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

25 files changed, 180 insertions, 210 deletions

diff --git a/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h b/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h
index 73e398e4f..558f23777 100644
--- a/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h
+++ b/demos/ARMCM4-STM32F303-DISCOVERY/chconf.h
@@ -357,7 +357,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_STATISTICS) || defined(__DOXYGEN__)

-#define CH_DBG_STATISTICS                   FALSE

+#define CH_DBG_STATISTICS                   TRUE

 #endif

 

 /**

@@ -391,7 +391,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)

-#define CH_DBG_ENABLE_ASSERTS               FALSE

+#define CH_DBG_ENABLE_ASSERTS               TRUE

 #endif

 

 /**

@@ -402,7 +402,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)

-#define CH_DBG_ENABLE_TRACE                 FALSE

+#define CH_DBG_ENABLE_TRACE                 TRUE

 #endif

 

 /**

@@ -416,7 +416,7 @@
  *          @p panic_msg variable set to @p NULL.

  */

 #if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)

-#define CH_DBG_ENABLE_STACK_CHECK           FALSE

+#define CH_DBG_ENABLE_STACK_CHECK           TRUE

 #endif

 

 /**

@@ -428,7 +428,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)

-#define CH_DBG_FILL_THREADS                 FALSE

+#define CH_DBG_FILL_THREADS                 TRUE

 #endif

 

 /**

@@ -548,7 +548,7 @@
  *          the system is halted.

  */

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

-#define CH_CFG_SYSTEM_HALT_HOOK() {                                         \

+#define CH_CFG_SYSTEM_HALT_HOOK(reason) {                                   \

   /* System halt code here.*/                                               \

 }

 #endif

diff --git a/demos/ARMCM4-STM32F303-DISCOVERY/mcuconf.h b/demos/ARMCM4-STM32F303-DISCOVERY/mcuconf.h
index 548b1e8dd..76eea5142 100644
--- a/demos/ARMCM4-STM32F303-DISCOVERY/mcuconf.h
+++ b/demos/ARMCM4-STM32F303-DISCOVERY/mcuconf.h
@@ -187,7 +187,7 @@
 #define STM32_SPI_SPI1_IRQ_PRIORITY         10

 #define STM32_SPI_SPI2_IRQ_PRIORITY         10

 #define STM32_SPI_SPI3_IRQ_PRIORITY         10

-#define STM32_SPI_DMA_ERROR_HOOK(spip)      chSysHalt()

+#define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")

 

 /*

  * UART driver system settings.

@@ -201,7 +201,7 @@
 #define STM32_UART_USART1_DMA_PRIORITY      0

 #define STM32_UART_USART2_DMA_PRIORITY      0

 #define STM32_UART_USART3_DMA_PRIORITY      0

-#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()

+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")

 

 /*

  * USB driver system settings.

diff --git a/os/hal/osal/chibios/osal.c b/os/hal/osal/chibios/osal.c
index ed291880b..52fc27041 100644
--- a/os/hal/osal/chibios/osal.c
+++ b/os/hal/osal/chibios/osal.c
@@ -36,13 +36,6 @@
 /* Module exported variables.                                                */

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

 

-/**

- * @brief   Pointer to a halt error message.

- * @note    The message is meant to be retrieved by the debugger after the

- *          system halt caused by an unexpected error.

- */

-const char *osal_halt_msg;

-

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

 /* Module local types.                                                       */

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

@@ -59,26 +52,4 @@ const char *osal_halt_msg;
 /* Module exported functions.                                                */

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

 

-/**

- * @brief   OSAL module initialization.

- *

- * @api

- */

-void osalInit(void) {

-

-}

-

-/**

- * @brief   System halt with error message.

