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Diffstat (limited to 'os/nil/src/ch.c')
| -rw-r--r-- | os/nil/src/ch.c | 840 |
1 files changed, 840 insertions, 0 deletions
diff --git a/os/nil/src/ch.c b/os/nil/src/ch.c new file mode 100644 index 000000000..0db75db37 --- /dev/null +++ b/os/nil/src/ch.c @@ -0,0 +1,840 @@ +/*
+ 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 nil.c
+ * @brief Nil RTOS main source file.
+ *
+ * @addtogroup NIL_KERNEL
+ * @{
+ */
+
+#include "nil.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief System data structures.
+ */
+nil_system_t nil;
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes the kernel.
+ * @details Initializes the kernel structures, the current instructions flow
+ * becomes the idle thread upon return. The idle thread must not
+ * invoke any kernel primitive able to change state to not runnable.
+ * @note This function assumes that the @p nil global variable has been
+ * zeroed by the runtime environment. If this is not the case then
+ * make sure to clear it before calling this function.
+ *
+ * @special
+ */
+void chSysInit(void) {
+ thread_t *tp;
+ const thread_config_t *tcp;
+
+ /* Port layer initialization.*/
+ port_init();
+
+ /* System initialization hook.*/
+ NIL_CFG_SYSTEM_INIT_HOOK();
+
+ /* Iterates through the list of defined threads.*/
+ tp = &nil.threads[0];
+ tcp = nil_thd_configs;
+ while (tp < &nil.threads[NIL_CFG_NUM_THREADS]) {
+#if NIL_CFG_ENABLE_STACK_CHECK
+ tp->stklim = (stkalign_t *)tcp->wbase;
+#endif
+
+ /* Port dependent thread initialization.*/
+ PORT_SETUP_CONTEXT(tp, tcp->wend, tcp->funcp, tcp->arg);
+
+ /* Initialization hook.*/
+ NIL_CFG_THREAD_EXT_INIT_HOOK(tp);
+
+ tp++;
+ tcp++;
+ }
+
+#if NIL_CFG_ENABLE_STACK_CHECK
+ /* The idle thread is a special case because its stack is set up by the
+ runtime environment.*/
+ tp->stklim = THD_IDLE_BASE;
+#endif
+
+ /* Runs the highest priority thread, the current one becomes the idle
+ thread.*/
+ nil.current = nil.next = nil.threads;
+ port_switch(nil.current, tp);
+
+ /* Interrupts enabled for the idle thread.*/
+ chSysEnable();
+}
+
+/**
+ * @brief Halts the system.
+ * @details This function is invoked by the operating system when an
+ * unrecoverable error is detected, for example because a programming
+ * error in the application code that triggers an assertion while
+ * in debug mode.
+ * @note Can be invoked from any system state.
+ *
+ * @param[in] reason pointer to an error string
+ *
+ * @special
+ */
+void chSysHalt(const char *reason) {
+
+ port_disable();
+
+#if NIL_DBG_ENABLED
+ nil.dbg_panic_msg = reason;
+#else
+ (void)reason;
+#endif
+
+ NIL_CFG_SYSTEM_HALT_HOOK(reason);
+
+ /* Harmless infinite loop.*/
+ while (true) {
+ }
+}
+
+/**
+ * @brief Time management handler.
+ * @note This handler has to be invoked by a periodic ISR in order to
+ * reschedule the waiting threads.
