diff options
Diffstat (limited to 'src/lib')
| -rw-r--r-- | src/lib/ch.cpp | 13 | ||||
| -rw-r--r-- | src/lib/ch.hpp | 76 |
2 files changed, 48 insertions, 41 deletions
diff --git a/src/lib/ch.cpp b/src/lib/ch.cpp index ad4be5f4d..d1e739915 100644 --- a/src/lib/ch.cpp +++ b/src/lib/ch.cpp @@ -70,13 +70,11 @@ namespace chibios_rt { * chibios_rt::BaseThread *
*------------------------------------------------------------------------*/
static msg_t thdstart(void *arg) {
- BaseThread *btp = (BaseThread *)arg;
- return btp->Main();
+ return ((BaseThread *)arg)->Main();
}
BaseThread::BaseThread(tprio_t prio, tmode_t mode, void *workspace, size_t wsize) {
- msg_t thdstart(void *arg);
thread_ref = chThdCreate(prio, mode, workspace, wsize, thdstart, this);
}
@@ -149,7 +147,7 @@ namespace chibios_rt { bool BaseThread::IsPendingMessage(void) {
- return chMsgIsPendingI(thread_ref);
+ return chMsgIsPendingI(currp);
}
#endif /* CH_USE_MESSAGES */
@@ -188,6 +186,13 @@ namespace chibios_rt { chSemSignal(&sem);
}
+
+#ifdef CH_USE_SEMSW
+ msg_t Semaphore::SignalWait(Semaphore *ssem, Semaphore *wsem) {
+
+ return chSemSignalWait(&ssem->sem, &wsem->sem);
+ }
+#endif /* CH_USE_SEMSW */
#endif /* CH_USE_SEMAPHORES */
#ifdef CH_USE_MUTEXES
diff --git a/src/lib/ch.hpp b/src/lib/ch.hpp index 9f46b757b..d9fffc229 100644 --- a/src/lib/ch.hpp +++ b/src/lib/ch.hpp @@ -92,40 +92,6 @@ namespace chibios_rt { * function /p Main().
*/
class BaseThread {
- protected:
- /**
- * Thread exit.
- */
-// __attribute__((noreturn))
- void Exit(msg_t msg);
-
- /**
- * Change thread priority.
- */
- void SetPriority(tprio_t newprio);
-
-#ifdef CH_USE_MESSAGES
- /**
- * Waits for a message and returns it.
- */
- msg_t WaitMessage(void);
-
- /**
- * Returns an enqueued message or /p NULL.
- */
- msg_t GetMessage(void);
-
- /**
- * Releases the next message in queue with a reply.
- */
- void ReleaseMessage(msg_t msg);
-
- /**
- * Returns true if there is at least one message in queue.
- */
- bool IsPendingMessage(void);
-#endif /* CH_USE_MESSAGES */
-
public:
::Thread *thread_ref;
@@ -134,6 +100,11 @@ namespace chibios_rt { */
BaseThread(tprio_t prio, tmode_t mode, void *workspace, size_t wsize);
+ /**
+ * Thread exit.
+ */
+ static void Exit(msg_t msg);
+
#ifdef CH_USE_WAITEXIT
/**
* Synchronization on Thread exit.
@@ -148,6 +119,11 @@ namespace chibios_rt { void Resume(void);
#endif /* CH_USE_RESUME */
+ /**
+ * Change thread priority.
+ */
+ static void SetPriority(tprio_t newprio);
+
#ifdef CH_USE_TERMINATE
/**
* Requests thread termination.
@@ -159,13 +135,13 @@ namespace chibios_rt { /**
* Suspends the thread execution for the specified number of system ticks.
*/
- void Sleep(systime_t n);
+ static void Sleep(systime_t n);
#ifdef CH_USE_SYSTEMTIME
/**
* Suspends the thread execution until the specified time arrives.
*/
- void SleepUntil(systime_t time);
+ static void SleepUntil(systime_t time);
#endif /* CH_USE_SYSTEMTIME */
#endif /* CH_USE_SLEEP */
@@ -174,12 +150,31 @@ namespace chibios_rt { * Sends a message to the thread and returns the answer.
*/
msg_t SendMessage(msg_t msg);
+
+ /**
+ * Waits for a message and returns it.
+ */
+ static msg_t WaitMessage(void);
+
+ /**
+ * Returns an enqueued message or /p NULL.
+ */
+ static msg_t GetMessage(void);
+
+ /**
+ * Releases the next message in queue with a reply.
+ */
+ static void ReleaseMessage(msg_t msg);
+
+ /**
+ * Returns true if there is at least one message in queue.
+ */
+ static bool IsPendingMessage(void);
#endif /* CH_USE_MESSAGES */
/**
* Thread body function.
*/
-// __attribute__((naked))
virtual msg_t Main(void);
};
@@ -217,6 +212,13 @@ namespace chibios_rt { * Signal operation on the semaphore.
*/
void Signal(void);
+
+#ifdef CH_USE_SEMSW
+ /**
+ * Atomic signal and wait operations.
+ */
+ msg_t SignalWait(Semaphore *ssem, Semaphore *wsem);
+#endif /* CH_USE_SEMSW */
};
#endif /* CH_USE_SEMAPHORES */
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