diff options
Diffstat (limited to 'os/rt/src')
| -rw-r--r-- | os/rt/src/chlists.c | 251 | ||||
| -rw-r--r-- | os/rt/src/chqueues.c | 20 | ||||
| -rw-r--r-- | os/rt/src/chschd.c | 128 | ||||
| -rw-r--r-- | os/rt/src/chsys.c | 5 | ||||
| -rw-r--r-- | os/rt/src/chthreads.c | 309 |
5 files changed, 330 insertions, 383 deletions
diff --git a/os/rt/src/chlists.c b/os/rt/src/chlists.c deleted file mode 100644 index 4dd141b9c..000000000 --- a/os/rt/src/chlists.c +++ /dev/null @@ -1,251 +0,0 @@ -/*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
- 2011,2012,2013 Giovanni Di Sirio.
-
- This file is part of ChibiOS/RT.
-
- ChibiOS/RT 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/RT 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 chlists.c
- * @brief Thread queues and lists code.
- *
- * @addtogroup queues_list
- * @{
- */
-#include "ch.h"
-
-/*===========================================================================*/
-/* Module local definitions. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module exported variables. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module local types. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module local variables. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module local functions. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module exported functions. */
-/*===========================================================================*/
-
-/**
- * @brief Enqueues the caller thread.
- * @details The caller thread is enqueued and put to sleep until it is
- * dequeued or the specified timeouts expires.
- *
- * @param[in] tqp pointer to the threads queue object
- * @param[in] timeout the timeout in system ticks, the special values are
- * handled as follow:
- * - @a TIME_INFINITE the thread enters an infinite sleep
- * state.
- * - @a TIME_IMMEDIATE the thread is not enqueued and
- * the function returns @p MSG_TIMEOUT as if a timeout
- * occurred.
- * .
- * @return The message from @p osalQueueWakeupOneI() or
- * @p osalQueueWakeupAllI() functions.
- * @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.
- *
- * @sclass
- */
-msg_t chQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t timeout) {
-
- if (TIME_IMMEDIATE == timeout)
- return MSG_TIMEOUT;
-
- queue_insert(currp, tqp);
- return chSchGoSleepTimeoutS(CH_STATE_QUEUED, timeout);
-}
-
-/**
- * @brief Dequeues and wakes up one thread from the queue, if any.
- *
- * @param[in] tqp pointer to the threads queue object
- * @param[in] msg the message code
- *
- * @iclass
- */
-void chQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
-
- if (queue_notempty(tqp)) {
- thread_t *tp = queue_fifo_remove(tqp);
-
- chDbgAssert(tp->p_state == CH_STATE_QUEUED,
- "not CH_STATE_QUEUED");
-
- tp->p_u.rdymsg = msg;
- chSchReadyI(tp);
- }
-}
-
-/**
- * @brief Dequeues and wakes up all threads from the queue.
- *
- * @param[in] tqp pointer to the threads queue object
- * @param[in] msg the message code
- *
- * @iclass
- */
-void chQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
-
- while (queue_notempty(tqp)) {
- thread_t *tp = queue_fifo_remove(tqp);
-
- chDbgAssert(tp->p_state == CH_STATE_QUEUED,
- "not CH_STATE_QUEUED");
-
- tp->p_u.rdymsg = msg;
- chSchReadyI(tp);
- }
-}
-
-#if !CH_CFG_OPTIMIZE_SPEED || defined(__DOXYGEN__)
-/**
- * @brief Inserts a thread into a priority ordered queue.
- * @note The insertion is done by scanning the list from the highest
- * priority toward the lowest.
- *
- * @param[in] tp the pointer to the thread to be inserted in the list
- * @param[in] tqp the pointer to the threads list header
- *
- * @notapi
- */
-void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) {
-
- /* cp iterates over the queue.*/
- thread_t *cp = (thread_t *)tqp;
- do {
- /* Iterate to next thread in queue.*/
- cp = cp->p_next;
- /* Not end of queue? and cp has equal or higher priority than tp?.*/
- } while ((cp != (thread_t *)tqp) && (cp->p_prio >= tp->p_prio));
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- tp->p_prev = cp->p_prev;
- tp->p_prev->p_next = cp->p_prev = tp;
-}
-
-/**
- * @brief Inserts a thread into a queue.