+ *
+ * @iclass
+ */
+void chSysTimerHandlerI(void) {
+
+#if NIL_CFG_ST_TIMEDELTA == 0
+ thread_t *tp = &nil.threads[0];
+ nil.systime++;
+ do {
+ /* Is the thread in a wait state with timeout?.*/
+ if (tp->timeout > (systime_t)0) {
+
+ chDbgAssert(!NIL_THD_IS_READY(tp), "is ready");
+
+ /* Did the timer reach zero?*/
+ if (--tp->timeout == (systime_t)0) {
+ /* Timeout on semaphores requires a special handling because the
+ semaphore counter must be incremented.*/
+ /*lint -save -e9013 [15.7] There is no else because it is not needed.*/
+ if (NIL_THD_IS_WTSEM(tp)) {
+ tp->u1.semp->cnt++;
+ }
+ else if (NIL_THD_IS_SUSP(tp)) {
+ *tp->u1.trp = NULL;
+ }
+ /*lint -restore*/
+ (void) chSchReadyI(tp, MSG_TIMEOUT);
+ }
+ }
+ /* Lock released in order to give a preemption chance on those
+ architectures supporting IRQ preemption.*/
+ chSysUnlockFromISR();
+ tp++;
+ chSysLockFromISR();
+ } while (tp < &nil.threads[NIL_CFG_NUM_THREADS]);
+#else
+ thread_t *tp = &nil.threads[0];
+ systime_t next = (systime_t)0;
+
+ chDbgAssert(nil.nexttime == port_timer_get_alarm(), "time mismatch");
+
+ do {
+ /* Is the thread in a wait state with timeout?.*/
+ if (tp->timeout > (systime_t)0) {
+
+ chDbgAssert(!NIL_THD_IS_READY(tp), "is ready");
+ chDbgAssert(tp->timeout >= (nil.nexttime - nil.lasttime), "skipped one");
+
+ tp->timeout -= nil.nexttime - nil.lasttime;
+ if (tp->timeout == (systime_t)0) {
+ /* Timeout on semaphores requires a special handling because the
+ semaphore counter must be incremented.*/
+ /*lint -save -e9013 [15.7] There is no else because it is not needed.*/
+ if (NIL_THD_IS_WTSEM(tp)) {
+ tp->u1.semp->cnt++;
+ }
+ else if (NIL_THD_IS_SUSP(tp)) {
+ *tp->u1.trp = NULL;
+ }
+ /*lint -restore*/
+ (void) chSchReadyI(tp, MSG_TIMEOUT);
+ }
+ else {
+ if (tp->timeout <= (systime_t)(next - (systime_t)1)) {
+ next = tp->timeout;
+ }
+ }
+ }
+ /* Lock released in order to give a preemption chance on those
+ architectures supporting IRQ preemption.*/
+ chSysUnlockFromISR();
+ tp++;
+ chSysLockFromISR();
+ } while (tp < &nil.threads[NIL_CFG_NUM_THREADS]);
+ nil.lasttime = nil.nexttime;
+ if (next > (systime_t)0) {
+ nil.nexttime += next;
+ port_timer_set_alarm(nil.nexttime);
+ }
+ else {
+ /* No tick event needed.*/
+ port_timer_stop_alarm();
+ }
+#endif
+}
+
+/**
+ * @brief Unconditionally enters the kernel lock state.
+ * @note Can be called without previous knowledge of the current lock state.
+ * The final state is "s-locked".
+ *
+ * @special
+ */
+void chSysUnconditionalLock(void) {
+
+ if (port_irq_enabled(port_get_irq_status())) {
+ chSysLock();
+ }
+}
+
+/**
+ * @brief Unconditionally leaves the kernel lock state.
+ * @note Can be called without previous knowledge of the current lock state.
+ * The final state is "normal".
+ *
+ * @special
+ */
+void chSysUnconditionalUnlock(void) {
+
+ if (!port_irq_enabled(port_get_irq_status())) {
+ chSysUnlock();
+ }
+}
+
+/**
+ * @brief Returns the execution status and enters a critical zone.
+ * @details This functions enters into a critical zone and can be called
+ * from any context. Because its flexibility it is less efficient
+ * than @p chSysLock() which is preferable when the calling context
+ * is known.
+ * @post The system is in a critical zone.
+ *
+ * @return The previous system status, the encoding of this
+ * status word is architecture-dependent and opaque.
+ *
+ * @xclass
+ */
+syssts_t chSysGetStatusAndLockX(void) {
+
+ syssts_t sts = port_get_irq_status();
+ if (port_irq_enabled(sts)) {
+ if (port_is_isr_context()) {
+ chSysLockFromISR();
+ }
+ else {
+ chSysLock();
+ }
+ }
+ return sts;
+}
+
+/**
+ * @brief Restores the specified execution status and leaves a critical zone.
+ * @note A call to @p chSchRescheduleS() is automatically performed
+ * if exiting the critical zone and if not in ISR context.
