_OK       if a message has been correctly posted.

+ * @retval MSG_RESET    if the mailbox has been reset while waiting.

+ * @retval MSG_TIMEOUT  if the operation has timed out.

  *

  * @sclass

  */

@@ -262,7 +262,7 @@ msg_t chMBPostAheadS(mailbox_t *mbp, msg_t msg, systime_t time) {
   chDbgCheck(mbp != NULL);

 

   rdymsg = chSemWaitTimeoutS(&mbp->mb_emptysem, time);

-  if (rdymsg == RDY_OK) {

+  if (rdymsg == MSG_OK) {

     if (--mbp->mb_rdptr < mbp->mb_buffer)

       mbp->mb_rdptr = mbp->mb_top - 1;

     *mbp->mb_rdptr = msg;

@@ -280,8 +280,8 @@ msg_t chMBPostAheadS(mailbox_t *mbp, msg_t msg, systime_t time) {
  * @param[in] mbp       the pointer to an initialized @p mailbox_t object

  * @param[in] msg       the message to be posted on the mailbox

  * @return              The operation status.

- * @retval RDY_OK       if a message has been correctly posted.

- * @retval RDY_TIMEOUT  if the mailbox is full and the message cannot be

+ * @retval MSG_OK       if a message has been correctly posted.

+ * @retval MSG_TIMEOUT  if the mailbox is full and the message cannot be

  *                      posted.

  *

  * @iclass

@@ -292,13 +292,13 @@ msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg) {
   chDbgCheck(mbp != NULL);

 

   if (chSemGetCounterI(&mbp->mb_emptysem) <= 0)

-    return RDY_TIMEOUT;

+    return MSG_TIMEOUT;

   chSemFastWaitI(&mbp->mb_emptysem);

   if (--mbp->mb_rdptr < mbp->mb_buffer)

     mbp->mb_rdptr = mbp->mb_top - 1;

   *mbp->mb_rdptr = msg;

   chSemSignalI(&mbp->mb_fullsem);

-  return RDY_OK;

+  return MSG_OK;

 }

 

 /**

@@ -314,9 +314,9 @@ msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg) {
  *                      - @a TIME_INFINITE no timeout.

  *                      .

  * @return              The operation status.

- * @retval RDY_OK       if a message has been correctly fetched.

- * @retval RDY_RESET    if the mailbox has been reset while waiting.

- * @retval RDY_TIMEOUT  if the operation has timed out.

+ * @retval MSG_OK       if a message has been correctly fetched.

+ * @retval MSG_RESET    if the mailbox has been reset while waiting.

+ * @retval MSG_TIMEOUT  if the operation has timed out.

  *

  * @api

  */

@@ -342,9 +342,9 @@ msg_t chMBFetch(mailbox_t *mbp, msg_t *msgp, systime_t time) {
  *                      - @a TIME_INFINITE no timeout.

  *                      .

  * @return              The operation status.

- * @retval RDY_OK       if a message has been correctly fetched.

- * @retval RDY_RESET    if the mailbox has been reset while waiting.

- * @retval RDY_TIMEOUT  if the operation has timed out.

+ * @retval MSG_OK       if a message has been correctly fetched.

+ * @retval MSG_RESET    if the mailbox has been reset while waiting.

+ * @retval MSG_TIMEOUT  if the operation has timed out.

  *

  * @sclass

  */

@@ -355,7 +355,7 @@ msg_t chMBFetchS(mailbox_t *mbp, msg_t *msgp, systime_t time) {
   chDbgCheck((mbp != NULL) && (msgp != NULL));

 

   rdymsg = chSemWaitTimeoutS(&mbp->mb_fullsem, time);

-  if (rdymsg == RDY_OK) {

+  if (rdymsg == MSG_OK) {

     *msgp = *mbp->mb_rdptr++;

     if (mbp->mb_rdptr >= mbp->mb_top)

       mbp->mb_rdptr = mbp->mb_buffer;

@@ -373,8 +373,8 @@ msg_t chMBFetchS(mailbox_t *mbp, msg_t *msgp, systime_t time) {
  * @param[in] mbp       the pointer to an initialized @p mailbox_t object

  * @param[out] msgp     pointer to a message variable for the received message

  * @return              The operation status.

- * @retval RDY_OK       if a message has been correctly fetched.

- * @retval RDY_TIMEOUT  if the mailbox is empty and a message cannot be

+ * @retval MSG_OK       if a message has been correctly fetched.

+ * @retval MSG_TIMEOUT  if the mailbox is empty and a message cannot be

  *                      fetched.