- *
- * @param[in] tp the pointer to the thread to be inserted in the list
- * @param[in] tqp the pointer to the threads list header
- *
- * @notapi
- */
-void queue_insert(thread_t *tp, threads_queue_t *tqp) {
-
- tp->p_next = (thread_t *)tqp;
- tp->p_prev = tqp->p_prev;
- tp->p_prev->p_next = tqp->p_prev = tp;
-}
-
-/**
- * @brief Removes the first-out thread from a queue and returns it.
- * @note If the queue is priority ordered then this function returns the
- * thread with the highest priority.
- *
- * @param[in] tqp the pointer to the threads list header
- * @return The removed thread pointer.
- *
- * @notapi
- */
-thread_t *queue_fifo_remove(threads_queue_t *tqp) {
- thread_t *tp = tqp->p_next;
-
- (tqp->p_next = tp->p_next)->p_prev = (thread_t *)tqp;
- return tp;
-}
-
-/**
- * @brief Removes the last-out thread from a queue and returns it.
- * @note If the queue is priority ordered then this function returns the
- * thread with the lowest priority.
- *
- * @param[in] tqp the pointer to the threads list header
- * @return The removed thread pointer.
- *
- * @notapi
- */
-thread_t *queue_lifo_remove(threads_queue_t *tqp) {
- thread_t *tp = tqp->p_prev;
-
- (tqp->p_prev = tp->p_prev)->p_next = (thread_t *)tqp;
- return tp;
-}
-
-/**
- * @brief Removes a thread from a queue and returns it.
- * @details The thread is removed from the queue regardless of its relative
- * position and regardless the used insertion method.
- *
- * @param[in] tp the pointer to the thread to be removed from the queue
- * @return The removed thread pointer.
- *
- * @notapi
- */
-thread_t *queue_dequeue(thread_t *tp) {
-
- tp->p_prev->p_next = tp->p_next;
- tp->p_next->p_prev = tp->p_prev;
- return tp;
-}
-
-/**
- * @brief Pushes a thread_t on top of a stack list.
- *
- * @param[in] tp the pointer to the thread to be inserted in the list
- * @param[in] tlp the pointer to the threads list header
- *
- * @notapi
- */
-void list_insert(thread_t *tp, threads_list_t *tlp) {
-
- tp->p_next = tlp->p_next;
- tlp->p_next = tp;
-}
-
-/**
- * @brief Pops a thread from the top of a stack list and returns it.
- * @pre The list must be non-empty before calling this function.
- *
- * @param[in] tlp the pointer to the threads list header
- * @return The removed thread pointer.
