From 165bcc4a0708ff3252fe73156eace36b5980dbf9 Mon Sep 17 00:00:00 2001
From: gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4>
Date: Thu, 27 Mar 2008 12:33:31 +0000
Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@249
 35acf78f-673a-0410-8e92-d51de3d6d3f4

---
 src/lib/ch.cpp | 13 ++++++----
 src/lib/ch.hpp | 76 ++++++++++++++++++++++++++++++----------------------------
 2 files changed, 48 insertions(+), 41 deletions(-)

(limited to 'src/lib')

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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