git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@249 35acf78f-673a-0410-8e92-d51de3d6d3f4

4 files changed, 60 insertions, 45 deletions

diff --git a/src/chsem.c b/src/chsem.c
index 14b8567ad..d1199f072 100644
--- a/src/chsem.c
+++ b/src/chsem.c
@@ -188,10 +188,12 @@ void chSemSignalI(Semaphore *sp) {
  * Performs atomic signal and wait operations on two semaphores.

  * @param sps pointer to a \p Semaphore structure to be signaled

  * @param spw pointer to a \p Semaphore structure to be wait on

- * @note The function is available only if the \p CH_USE_SEMAPHORES

+ * @return the function can return \p RDY_OK or \p RDY_RESET.

+ * @note The function is available only if the \p CH_USE_SEMSW

  *       option is enabled in \p chconf.h.

  */

-void chSemSignalWait(Semaphore *sps, Semaphore *spw) {

+msg_t chSemSignalWait(Semaphore *sps, Semaphore *spw) {

+  msg_t msg;

 

   chSysLock();

 

@@ -202,11 +204,15 @@ void chSemSignalWait(Semaphore *sps, Semaphore *spw) {
     fifo_insert(currp, &spw->s_queue);

     currp->p_wtsemp = spw;

     chSchGoSleepS(PRWTSEM);

+    msg = currp->p_rdymsg;

   }

-  else

+  else {

     chSchRescheduleS();

+    msg = RDY_OK;

+  }

 

   chSysUnlock();

+  return msg;

 }

 #endif /* CH_USE_SEMSW */

 

diff --git a/src/include/semaphores.h b/src/include/semaphores.h
index c894629a4..45486874b 100644
--- a/src/include/semaphores.h
+++ b/src/include/semaphores.h
@@ -51,7 +51,9 @@ extern "C" {
 #endif

   void chSemSignal(Semaphore *sp);

   void chSemSignalI(Semaphore *sp);

-  void chSemSignalWait(Semaphore *sps, Semaphore *spw);

+#ifdef CH_USE_SEMSW

+  msg_t chSemSignalWait(Semaphore *sps, Semaphore *spw);

+#endif

 #ifdef __cplusplus

 }

 #endif

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 */