- *
- * @notapi
- */
-thread_t *list_remove(threads_list_t *tlp) {
-
- thread_t *tp = tlp->p_next;
- tlp->p_next = tp->p_next;
- return tp;
-}
-#endif /* CH_CFG_OPTIMIZE_SPEED */
-
-/** @} */
diff --git a/os/rt/src/chqueues.c b/os/rt/src/chqueues.c index c65eb06c6..c0b0f8256 100644 --- a/os/rt/src/chqueues.c +++ b/os/rt/src/chqueues.c @@ -88,7 +88,7 @@ void chIQObjectInit(input_queue_t *iqp, uint8_t *bp, size_t size,
qnotify_t infy, void *link) {
- chQueueObjectInit(&iqp->q_waiting);
+ chThdQueueObjectInit(&iqp->q_waiting);
iqp->q_counter = 0;
iqp->q_buffer = iqp->q_rdptr = iqp->q_wrptr = bp;
iqp->q_top = bp + size;
@@ -113,7 +113,7 @@ void chIQResetI(input_queue_t *iqp) { iqp->q_rdptr = iqp->q_wrptr = iqp->q_buffer;
iqp->q_counter = 0;
- chQueueWakeupAllI(&iqp->q_waiting, Q_RESET);
+ chThdDequeueAllI(&iqp->q_waiting, Q_RESET);
}
/**
@@ -141,7 +141,7 @@ msg_t chIQPutI(input_queue_t *iqp, uint8_t b) { if (iqp->q_wrptr >= iqp->q_top)
iqp->q_wrptr = iqp->q_buffer;
- chQueueWakeupOneI(&iqp->q_waiting, Q_OK);
+ chThdDequeueNextI(&iqp->q_waiting, Q_OK);
return Q_OK;
}
@@ -175,7 +175,7 @@ msg_t chIQGetTimeout(input_queue_t *iqp, systime_t time) { while (chIQIsEmptyI(iqp)) {
msg_t msg;
- if ((msg = chQueueGoSleepTimeoutS(&iqp->q_waiting, time)) < Q_OK) {
+ if ((msg = chThdEnqueueTimeoutS(&iqp->q_waiting, time)) < Q_OK) {
chSysUnlock();
return msg;
}
@@ -227,7 +227,7 @@ size_t chIQReadTimeout(input_queue_t *iqp, uint8_t *bp, nfy(iqp);
while (chIQIsEmptyI(iqp)) {
- if (chQueueGoSleepTimeoutS(&iqp->q_waiting, time) != Q_OK) {
+ if (chThdEnqueueTimeoutS(&iqp->q_waiting, time) != Q_OK) {
chSysUnlock();
return r;
}
@@ -266,7 +266,7 @@ size_t chIQReadTimeout(input_queue_t *iqp, uint8_t *bp, void chOQObjectInit(output_queue_t *oqp, uint8_t *bp, size_t size,
qnotify_t onfy, void *link) {
- chQueueObjectInit(&oqp->q_waiting);
+ chThdQueueObjectInit(&oqp->q_waiting);
oqp->q_counter = size;
oqp->q_buffer = oqp->q_rdptr = oqp->q_wrptr = bp;
oqp->q_top = bp + size;
@@ -291,7 +291,7 @@ void chOQResetI(output_queue_t *oqp) { oqp->q_rdptr = oqp->q_wrptr = oqp->q_buffer;
oqp->q_counter = chQSizeI(oqp);
- chQueueWakeupAllI(&oqp->q_waiting, Q_RESET);
+ chThdDequeueAllI(&oqp->q_waiting, Q_RESET);
}
/**
@@ -322,7 +322,7 @@ msg_t chOQPutTimeout(output_queue_t *oqp, uint8_t b, systime_t time) { while (chOQIsFullI(oqp)) {
msg_t msg;
- if ((msg = chQueueGoSleepTimeoutS(&oqp->q_waiting, time)) < Q_OK) {
+ if ((msg = chThdEnqueueTimeoutS(&oqp->q_waiting, time)) < Q_OK) {
chSysUnlock();
return msg;
}
@@ -363,7 +363,7 @@ msg_t chOQGetI(output_queue_t *oqp) { if (oqp->q_rdptr >= oqp->q_top)
oqp->q_rdptr = oqp->q_buffer;
- chQueueWakeupOneI(&oqp->q_waiting, Q_OK);
+ chThdDequeueNextI(&oqp->q_waiting, Q_OK);
return b;
}
@@ -402,7 +402,7 @@ size_t chOQWriteTimeout(output_queue_t *oqp, const uint8_t *bp, chSysLock();
while (true) {
while (chOQIsFullI(oqp)) {
- if (chQueueGoSleepTimeoutS(&oqp->q_waiting, time) != Q_OK) {
+ if (chThdEnqueueTimeoutS(&oqp->q_waiting, time) != Q_OK) {
chSysUnlock();
return w;
}
diff --git a/os/rt/src/chschd.c b/os/rt/src/chschd.c index 1e844b7b0..acf65fb85 100644 --- a/os/rt/src/chschd.c +++ b/os/rt/src/chschd.c @@ -37,6 +37,11 @@ /* Module exported variables. */
/*===========================================================================*/
+/**
+ * @brief System data structures.