+ *
+ * @param[in] sts the system status to be restored.
+ *
+ * @xclass
+ */
+void chSysRestoreStatusX(syssts_t sts) {
+
+ if (port_irq_enabled(sts)) {
+ if (port_is_isr_context()) {
+ chSysUnlockFromISR();
+ }
+ else {
+ chSchRescheduleS();
+ chSysUnlock();
+ }
+ }
+}
+
+#if (PORT_SUPPORTS_RT == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Realtime window test.
+ * @details This function verifies if the current realtime counter value
+ * lies within the specified range or not. The test takes care
+ * of the realtime counter wrapping to zero on overflow.
+ * @note When start==end then the function returns always true because the
+ * whole time range is specified.
+ * @note This function is only available if the port layer supports the
+ * option @p PORT_SUPPORTS_RT.
+ *
+ * @param[in] cnt the counter value to be tested
+ * @param[in] start the start of the time window (inclusive)
+ * @param[in] end the end of the time window (non inclusive)
+ * @retval true current time within the specified time window.
+ * @retval false current time not within the specified time window.
+ *
+ * @xclass
+ */
+bool chSysIsCounterWithinX(rtcnt_t cnt, rtcnt_t start, rtcnt_t end) {
+
+ return (bool)((cnt - start) < (end - start));
+}
+
+/**
+ * @brief Polled delay.
+ * @note The real delay is always few cycles in excess of the specified
+ * value.
+ * @note This function is only available if the port layer supports the
+ * option @p PORT_SUPPORTS_RT.
+ *
+ * @param[in] cycles number of cycles
+ *
+ * @xclass
+ */
+void chSysPolledDelayX(rtcnt_t cycles) {
+ rtcnt_t start = chSysGetRealtimeCounterX();
+ rtcnt_t end = start + cycles;
+
+ while (chSysIsCounterWithinX(chSysGetRealtimeCounterX(), start, end)) {
+ }
+}
+#endif /* PORT_SUPPORTS_RT == TRUE */
+
+/**
+ * @brief Makes the specified thread ready for execution.
+ *
+ * @param[in] tp pointer to the @p thread_t object
+ * @param[in] msg the wakeup message
+ *
+ * @return The same reference passed as parameter.
+ */
+thread_t *chSchReadyI(thread_t *tp, msg_t msg) {
+
+ chDbgAssert((tp >= nil.threads) &&
+ (tp < &nil.threads[NIL_CFG_NUM_THREADS]),
+ "pointer out of range");
+ chDbgAssert(!NIL_THD_IS_READY(tp), "already ready");
+ chDbgAssert(nil.next <= nil.current, "priority ordering");
+
+ tp->u1.msg = msg;
+ tp->state = NIL_STATE_READY;
+ tp->timeout = (systime_t)0;
+ if (tp < nil.next) {
+ nil.next = tp;
+ }
+ return tp;
+}
+
+/**
+ * @brief Reschedules if needed.
+ *
+ * @sclass
+ */
+void chSchRescheduleS(void) {
+
+ if (chSchIsRescRequiredI()) {
+ thread_t *otp = nil.current;
+
+ nil.current = nil.next;
+ if (otp == &nil.threads[NIL_CFG_NUM_THREADS]) {
+ NIL_CFG_IDLE_LEAVE_HOOK();
+ }
+ port_switch(nil.next, otp);
+ }
+}
+
+/**
+ * @brief Puts the current thread to sleep into the specified state with
+ * timeout specification.
+ * @details The thread goes into a sleeping state, if it is not awakened
+ * explicitly within the specified system time then it is forcibly
+ * awakened with a @p NIL_MSG_TMO low level message.
+ *
+ * @param[in] newstate the new thread state or a semaphore pointer
+ * @param[in] timeout the number of ticks before the operation timeouts.
+ * the following special values are allowed:
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return The wakeup message.
+ * @retval NIL_MSG_TMO if a timeout occurred.