  *

  * @iclass

@@ -385,13 +385,13 @@ msg_t chMBFetchI(mailbox_t *mbp, msg_t *msgp) {
   chDbgCheck((mbp != NULL) && (msgp != NULL));

 

   if (chSemGetCounterI(&mbp->mb_fullsem) <= 0)

-    return RDY_TIMEOUT;

+    return MSG_TIMEOUT;

   chSemFastWaitI(&mbp->mb_fullsem);

   *msgp = *mbp->mb_rdptr++;

   if (mbp->mb_rdptr >= mbp->mb_top)

     mbp->mb_rdptr = mbp->mb_buffer;

   chSemSignalI(&mbp->mb_emptysem);

-  return RDY_OK;

+  return MSG_OK;

 }

 #endif /* CH_CFG_USE_MAILBOXES */

 

diff --git a/os/rt/src/chmtx.c b/os/rt/src/chmtx.c
index 0eb02e2b5..001fa1dc3 100644
--- a/os/rt/src/chmtx.c
+++ b/os/rt/src/chmtx.c
@@ -315,7 +315,7 @@ mutex_t *chMtxUnlock(void) {
     ump->m_owner = tp;

     ump->m_next = tp->p_mtxlist;

     tp->p_mtxlist = ump;

-    chSchWakeupS(tp, RDY_OK);

+    chSchWakeupS(tp, MSG_OK);

   }

   else

     ump->m_owner = NULL;

diff --git a/os/rt/src/chschd.c b/os/rt/src/chschd.c
index f03c5eff3..572b2f822 100644
--- a/os/rt/src/chschd.c
+++ b/os/rt/src/chschd.c
@@ -159,7 +159,7 @@ static void wakeup(void *p) {
     /* States requiring dequeuing.*/

     queue_dequeue(tp);

   }

-  tp->p_u.rdymsg = RDY_TIMEOUT;

+  tp->p_u.rdymsg = MSG_TIMEOUT;

   chSchReadyI(tp);

   chSysUnlockFromISR();

 }

@@ -169,7 +169,7 @@ static void wakeup(void *p) {
  *          timeout specification.

  * @details The thread goes into a sleeping state, if it is not awakened

  *          explicitly within the specified timeout then it is forcibly

- *          awakened with a @p RDY_TIMEOUT low level message. The possible

+ *          awakened with a @p MSG_TIMEOUT low level message. The possible

  *          @ref thread_states are defined into @p threads.h.

  *

  * @param[in] newstate  the new thread state

@@ -181,7 +181,7 @@ static void wakeup(void *p) {
  *                      - @a TIME_IMMEDIATE this value is not allowed.

  *                      .

  * @return              The wakeup message.

- * @retval RDY_TIMEOUT if a timeout occurs.

+ * @retval MSG_TIMEOUT  if a timeout occurs.

  *

  * @sclass

  */

diff --git a/os/rt/src/chsem.c b/os/rt/src/chsem.c
index 388e50bc6..22e4413b6 100644
--- a/os/rt/src/chsem.c
+++ b/os/rt/src/chsem.c
@@ -111,7 +111,7 @@ void chSemObjectInit(semaphore_t *sp, cnt_t n) {
  *          to the specified, non negative, value.

  * @note    The released threads can recognize they were waked up by a reset

  *          rather than a signal because the @p chSemWait() will return

- *          @p RDY_RESET instead of @p RDY_OK.

+ *          @p MSG_RESET instead of @p MSG_OK.

  *

  * @param[in] sp        pointer to a @p semaphore_t structure

  * @param[in] n         the new value of the semaphore counter. The value must

@@ -138,7 +138,7 @@ void chSemReset(semaphore_t *sp, cnt_t n) {
  *          reschedule must not be performed in ISRs.

  * @note    The released threads can recognize they were waked up by a reset

  *          rather than a signal because the @p chSemWait() will return

- *          @p RDY_RESET instead of @p RDY_OK.

+ *          @p MSG_RESET instead of @p MSG_OK.

  *

  * @param[in] sp        pointer to a @p semaphore_t structure

  * @param[in] n         the new value of the semaphore counter. The value must

@@ -158,7 +158,7 @@ void chSemResetI(semaphore_t *sp, cnt_t n) {
   cnt = sp->s_cnt;

   sp->s_cnt = n;

   while (++cnt <= 0)

-    chSchReadyI(queue_lifo_remove(&sp->s_queue))->p_u.rdymsg = RDY_RESET;

+    chSchReadyI(queue_lifo_remove(&sp->s_queue))->p_u.rdymsg = MSG_RESET;

 }

 

 /**

@@ -167,9 +167,9 @@ void chSemResetI(semaphore_t *sp, cnt_t n) {
  * @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 RDY_OK       if the thread has not stopped on the semaphore or the

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

  *                      semaphore has been signaled.

- * @retval RDY_RESET    if the semaphore has been reset using @p chSemReset().

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

  *

  * @api

  */

@@ -188,9 +188,9 @@ msg_t chSemWait(semaphore_t *sp) {
  * @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 RDY_OK       if the thread has not stopped on the semaphore or the

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

  *                      semaphore has been signaled.

- * @retval RDY_RESET    if the semaphore has been reset using @p chSemReset().

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

  *

  * @sclass

  */

@@ -208,7 +208,7 @@ msg_t chSemWaitS(semaphore_t *sp) {
     chSchGoSleepS(CH_STATE_WTSEM);

     return currp->p_u.rdymsg;

   }

-  return RDY_OK;

+  return MSG_OK;

 }

 

 /**

@@ -222,10 +222,10 @@ msg_t chSemWaitS(semaphore_t *sp) {
  *                      .

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

  *                      released from the semaphore.