+ */
+ch_system_t ch;
+
/*===========================================================================*/
/* Module local types. */
/*===========================================================================*/
@@ -67,6 +72,129 @@ void _scheduler_init(void) { #endif
}
+#if !CH_CFG_OPTIMIZE_SPEED || defined(__DOXYGEN__)
+/**
+ * @brief Inserts a thread into a priority ordered queue.
+ * @note The insertion is done by scanning the list from the highest
+ * priority toward the lowest.
+ *
+ * @param[in] tp the pointer to the thread to be inserted in the list
+ * @param[in] tqp the pointer to the threads list header
+ *
+ * @notapi
+ */
+void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) {
+
+ /* cp iterates over the queue.*/
+ thread_t *cp = (thread_t *)tqp;
+ do {
+ /* Iterate to next thread in queue.*/
+ cp = cp->p_next;
+ /* Not end of queue? and cp has equal or higher priority than tp?.*/
+ } while ((cp != (thread_t *)tqp) && (cp->p_prio >= tp->p_prio));
+ /* Insertion on p_prev.*/
+ tp->p_next = cp;
+ tp->p_prev = cp->p_prev;
+ tp->p_prev->p_next = cp->p_prev = tp;
+}
+
+/**
+ * @brief Inserts a thread into a queue.
+ *
+ * @param[in] tp the pointer to the thread to be inserted in the list
+ * @param[in] tqp the pointer to the threads list header
+ *
+ * @notapi
+ */
+void queue_insert(thread_t *tp, threads_queue_t *tqp) {
+
+ tp->p_next = (thread_t *)tqp;
+ tp->p_prev = tqp->p_prev;
+ tp->p_prev->p_next = tqp->p_prev = tp;
+}
+
+/**
+ * @brief Removes the first-out thread from a queue and returns it.
+ * @note If the queue is priority ordered then this function returns the
+ * thread with the highest priority.
+ *
+ * @param[in] tqp the pointer to the threads list header
+ * @return The removed thread pointer.
+ *
+ * @notapi
+ */
+thread_t *queue_fifo_remove(threads_queue_t *tqp) {
+ thread_t *tp = tqp->p_next;
+
+ (tqp->p_next = tp->p_next)->p_prev = (thread_t *)tqp;
+ return tp;
+}
+
+/**
+ * @brief Removes the last-out thread from a queue and returns it.
+ * @note If the queue is priority ordered then this function returns the
+ * thread with the lowest priority.
+ *
+ * @param[in] tqp the pointer to the threads list header
+ * @return The removed thread pointer.
+ *
+ * @notapi
+ */
+thread_t *queue_lifo_remove(threads_queue_t *tqp) {
+ thread_t *tp = tqp->p_prev;
+
+ (tqp->p_prev = tp->p_prev)->p_next = (thread_t *)tqp;
+ return tp;
+}
+
+/**
+ * @brief Removes a thread from a queue and returns it.
+ * @details The thread is removed from the queue regardless of its relative
+ * position and regardless the used insertion method.
+ *
+ * @param[in] tp the pointer to the thread to be removed from the queue
+ * @return The removed thread pointer.
+ *
+ * @notapi
+ */
+thread_t *queue_dequeue(thread_t *tp) {
+
+ tp->p_prev->p_next = tp->p_next;
+ tp->p_next->p_prev = tp->p_prev;
+ return tp;
+}
+
+/**
+ * @brief Pushes a thread_t on top of a stack list.
+ *
+ * @param[in] tp the pointer to the thread to be inserted in the list
+ * @param[in] tlp the pointer to the threads list header
+ *
+ * @notapi
+ */
+void list_insert(thread_t *tp, threads_list_t *tlp) {
+
+ tp->p_next = tlp->p_next;
+ tlp->p_next = tp;
+}
+
+/**
+ * @brief Pops a thread from the top of a stack list and returns it.