+ *
+ * @sclass
+ */
+msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
+ thread_t *ntp, *otp = nil.current;
+
+ chDbgAssert(otp != &nil.threads[NIL_CFG_NUM_THREADS],
+ "idle cannot sleep");
+
+ /* Storing the wait object for the current thread.*/
+ otp->state = newstate;
+
+#if NIL_CFG_ST_TIMEDELTA > 0
+ if (timeout != TIME_INFINITE) {
+ systime_t abstime;
+
+ /* TIMEDELTA makes sure to have enough time to reprogram the timer
+ before the free-running timer counter reaches the selected timeout.*/
+ if (timeout < (systime_t)NIL_CFG_ST_TIMEDELTA) {
+ timeout = (systime_t)NIL_CFG_ST_TIMEDELTA;
+ }
+
+ /* Absolute time of the timeout event.*/
+ abstime = chVTGetSystemTimeX() + timeout;
+
+ if (nil.lasttime == nil.nexttime) {
+ /* Special case, first thread asking for a timeout.*/
+ port_timer_start_alarm(abstime);
+ nil.nexttime = abstime;
+ }
+ else {
+ /* Special case, there are already other threads with a timeout
+ activated, evaluating the order.*/
+ if (chVTIsTimeWithinX(abstime, nil.lasttime, nil.nexttime)) {
+ port_timer_set_alarm(abstime);
+ nil.nexttime = abstime;
+ }
+ }
+
+ /* Timeout settings.*/
+ otp->timeout = abstime - nil.lasttime;
+ }
+#else
+
+ /* Timeout settings.*/
+ otp->timeout = timeout;
+#endif
+
+ /* Scanning the whole threads array.*/
+ ntp = nil.threads;
+ while (true) {
+ /* Is this thread ready to execute?*/
+ if (NIL_THD_IS_READY(ntp)) {
+ nil.current = nil.next = ntp;
+ if (ntp == &nil.threads[NIL_CFG_NUM_THREADS]) {
+ NIL_CFG_IDLE_ENTER_HOOK();
+ }
+ port_switch(ntp, otp);
+ return nil.current->u1.msg;
+ }
+
+ /* Points to the next thread in lowering priority order.*/
+ ntp++;
+ chDbgAssert(ntp <= &nil.threads[NIL_CFG_NUM_THREADS],
+ "pointer out of range");
+ }
+}
+
+/**
+ * @brief Sends the current thread sleeping and sets a reference variable.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return The wake up message.
+ *
+ * @sclass
+ */
+msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout) {
+
+ chDbgAssert(*trp == NULL, "not NULL");
+
+ *trp = nil.current;
+ nil.current->u1.trp = trp;
+ return chSchGoSleepTimeoutS(NIL_STATE_SUSP, timeout);
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must not reschedule because it can be called from
+ * ISR context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdResumeI(thread_reference_t *trp, msg_t msg) {
+
+ if (*trp != NULL) {
+ thread_reference_t tr = *trp;
+
+ chDbgAssert(NIL_THD_IS_SUSP(tr), "not suspended");
+
+ *trp = NULL;
+ (void) chSchReadyI(tr, msg);
+ }
+}
+
+/**
+ * @brief Suspends the invoking thread for the specified time.
+ *
+ * @param[in] timeout the delay in system ticks
+ *
+ * @api
+ */
+void chThdSleep(systime_t timeout) {
+
+ chSysLock();
+ chThdSleepS(timeout);
+ chSysUnlock();
+}
+
+/**
+ * @brief Suspends the invoking thread until the system time arrives to the
+ * specified value.
+ *
+ * @param[in] abstime absolute system time
+ *
+ * @api
+ */
+void chThdSleepUntil(systime_t abstime) {
+
+ chSysLock();
+ chThdSleepUntilS(abstime);
+ chSysUnlock();
+}
+
+/**
+ * @brief Performs a wait operation on a semaphore with timeout specification.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_IMMEDIATE immediate timeout.
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return A message specifying how the invoking thread has been
+ * released from the semaphore.
+ * @retval NIL_MSG_OK if the thread has not stopped on the semaphore or the
+ * semaphore has been signaled.
+ * @retval NIL_MSG_RST if the semaphore has been reset using @p chSemReset().
+ * @retval NIL_MSG_TMO if the semaphore has not been signaled or reset within
+ * the specified timeout.
