sys_thread_t sys_thread_new(const char *name, lwip_thread_fn thread,
void *arg, int stacksize, int prio) {
size_t wsz;
void *wsp;
syssts_t sts;
thread_t *tp;
(void)name;
wsz = THD_WORKING_AREA_SIZE(stacksize);
wsp = chCoreAlloc(wsz);
if (wsp == NULL)
return NULL;
#if CH_DBG_FILL_THREADS == TRUE
_thread_memfill((uint8_t *)wsp,
(uint8_t *)wsp + sizeof(thread_t),
CH_DBG_THREAD_FILL_VALUE);
_thread_memfill((uint8_t *)wsp + sizeof(thread_t),
(uint8_t *)wsp + wsz,
CH_DBG_STACK_FILL_VALUE);
#endif
sts = chSysGetStatusAndLockX();
tp = chThdCreateI(wsp, wsz, prio, (tfunc_t)thread, arg);
chRegSetThreadNameX(tp, name);
chThdStartI(tp);
chSysRestoreStatusX(sts);
return (sys_thread_t)tp;
}
/**
* @brief Free an object.
*/
osStatus osPoolFree(osPoolId pool_id, void *block) {
syssts_t sts = chSysGetStatusAndLockX();
chPoolFreeI((memory_pool_t *)pool_id, block);
chSysRestoreStatusX(sts);
return osOK;
}
/**
* @brief Release a mutex.
*/
osStatus osMutexRelease(osMutexId mutex_id) {
syssts_t sts = chSysGetStatusAndLockX();
chBSemSignalI((binary_semaphore_t *)mutex_id);
chSysRestoreStatusX(sts);
return osOK;
}
/**
* @brief Release a semaphore.
*/
osStatus osSemaphoreRelease(osSemaphoreId semaphore_id) {
syssts_t sts = chSysGetStatusAndLockX();
chSemSignalI((semaphore_t *)semaphore_id);
chSysRestoreStatusX(sts);
return osOK;
}
/**
* @brief Allocate an object.
*/
void *osPoolAlloc(osPoolId pool_id) {
void *object;
syssts_t sts = chSysGetStatusAndLockX();
object = chPoolAllocI((memory_pool_t *)pool_id);
chSysRestoreStatusX(sts);
return object;
}
/**
* @brief Send signals.
*/
int32_t osSignalSet(osThreadId thread_id, int32_t signals) {
int32_t oldsignals;
syssts_t sts = chSysGetStatusAndLockX();
oldsignals = (int32_t)thread_id->p_epending;
chEvtSignalI((thread_t *)thread_id, (eventmask_t)signals);
chSysRestoreStatusX(sts);
return oldsignals;
}
uint64_t hrt_micros()
{
static volatile uint64_t last_micros;
/*
use chSysGetStatusAndLockX() to prevent an interrupt while
allowing this call from any context
*/
syssts_t sts = chSysGetStatusAndLockX();
uint64_t micros;
micros = timer_base + (uint64_t)chVTGetSystemTimeX();
// we are doing this to avoid an additional interupt routing
// since we are definitely going to get called atleast once in
// a full timer period
if (last_micros > micros) {
const uint64_t step = ST2US(1ULL<<CH_CFG_ST_RESOLUTION);
timer_base += step;
micros += step;
}
last_micros = micros;
chSysRestoreStatusX(sts);
return micros;
}