- *

- * @param[in] reason    the halt message pointer

- *

- * @api

- */

-void osalSysHalt(const char *reason) {

-

-  osal_halt_msg = reason;

-  chSysHalt();

-}

-

 /** @} */

diff --git a/os/hal/osal/chibios/osal.h b/os/hal/osal/chibios/osal.h
index b3d0fae2b..3633a1f02 100644
--- a/os/hal/osal/chibios/osal.h
+++ b/os/hal/osal/chibios/osal.h
@@ -55,6 +55,7 @@
 #define OSAL_FAILED                         TRUE

 /** @} */

 

+#if 0

 /**

  * @name    Messages

  * @{

@@ -63,6 +64,7 @@
 #define MSG_RESET                           RDY_RESET

 #define MSG_TIMEOUT                         RDY_TIMEOUT

 /** @} */

+#endif

 

 #if 0

 /**

@@ -257,8 +259,7 @@ typedef struct {
 #ifdef __cplusplus

 extern "C" {

 #endif

-  void osalInit(void);

-  void osalSysHalt(const char *reason);

+

 #ifdef __cplusplus

 }

 #endif

@@ -268,6 +269,27 @@ extern "C" {
 /*===========================================================================*/

 

 /**

+ * @brief   OSAL module initialization.

+ *

+ * @api

+ */

+static inline void osalInit(void) {

+

+}

+

+/**

+ * @brief   System halt with error message.

+ *

+ * @param[in] reason    the halt message pointer

+ *

+ * @api

+ */

+static inline void osalSysHalt(const char *reason) {

+

+  chSysHalt(reason);

+}

+

+/**

  * @brief   Enters a critical zone from thread context.

  * @note    This function cannot be used for reentrant critical zones.

  *

diff --git a/os/hal/platforms/STM32/SPIv2/spi_lld.h b/os/hal/platforms/STM32/SPIv2/spi_lld.h
index fc2b39fa5..9f06fa5e5 100644
--- a/os/hal/platforms/STM32/SPIv2/spi_lld.h
+++ b/os/hal/platforms/STM32/SPIv2/spi_lld.h
@@ -121,7 +121,7 @@
  * @brief   SPI DMA error hook.

  */

 #if !defined(STM32_SPI_DMA_ERROR_HOOK) || defined(__DOXYGEN__)

-#define STM32_SPI_DMA_ERROR_HOOK(spip)      chSysHalt()

+#define STM32_SPI_DMA_ERROR_HOOK(spip)      osalSysHalt("DMA failure")

 #endif

 

 #if STM32_ADVANCED_DMA || defined(__DOXYGEN__)

diff --git a/os/hal/platforms/STM32/USARTv2/uart_lld.h b/os/hal/platforms/STM32/USARTv2/uart_lld.h
index 6d44af0ba..c34123aca 100644
--- a/os/hal/platforms/STM32/USARTv2/uart_lld.h
+++ b/os/hal/platforms/STM32/USARTv2/uart_lld.h
@@ -123,7 +123,7 @@
  *          error can only happen because programming errors.

  */

 #if !defined(STM32_UART_DMA_ERROR_HOOK) || defined(__DOXYGEN__)

-#define STM32_UART_DMA_ERROR_HOOK(uartp)    chSysHalt()

+#define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")

 #endif

 

 #if STM32_ADVANCED_DMA || defined(__DOXYGEN__)

diff --git a/os/rt/include/chdebug.h b/os/rt/include/chdebug.h
index 836645f07..c33d078d3 100644
--- a/os/rt/include/chdebug.h
+++ b/os/rt/include/chdebug.h
@@ -71,13 +71,6 @@
 /* Derived constants and error checks.                                       */

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

 

-#if CH_DBG_ENABLE_ASSERTS     || CH_DBG_ENABLE_CHECKS      ||               \

-    CH_DBG_ENABLE_STACK_CHECK || CH_DBG_SYSTEM_STATE_CHECK

-#define CH_DBG_ENABLED              TRUE

-#else

-#define CH_DBG_ENABLED              FALSE

-#endif

-

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

 /* Module data structures and types.                                         */

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

@@ -159,12 +152,6 @@ typedef struct {
 #define _dbg_trace(otp)