+ * @pre The list must be non-empty before calling this function.
+ *
+ * @param[in] tlp the pointer to the threads list header
+ * @return The removed thread pointer.
+ *
+ * @notapi
+ */
+thread_t *list_remove(threads_list_t *tlp) {
+
+ thread_t *tp = tlp->p_next;
+ tlp->p_next = tp->p_next;
+ return tp;
+}
+#endif /* CH_CFG_OPTIMIZE_SPEED */
+
/**
* @brief Inserts a thread in the Ready List.
* @details The thread is positioned behind all threads with higher or equal
diff --git a/os/rt/src/chsys.c b/os/rt/src/chsys.c index 94f1afd51..f7fd6766b 100644 --- a/os/rt/src/chsys.c +++ b/os/rt/src/chsys.c @@ -48,11 +48,6 @@ /* Module local variables. */
/*===========================================================================*/
-/**
- * @brief System data structures.
- */
-ch_system_t ch;
-
#if !CH_CFG_NO_IDLE_THREAD || defined(__DOXYGEN__)
/**
* @brief Idle thread working area.
diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c index 613810954..a8f3492e6 100644 --- a/os/rt/src/chthreads.c +++ b/os/rt/src/chthreads.c @@ -270,123 +270,6 @@ tprio_t chThdSetPriority(tprio_t newprio) { }
/**
- * @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
- * @return The wake up message.
- *
- * @sclass
- */
-msg_t chThreadSuspendS(thread_reference_t *trp) {
- thread_t *tp = chThdGetSelfX();
-
- chDbgAssert(*trp == NULL, "not NULL");
-
- *trp = tp;
- tp->p_u.wtobjp = &trp;
- chSchGoSleepS(CH_STATE_SUSPENDED);
- return chThdGetSelfX()->p_msg;
-}
-
-/**
- * @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 timeout in system ticks, the special values are
- * handled as follow:
- * - @a TIME_INFINITE the thread enters an infinite sleep
- * state.
- * - @a TIME_IMMEDIATE the thread is not enqueued and
- * the function returns @p MSG_TIMEOUT as if a timeout
- * occurred.
- * .
- * @return The wake up message.
- * @retval MSG_TIMEOUT if the operation timed out.
- *
- * @sclass
- */
-msg_t chThreadSuspendTimeoutS(thread_reference_t *trp, systime_t timeout) {
- thread_t *tp = chThdGetSelfX();
-
- chDbgAssert(*trp == NULL, "not NULL");
-
- if (TIME_IMMEDIATE == timeout)
- return MSG_TIMEOUT;
-
- *trp = tp;
- tp->p_u.wtobjp = &trp;
- return chSchGoSleepTimeoutS(CH_STATE_SUSPENDED, 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 chThreadResumeI(thread_reference_t *trp, msg_t msg) {
-
- if (*trp != NULL) {
- thread_t *tp = *trp;
-
- chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
- "not THD_STATE_SUSPENDED");
-
- *trp = NULL;
- tp->p_u.rdymsg = msg;
- chSchReadyI(tp);
- }
-}
-
-/**
- * @brief Wakes up a thread waiting on a thread reference object.
- * @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] msg the message code
- *
- * @iclass
- */
-void chThreadResumeS(thread_reference_t *trp, msg_t msg) {
-
- if (*trp != NULL) {
- thread_t *tp = *trp;
-
- chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
- "not THD_STATE_SUSPENDED");
-
- *trp = NULL;
- chSchWakeupS(tp, msg);
- }
-}
-
-/**
- * @brief Wakes up a thread waiting on a thread reference object.
- * @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] msg the message code
- *
- * @api
- */
-void chThreadResume(thread_reference_t *trp, msg_t msg) {
-
- chSysLock();
- chThreadResumeS(trp, msg);
- chSysUnlock();
-}
-
-/**
* @brief Requests a thread termination.