+ *
+ * @api
+ */
+msg_t chSemWaitTimeout(semaphore_t *sp, systime_t timeout) {
+ msg_t msg;
+
+ chSysLock();
+ msg = chSemWaitTimeoutS(sp, timeout);
+ chSysUnlock();
+
+ return msg;
+}
+
+/**
+ * @brief Performs a wait operation on a semaphore with timeout specification.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_IMMEDIATE immediate timeout.
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return A message specifying how the invoking thread has been
+ * released from the semaphore.
+ * @retval NIL_MSG_OK if the thread has not stopped on the semaphore or the
+ * semaphore has been signaled.
+ * @retval NIL_MSG_RST if the semaphore has been reset using @p chSemReset().
+ * @retval NIL_MSG_TMO if the semaphore has not been signaled or reset within
+ * the specified timeout.
+ *
+ * @sclass
+ */
+msg_t chSemWaitTimeoutS(semaphore_t *sp, systime_t timeout) {
+
+ /* Note, the semaphore counter is a volatile variable so accesses are
+ manually optimized.*/
+ cnt_t cnt = sp->cnt;
+ if (cnt <= (cnt_t)0) {
+ if (TIME_IMMEDIATE == timeout) {
+ return MSG_TIMEOUT;
+ }
+ sp->cnt = cnt - (cnt_t)1;
+ nil.current->u1.semp = sp;
+ return chSchGoSleepTimeoutS(NIL_STATE_WTSEM, timeout);
+ }
+ sp->cnt = cnt - (cnt_t)1;
+ return MSG_OK;
+}
+
+/**
+ * @brief Performs a signal operation on a semaphore.
+ * @post This function does not reschedule so a call to a rescheduling
+ * function must be performed before unlocking the kernel. Note that
+ * interrupt handlers always reschedule on exit so an explicit
+ * reschedule must not be performed in ISRs.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ *
+ * @api
+ */
+void chSemSignal(semaphore_t *sp) {
+
+ chSysLock();
+ chSemSignalI(sp);
+ chSchRescheduleS();
+ chSysUnlock();
+}
+
+/**
+ * @brief Performs a signal operation on a semaphore.
+ * @post This function does not reschedule so a call to a rescheduling
+ * function must be performed before unlocking the kernel. Note that
+ * interrupt handlers always reschedule on exit so an explicit
+ * reschedule must not be performed in ISRs.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ *
+ * @iclass
+ */
+void chSemSignalI(semaphore_t *sp) {
+
+ if (++sp->cnt <= (cnt_t)0) {
+ thread_reference_t tr = nil.threads;
+ while (true) {
+ /* Is this thread waiting on this semaphore?*/
+ if (tr->u1.semp == sp) {
+
+ chDbgAssert(NIL_THD_IS_WTSEM(tr), "not waiting");
+
+ (void) chSchReadyI(tr, MSG_OK);
+ return;
+ }
+ tr++;
+
+ chDbgAssert(tr < &nil.threads[NIL_CFG_NUM_THREADS],
+ "pointer out of range");
+ }
+ }
+}
+
+/**
+ * @brief Performs a reset operation on the semaphore.
+ * @post After invoking this function all the threads waiting on the
+ * semaphore, if any, are released and the semaphore counter is set
+ * to the specified, non negative, value.
+ * @post This function does not reschedule so a call to a rescheduling
+ * function must be performed before unlocking the kernel. Note that
+ * interrupt handlers always reschedule on exit so an explicit
+ * reschedule must not be performed in ISRs.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ * @param[in] n the new value of the semaphore counter. The value must
+ * be non-negative.
+ *
+ * @api
+ */
+void chSemReset(semaphore_t *sp, cnt_t n) {
+
+ chSysLock();
+ chSemResetI(sp, n);
+ chSchRescheduleS();
+ chSysUnlock();
+}
+
+/**
+ * @brief Performs a reset operation on the semaphore.
+ * @post After invoking this function all the threads waiting on the
+ * semaphore, if any, are released and the semaphore counter is set
+ * to the specified, non negative, value.
+ * @post This function does not reschedule so a call to a rescheduling
+ * function must be performed before unlocking the kernel. Note that
+ * interrupt handlers always reschedule on exit so an explicit
+ * reschedule must not be performed in ISRs.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ * @param[in] n the new value of the semaphore counter. The value must
+ * be non-negative.