 #endif

 

-/* When the debug features are disabled this function is replaced by an empty

-   macro.*/

-#if !CH_DBG_ENABLED

-#define chDbgPanic(msg) {}

-#endif

-

 /**

  * @name    Macro Functions

  * @{

@@ -183,7 +170,7 @@ typedef struct {
 #if !defined(chDbgCheck)

 #define chDbgCheck(c) {                                                     \

   if (!(c))                                                                 \

-    chDbgPanic("C:"__QUOTE_THIS(__FUNCTION__)":"__QUOTE_THIS(__LINE__));    \

+    chSysHalt("C:"__QUOTE_THIS(__FUNCTION__)":"__QUOTE_THIS(__LINE__));     \

 }

 #endif /* !defined(chDbgCheck) */

 

@@ -209,7 +196,7 @@ typedef struct {
 #if !defined(chDbgAssert)

 #define chDbgAssert(c, r) {                                                 \

   if (!(c))                                                                 \

-    chDbgPanic("A:"__QUOTE_THIS(__FUNCTION__)":"__QUOTE_THIS(__LINE__));    \

+  chSysHalt("A:"__QUOTE_THIS(__FUNCTION__)":"__QUOTE_THIS(__LINE__));       \

 }

 #endif /* !defined(chDbgAssert) */

 #else /* !CH_DBG_ENABLE_ASSERTS */

@@ -241,9 +228,6 @@ extern "C" {
   void _trace_init(void);

   void _dbg_trace(thread_t *otp);

 #endif

-#if CH_DBG_ENABLED

-  void chDbgPanic(const char *msg);

-#endif

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/rt/include/chqueues.h b/os/rt/include/chqueues.h
index c050285ac..1cf778d3f 100644
--- a/os/rt/include/chqueues.h
+++ b/os/rt/include/chqueues.h
@@ -39,9 +39,9 @@
  * @name    Queue functions returned status value

  * @{

  */

-#define Q_OK            RDY_OK      /**< @brief Operation successful.       */

-#define Q_TIMEOUT       RDY_TIMEOUT /**< @brief Timeout condition.          */

-#define Q_RESET         RDY_RESET   /**< @brief Queue has been reset.       */

+#define Q_OK            MSG_OK      /**< @brief Operation successful.       */

+#define Q_TIMEOUT       MSG_TIMEOUT /**< @brief Timeout condition.          */

+#define Q_RESET         MSG_RESET   /**< @brief Queue has been reset.       */

 #define Q_EMPTY         -3          /**< @brief Queue empty.                */

 #define Q_FULL          -4          /**< @brief Queue full,                 */

 /** @} */

diff --git a/os/rt/include/chschd.h b/os/rt/include/chschd.h
index 248f707c8..b4160acc6 100644
--- a/os/rt/include/chschd.h
+++ b/os/rt/include/chschd.h
@@ -37,10 +37,10 @@
  * @name    Wakeup status codes

  * @{

  */

-#define RDY_OK          0           /**< @brief Normal wakeup message.      */

-#define RDY_TIMEOUT     -1          /**< @brief Wakeup caused by a timeout

+#define MSG_OK          0           /**< @brief Normal wakeup message.      */

+#define MSG_TIMEOUT     -1          /**< @brief Wakeup caused by a timeout

                                          condition.                         */

-#define RDY_RESET       -2          /**< @brief Wakeup caused by a reset

+#define MSG_RESET       -2          /**< @brief Wakeup caused by a reset

                                          condition.                         */

 /** @} */

 

diff --git a/os/rt/include/chsys.h b/os/rt/include/chsys.h
index 475e090bd..5d6ce62aa 100644
--- a/os/rt/include/chsys.h
+++ b/os/rt/include/chsys.h
@@ -216,7 +216,7 @@
 extern "C" {

 #endif

   void chSysInit(void);

-  void chSysHalt(void);