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

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

  *                      semaphore has been signaled.

- * @retval RDY_RESET    if the semaphore has been reset using @p chSemReset().

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

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

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

  *                      the specified timeout.

  *

  * @api

@@ -250,10 +250,10 @@ msg_t chSemWaitTimeout(semaphore_t *sp, systime_t time) {
  *                      .

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

  *                      released from the semaphore.

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

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

  *                      semaphore has been signaled.

- * @retval RDY_RESET    if the semaphore has been reset using @p chSemReset().

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

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

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

  *                      the specified timeout.

  *

  * @sclass

@@ -269,13 +269,13 @@ msg_t chSemWaitTimeoutS(semaphore_t *sp, systime_t time) {
   if (--sp->s_cnt < 0) {

     if (TIME_IMMEDIATE == time) {

       sp->s_cnt++;

-      return RDY_TIMEOUT;

+      return MSG_TIMEOUT;

     }

     currp->p_u.wtobjp = sp;

     sem_insert(currp, &sp->s_queue);

     return chSchGoSleepTimeoutS(CH_STATE_WTSEM, time);

   }

-  return RDY_OK;

+  return MSG_OK;

 }

 

 /**

@@ -294,7 +294,7 @@ void chSemSignal(semaphore_t *sp) {
 

   chSysLock();

   if (++sp->s_cnt <= 0)

-    chSchWakeupS(queue_fifo_remove(&sp->s_queue), RDY_OK);

+    chSchWakeupS(queue_fifo_remove(&sp->s_queue), MSG_OK);

   chSysUnlock();

 }

 

@@ -321,7 +321,7 @@ void chSemSignalI(semaphore_t *sp) {
     /* Note, it is done this way in order to allow a tail call on

              chSchReadyI().*/

     thread_t *tp = queue_fifo_remove(&sp->s_queue);

-    tp->p_u.rdymsg = RDY_OK;

+    tp->p_u.rdymsg = MSG_OK;

     chSchReadyI(tp);

   }

 }

@@ -349,7 +349,7 @@ void chSemAddCounterI(semaphore_t *sp, cnt_t n) {
 

   while (n > 0) {

     if (++sp->s_cnt <= 0)

-      chSchReadyI(queue_fifo_remove(&sp->s_queue))->p_u.rdymsg = RDY_OK;

+      chSchReadyI(queue_fifo_remove(&sp->s_queue))->p_u.rdymsg = MSG_OK;

     n--;

   }

 }

@@ -361,9 +361,9 @@ void chSemAddCounterI(semaphore_t *sp, cnt_t n) {
  * @param[in] spw       pointer to a @p semaphore_t structure to wait on

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

  *                      released from the semaphore.

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

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

  *                      semaphore has been signaled.

- * @retval RDY_RESET    if the semaphore has been reset using @p chSemReset().

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

  *

  * @api

  */

@@ -380,7 +380,7 @@ msg_t chSemSignalWait(semaphore_t *sps, semaphore_t *spw) {
 

   chSysLock();

   if (++sps->s_cnt <= 0)

-    chSchReadyI(queue_fifo_remove(&sps->s_queue))->p_u.rdymsg = RDY_OK;

+    chSchReadyI(queue_fifo_remove(&sps->s_queue))->p_u.rdymsg = MSG_OK;

   if (--spw->s_cnt < 0) {

     thread_t *ctp = currp;

     sem_insert(ctp, &spw->s_queue);

@@ -390,7 +390,7 @@ msg_t chSemSignalWait(semaphore_t *sps, semaphore_t *spw) {
   }

   else {

     chSchRescheduleS();

-    msg = RDY_OK;

+    msg = MSG_OK;

   }

   chSysUnlock();

   return msg;

diff --git a/os/rt/src/chsys.c b/os/rt/src/chsys.c
index 9212cbf5f..89c2db5f7 100644
--- a/os/rt/src/chsys.c
+++ b/os/rt/src/chsys.c
@@ -166,12 +166,18 @@ void chSysInit(void) {
  *

  * @special

  */

-void chSysHalt(void) {

+void chSysHalt(const char *reason) {

 

   port_disable();

 

+#if CH_DBG_ENABLED

+  ch.dbg_panic_msg = reason;

+#else

+  (void)reason;

+#endif

+

 #if defined(CH_CFG_SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)

-  CH_CFG_SYSTEM_HALT_HOOK();

+  CH_CFG_SYSTEM_HALT_HOOK(reason);

 #endif

 

   /* Harmless infinite loop.*/

diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c
index dbcd1f754..5aaaeb5aa 100644
--- a/os/rt/src/chthreads.c
+++ b/os/rt/src/chthreads.c
@@ -217,7 +217,7 @@ thread_t *chThdCreateStatic(void *wsp, size_t size,
                   CH_DBG_STACK_FILL_VALUE);

 #endif

   chSysLock();

-  chSchWakeupS(tp = chThdCreateI(wsp, size, prio, pf, arg), RDY_OK);

+  chSchWakeupS(tp = chThdCreateI(wsp, size, prio, pf, arg), MSG_OK);

   chSysUnlock();

   return tp;

 }