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 ChibiOS/RT initialization.
* @details After executing this function the current instructions stream
* becomes the main thread.
* @pre Interrupts must disabled before invoking this function.
* @post The main thread is created with priority @p NORMALPRIO and
* interrupts are enabled.
*
* @special
*/
void chSysInit(void) {
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
extern stkalign_t __main_thread_stack_base__;
#endif
port_init();
_scheduler_init();
_vt_init();
#if CH_DBG_SYSTEM_STATE_CHECK == TRUE
ch.dbg.isr_cnt = (cnt_t)0;
ch.dbg.lock_cnt = (cnt_t)0;
#endif
#if CH_CFG_USE_TM == TRUE
_tm_init();
#endif
#if CH_CFG_USE_MEMCORE == TRUE
_core_init();
#endif
#if CH_CFG_USE_HEAP == TRUE
_heap_init();
#endif
#if CH_DBG_STATISTICS == TRUE
_stats_init();
#endif
#if CH_DBG_ENABLE_TRACE == TRUE
_dbg_trace_init();
#endif
#if CH_CFG_NO_IDLE_THREAD == FALSE
/* Now this instructions flow becomes the main thread.*/
setcurrp(_thread_init(&ch.mainthread, NORMALPRIO));
#else
/* Now this instructions flow becomes the idle thread.*/
setcurrp(_thread_init(&ch.mainthread, IDLEPRIO));
#endif
currp->p_state = CH_STATE_CURRENT;
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
/* This is a special case because the main thread thread_t structure is not
adjacent to its stack area.*/
currp->p_stklimit = &__main_thread_stack_base__;
#endif
chSysEnable();
#if CH_CFG_USE_REGISTRY == TRUE
/* Note, &ch_debug points to the string "main" if the registry is
active.*/
chRegSetThreadName((const char *)&ch_debug);
#endif
#if CH_CFG_NO_IDLE_THREAD == FALSE
{
/* This thread has the lowest priority in the system, its role is just to
serve interrupts in its context while keeping the lowest energy saving
mode compatible with the system status.*/
thread_t *tp = chThdCreateStatic(ch.idle_thread_wa,
sizeof(ch.idle_thread_wa),
IDLEPRIO,
(tfunc_t)_idle_thread,
NULL);
chRegSetThreadNameX(tp, "idle");
}
#endif
}