+  void chSysHalt(const char *reason);

   void chSysTimerHandlerI(void);

   syssts_t chSysGetAndLockX(void);

   void chSysRestoreLockX(syssts_t sts);

diff --git a/os/rt/ports/ARMCMx/chcore_v7m.h b/os/rt/ports/ARMCMx/chcore_v7m.h
index 3426977a1..9e2c86ede 100644
--- a/os/rt/ports/ARMCMx/chcore_v7m.h
+++ b/os/rt/ports/ARMCMx/chcore_v7m.h
@@ -373,7 +373,7 @@ struct context {
 #define port_switch(ntp, otp) {                                             \

   struct intctx *r13 = (struct intctx *)__get_PSP();                        \

   if ((stkalign_t *)(r13 - 1) < otp->p_stklimit)                            \

-    chDbgPanic("stack overflow");                                           \

+    chSysHalt("stack overflow");                                            \

   _port_switch(ntp, otp);                                                   \

 }

 #endif

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;

 }

diff --git a/test/testbmk.c b/test/testbmk.c
index 5149323a6..fe43c6aff 100644
--- a/test/testbmk.c
+++ b/test/testbmk.c
@@ -209,7 +209,7 @@ msg_t thread4(void *p) {
   do {

     chSchGoSleepS(CH_STATE_SUSPENDED);

     msg = self->p_u.rdymsg;

-  } while (msg == RDY_OK);

+  } while (msg == MSG_OK);

   chSysUnlock();

   return 0;

 }

@@ -225,10 +225,10 @@ static void bmk4_execute(void) {
   test_start_timer(1000);

   do {

     chSysLock();

-    chSchWakeupS(tp, RDY_OK);

-    chSchWakeupS(tp, RDY_OK);

-    chSchWakeupS(tp, RDY_OK);

-    chSchWakeupS(tp, RDY_OK);

+    chSchWakeupS(tp, MSG_OK);

+    chSchWakeupS(tp, MSG_OK);

+    chSchWakeupS(tp, MSG_OK);

+    chSchWakeupS(tp, MSG_OK);

     chSysUnlock();

     n += 4;

 #if defined(SIMULATOR)

@@ -236,7 +236,7 @@ static void bmk4_execute(void) {
 #endif

   } while (!test_timer_done);

   chSysLock();

-  chSchWakeupS(tp, RDY_TIMEOUT);

+  chSchWakeupS(tp, MSG_TIMEOUT);

   chSysUnlock();

 

   test_wait_threads();

diff --git a/test/testmbox.c b/test/testmbox.c
index 1ca34dadc..a9f57e961 100644
--- a/test/testmbox.c
+++ b/test/testmbox.c
@@ -87,26 +87,26 @@ static void mbox1_execute(void) {
    */

   for (i = 0; i < MB_SIZE - 1; i++) {

     msg1 = chMBPost(&mb1, 'B' + i, TIME_INFINITE);

-    test_assert(2, msg1 == RDY_OK, "wrong wake-up message");

+    test_assert(2, msg1 == MSG_OK, "wrong wake-up message");

   }

   msg1 = chMBPostAhead(&mb1, 'A', TIME_INFINITE);

-  test_assert(3, msg1 == RDY_OK, "wrong wake-up message");

+  test_assert(3, msg1 == MSG_OK, "wrong wake-up message");

 

   /*

    * Testing post timeout.

    */

   msg1 = chMBPost(&mb1, 'X', 1);

-  test_assert(4, msg1 == RDY_TIMEOUT, "wrong wake-up message");

+  test_assert(4, msg1 == MSG_TIMEOUT, "wrong wake-up message");

   chSysLock();

   msg1 = chMBPostI(&mb1, 'X');

   chSysUnlock();

-  test_assert(5, msg1 == RDY_TIMEOUT, "wrong wake-up message");

+  test_assert(5, msg1 == MSG_TIMEOUT, "wrong wake-up message");

   msg1 = chMBPostAhead(&mb1, 'X', 1);

-  test_assert(6, msg1 == RDY_TIMEOUT, "wrong wake-up message");

+  test_assert(6, msg1 == MSG_TIMEOUT, "wrong wake-up message");

   chSysLock();

   msg1 = chMBPostAheadI(&mb1, 'X');

   chSysUnlock();

-  test_assert(7, msg1 == RDY_TIMEOUT, "wrong wake-up message");

+  test_assert(7, msg1 == MSG_TIMEOUT, "wrong wake-up message");

 

   /*

    * Testing final conditions.