* @pre The target thread must be written to invoke periodically
* @p chThdShouldTerminate() and terminate cleanly if it returns
@@ -566,4 +449,196 @@ msg_t chThdWait(thread_t *tp) { }
#endif /* CH_CFG_USE_WAITEXIT */
+/**
+ * @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
+ * @return The wake up message.
+ *
+ * @sclass
+ */
+msg_t chThdSuspendS(thread_reference_t *trp) {
+ thread_t *tp = chThdGetSelfX();
+
+ chDbgAssert(*trp == NULL, "not NULL");
+
+ *trp = tp;
+ tp->p_u.wtobjp = &trp;
+ chSchGoSleepS(CH_STATE_SUSPENDED);
+ return chThdGetSelfX()->p_msg;
+}
+
+/**
+ * @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 timeout in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE the thread is not enqueued and
+ * the function returns @p MSG_TIMEOUT as if a timeout
+ * occurred.
+ * .
+ * @return The wake up message.
+ * @retval MSG_TIMEOUT if the operation timed out.
+ *
+ * @sclass
+ */
+msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout) {
+ thread_t *tp = chThdGetSelfX();
+
+ chDbgAssert(*trp == NULL, "not NULL");
+
+ if (TIME_IMMEDIATE == timeout)
+ return MSG_TIMEOUT;
+
+ *trp = tp;
+ tp->p_u.wtobjp = &trp;
+ return chSchGoSleepTimeoutS(CH_STATE_SUSPENDED, 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_t *tp = *trp;
+
+ chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
+ "not THD_STATE_SUSPENDED");
+
+ *trp = NULL;
+ tp->p_u.rdymsg = msg;
+ chSchReadyI(tp);
+ }
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @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] msg the message code
+ *
+ * @iclass
+ */
+void chThdResumeS(thread_reference_t *trp, msg_t msg) {
+
+ if (*trp != NULL) {
+ thread_t *tp = *trp;
+
+ chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
+ "not THD_STATE_SUSPENDED");
+
+ *trp = NULL;
+ chSchWakeupS(tp, msg);
+ }
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @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] msg the message code
+ *
+ * @api
+ */
+void chThdResume(thread_reference_t *trp, msg_t msg) {
+
+ chSysLock();
+ chThdResumeS(trp, msg);
+ chSysUnlock();
+}
+
+/**
+ * @brief Enqueues the caller thread on a threads queue object.
+ * @details The caller thread is enqueued and put to sleep until it is
+ * dequeued or the specified timeouts expires.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] timeout the timeout in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE the thread is not enqueued and
+ * the function returns @p MSG_TIMEOUT as if a timeout
+ * occurred.
+ * .
+ * @return The message from @p osalQueueWakeupOneI() or
+ * @p osalQueueWakeupAllI() functions.
+ * @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.
+ *
+ * @sclass
+ */
+msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout) {
+
+ if (TIME_IMMEDIATE == timeout)
+ return MSG_TIMEOUT;
+
+ queue_insert(currp, tqp);
+ return chSchGoSleepTimeoutS(CH_STATE_QUEUED, timeout);
+}
+
+/**
+ * @brief Dequeues and wakes up one thread from the threads queue object,
+ * if any.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg) {
+
+ if (queue_notempty(tqp)) {
+ thread_t *tp = queue_fifo_remove(tqp);
+
+ chDbgAssert(tp->p_state == CH_STATE_QUEUED,
+ "not CH_STATE_QUEUED");
+
+ tp->p_u.rdymsg = msg;
+ chSchReadyI(tp);
+ }
+}
+
+/**
+ * @brief Dequeues and wakes up all threads from the threads queue object.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg) {
+
+ while (queue_notempty(tqp)) {
+ thread_t *tp = queue_fifo_remove(tqp);
+
+ chDbgAssert(tp->p_state == CH_STATE_QUEUED,
+ "not CH_STATE_QUEUED");
+
+ tp->p_u.rdymsg = msg;
+ chSchReadyI(tp);
+ }
+}
+
/** @} */
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