+ *
+ * @iclass
+ */
+void chSemResetI(semaphore_t *sp, cnt_t n) {
+ thread_t *tp;
+ cnt_t cnt;
+
+ cnt = sp->cnt;
+ sp->cnt = n;
+ tp = nil.threads;
+ while (cnt < (cnt_t)0) {
+
+ chDbgAssert(tp < &nil.threads[NIL_CFG_NUM_THREADS],
+ "pointer out of range");
+
+ /* Is this thread waiting on this semaphore?*/
+ if (tp->u1.semp == sp) {
+
+ chDbgAssert(NIL_THD_IS_WTSEM(tp), "not waiting");
+
+ cnt++;
+ (void) chSchReadyI(tp, MSG_RESET);
+ }
+ tp++;
+ }
+}
+
+#if (NIL_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Adds a set of event flags directly to the specified @p thread_t.
+ *
+ * @param[in] tp the thread to be signaled
+ * @param[in] mask the event flags set to be ORed
+ *
+ * @api
+ */
+void chEvtSignal(thread_t *tp, eventmask_t mask) {
+
+ chSysLock();
+ chEvtSignalI(tp, mask);
+ chSchRescheduleS();
+ chSysUnlock();
+}
+
+/**
+ * @brief Adds a set of event flags directly to the specified @p thread_t.
+ * @post This function does not reschedule so a call to a rescheduling
+ * function must be performed before unlocking the kernel. Note that
+ * interrupt handlers always reschedule on exit so an explicit
+ * reschedule must not be performed in ISRs.
+ *
+ * @param[in] tp the thread to be signaled
+ * @param[in] mask the event flags set to be ORed
+ *
+ * @iclass
+ */
+void chEvtSignalI(thread_t *tp, eventmask_t mask) {
+
+ tp->epmask |= mask;
+ if (NIL_THD_IS_WTOREVT(tp) &&
+ ((tp->epmask & tp->u1.ewmask) != (eventmask_t)0)) {
+ (void) chSchReadyI(tp, MSG_OK);
+ }
+}
+
+/**
+ * @brief Waits for any of the specified events.
+ * @details The function waits for any event among those specified in
+ * @p mask to become pending then the events are cleared and
+ * returned.
+ *
+ * @param[in] mask mask of the event flags that the function should wait
+ * for, @p ALL_EVENTS enables all the events
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_IMMEDIATE immediate timeout.
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return The mask of the served and cleared events.
+ * @retval 0 if the operation has timed out.
+ *
+ * @api
+ */
+eventmask_t chEvtWaitAnyTimeout(eventmask_t mask, systime_t timeout) {
+ eventmask_t m;
+
+ chSysLock();
+ m = chEvtWaitAnyTimeoutS(mask, timeout);
+ chSysUnlock();
+
+ return m;
+}
+
+/**
+ * @brief Waits for any of the specified events.
+ * @details The function waits for any event among those specified in
+ * @p mask to become pending then the events are cleared and
+ * returned.
+ *
+ * @param[in] mask mask of the event flags that the function should wait
+ * for, @p ALL_EVENTS enables all the events
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_IMMEDIATE immediate timeout.
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return The mask of the served and cleared events.
+ * @retval 0 if the operation has timed out.
+ *
+ * @sclass
+ */
+eventmask_t chEvtWaitAnyTimeoutS(eventmask_t mask, systime_t timeout) {
+ thread_t *ctp = nil.current;
+ eventmask_t m;
+
+ if ((m = (ctp->epmask & mask)) == (eventmask_t)0) {
+ if (TIME_IMMEDIATE == timeout) {
+ chSysUnlock();
+
+ return (eventmask_t)0;
+ }
+ ctp->u1.ewmask = mask;
+ if (chSchGoSleepTimeoutS(NIL_STATE_WTOREVT, timeout) < MSG_OK) {
+ chSysUnlock();
+
+ return (eventmask_t)0;
+ }
+ m = ctp->epmask & mask;
+ }
+ ctp->epmask &= ~m;
+
+ return m;
+}
+#endif /* NIL_CFG_USE_EVENTS == TRUE */
+
+/** @} */
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