@@ -120,7 +120,7 @@ static void mbox1_execute(void) {
    */

   for (i = 0; i < MB_SIZE; i++) {

     msg1 = chMBFetch(&mb1, &msg2, TIME_INFINITE);

-    test_assert(11, msg1 == RDY_OK, "wrong wake-up message");

+    test_assert(11, msg1 == MSG_OK, "wrong wake-up message");

     test_emit_token(msg2);

   }

   test_assert_sequence(12, "ABCDE");

@@ -129,9 +129,9 @@ static void mbox1_execute(void) {
    * Testing buffer circularity.

    */

   msg1 = chMBPost(&mb1, 'B' + i, TIME_INFINITE);

-  test_assert(13, msg1 == RDY_OK, "wrong wake-up message");

+  test_assert(13, msg1 == MSG_OK, "wrong wake-up message");

   msg1 = chMBFetch(&mb1, &msg2, TIME_INFINITE);

-  test_assert(14, msg1 == RDY_OK, "wrong wake-up message");

+  test_assert(14, msg1 == MSG_OK, "wrong wake-up message");

   test_assert(15, mb1.mb_buffer == mb1.mb_wrptr, "write pointer not aligned to base");

   test_assert(16, mb1.mb_buffer == mb1.mb_rdptr, "read pointer not aligned to base");

 

@@ -139,11 +139,11 @@ static void mbox1_execute(void) {
    * Testing fetch timeout.

    */

   msg1 = chMBFetch(&mb1, &msg2, 1);

-  test_assert(17, msg1 == RDY_TIMEOUT, "wrong wake-up message");

+  test_assert(17, msg1 == MSG_TIMEOUT, "wrong wake-up message");

   chSysLock();

   msg1 = chMBFetchI(&mb1, &msg2);

   chSysUnlock();

-  test_assert(18, msg1 == RDY_TIMEOUT, "wrong wake-up message");

+  test_assert(18, msg1 == MSG_TIMEOUT, "wrong wake-up message");

 

   /*

    * Testing final conditions.

@@ -157,22 +157,22 @@ static void mbox1_execute(void) {
    */

   chSysLock();

   msg1 = chMBPostI(&mb1, 'A');

-  test_assert(22, msg1 == RDY_OK, "wrong wake-up message");

+  test_assert(22, msg1 == MSG_OK, "wrong wake-up message");

   msg1 = chMBPostI(&mb1, 'B');

-  test_assert(23, msg1 == RDY_OK, "wrong wake-up message");

+  test_assert(23, msg1 == MSG_OK, "wrong wake-up message");

   msg1 = chMBPostI(&mb1, 'C');

-  test_assert(24, msg1 == RDY_OK, "wrong wake-up message");

+  test_assert(24, msg1 == MSG_OK, "wrong wake-up message");

   msg1 = chMBPostI(&mb1, 'D');

-  test_assert(25, msg1 == RDY_OK, "wrong wake-up message");

+  test_assert(25, msg1 == MSG_OK, "wrong wake-up message");

   msg1 = chMBPostI(&mb1, 'E');

   chSysUnlock();

-  test_assert(26, msg1 == RDY_OK, "wrong wake-up message");

+  test_assert(26, msg1 == MSG_OK, "wrong wake-up message");

   test_assert(27, mb1.mb_rdptr == mb1.mb_wrptr, "pointers not aligned");

   for (i = 0; i < MB_SIZE; i++) {

     chSysLock();

     msg1 = chMBFetchI(&mb1, &msg2);

     chSysUnlock();

-    test_assert(28, msg1 == RDY_OK, "wrong wake-up message");

+    test_assert(28, msg1 == MSG_OK, "wrong wake-up message");

     test_emit_token(msg2);

   }

   test_assert_sequence(29, "ABCDE");

@@ -182,22 +182,22 @@ static void mbox1_execute(void) {
 

   chSysLock();

   msg1 = chMBPostAheadI(&mb1, 'E');

-  test_assert(33, msg1 == RDY_OK, "wrong wake-up message");

+  test_assert(33, msg1 == MSG_OK, "wrong wake-up message");

   msg1 = chMBPostAheadI(&mb1, 'D');

-  test_assert(34, msg1 == RDY_OK, "wrong wake-up message");

+  test_assert(34, msg1 == MSG_OK, "wrong wake-up message");

   msg1 = chMBPostAheadI(&mb1, 'C');

-  test_assert(35, msg1 == RDY_OK, "wrong wake-up message");

+  test_assert(35, msg1 == MSG_OK, "wrong wake-up message");

   msg1 = chMBPostAheadI(&mb1, 'B');

-  test_assert(36, msg1 == RDY_OK, "wrong wake-up message");

+  test_assert(36, msg1 == MSG_OK, "wrong wake-up message");

   msg1 = chMBPostAheadI(&mb1, 'A');

   chSysUnlock();

-  test_assert(37, msg1 == RDY_OK, "wrong wake-up message");

+  test_assert(37, msg1 == MSG_OK, "wrong wake-up message");

   test_assert(38, mb1.mb_rdptr == mb1.mb_wrptr, "pointers not aligned");

   for (i = 0; i < MB_SIZE; i++) {

     chSysLock();

     msg1 = chMBFetchI(&mb1, &msg2);

     chSysUnlock();

-    test_assert(39, msg1 == RDY_OK, "wrong wake-up message");

+    test_assert(39, msg1 == MSG_OK, "wrong wake-up message");

     test_emit_token(msg2);

   }

   test_assert_sequence(40, "ABCDE");

diff --git a/test/testsem.c b/test/testsem.c
index 0d74f3613..604a6954d 100644
--- a/test/testsem.c
+++ b/test/testsem.c
@@ -150,7 +150,7 @@ static void sem2_execute(void) {
    * Testing special case TIME_IMMEDIATE.

    */

   msg = chSemWaitTimeout(&sem1, TIME_IMMEDIATE);

-  test_assert(1, msg == RDY_TIMEOUT, "wrong wake-up message");

+  test_assert(1, msg == MSG_TIMEOUT, "wrong wake-up message");

   test_assert(2, queue_isempty(&sem1.s_queue), "queue not empty");

   test_assert(3, sem1.s_cnt == 0, "counter not zero");

 

@@ -161,7 +161,7 @@ static void sem2_execute(void) {
                                  thread2, 0);

   msg = chSemWaitTimeout(&sem1, MS2ST(500));

   test_wait_threads();

-  test_assert(4, msg == RDY_OK, "wrong wake-up message");

+  test_assert(4, msg == MSG_OK, "wrong wake-up message");

   test_assert(5, queue_isempty(&sem1.s_queue), "queue not empty");

   test_assert(6, sem1.s_cnt == 0, "counter not zero");

 

@@ -173,7 +173,7 @@ static void sem2_execute(void) {
   for (i = 0; i < 5; i++) {

     test_emit_token('A' + i);

     msg = chSemWaitTimeout(&sem1, MS2ST(500));

-    test_assert(7, msg == RDY_TIMEOUT, "wrong wake-up message");

+    test_assert(7, msg == MSG_TIMEOUT, "wrong wake-up message");

     test_assert(8, queue_isempty(&sem1.s_queue), "queue not empty");

     test_assert(9, sem1.s_cnt == 0, "counter not zero");

   }