/**
* @brief Creates a new thread allocating the memory from the specified
* memory pool.
* @pre The configuration options @p CH_USE_DYNAMIC and @p CH_USE_MEMPOOLS
* must be enabled in order to use this function.
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
* @note The memory allocated for the thread is not released when the thread
* terminates but when a @p chThdWait() is performed.
*
* @param[in] mp pointer to the memory pool object
* @param[in] prio the priority level for the new thread
* @param[in] pf the thread function
* @param[in] arg an argument passed to the thread function. It can be
* @p NULL.
* @return The pointer to the @p Thread structure allocated for
* the thread into the working space area.
* @retval NULL if the memory pool is empty.
*
* @api
*/
Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio,
tfunc_t pf, void *arg) {
void *wsp;
Thread *tp;
chDbgCheck(mp != NULL, "chThdCreateFromMemoryPool");
wsp = chPoolAlloc(mp);
if (wsp == NULL)
return NULL;
#if CH_DBG_FILL_THREADS
_thread_memfill((uint8_t *)wsp,
(uint8_t *)wsp + sizeof(Thread),
CH_THREAD_FILL_VALUE);
_thread_memfill((uint8_t *)wsp + sizeof(Thread),
(uint8_t *)wsp + mp->mp_object_size,
CH_STACK_FILL_VALUE);
#endif
chSysLock();
tp = chThdCreateI(wsp, mp->mp_object_size, prio, pf, arg);
tp->p_flags = THD_MEM_MODE_MEMPOOL;
tp->p_mpool = mp;
chSchWakeupS(tp, RDY_OK);
chSysUnlock();
return tp;
}
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 Creates a new thread allocating the memory from the heap.
* @pre The configuration options @p CH_USE_DYNAMIC and @p CH_USE_HEAP
* must be enabled in order to use this function.
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
* @note The memory allocated for the thread is not released when the thread
* terminates but when a @p chThdWait() is performed.
*
* @param[in] heapp heap from which allocate the memory or @p NULL for the
* default heap
* @param[in] size size of the working area to be allocated
* @param[in] prio the priority level for the new thread
* @param[in] pf the thread function
* @param[in] arg an argument passed to the thread function. It can be
* @p NULL.
* @return The pointer to the @p Thread structure allocated for
* the thread into the working space area.
* @retval NULL if the memory cannot be allocated.
*
* @api
*/
Thread *chThdCreateFromHeap(MemoryHeap *heapp, size_t size,
tprio_t prio, tfunc_t pf, void *arg) {
void *wsp;
Thread *tp;
wsp = chHeapAlloc(heapp, size);
if (wsp == NULL)
return NULL;
#if CH_DBG_FILL_THREADS
_thread_memfill((uint8_t *)wsp,
(uint8_t *)wsp + sizeof(Thread),
CH_THREAD_FILL_VALUE);
_thread_memfill((uint8_t *)wsp + sizeof(Thread),
(uint8_t *)wsp + size,
CH_STACK_FILL_VALUE);
#endif
chSysLock();
tp = chThdCreateI(wsp, size, prio, pf, arg);
tp->p_flags = THD_MEM_MODE_HEAP;
chSchWakeupS(tp, RDY_OK);
chSysUnlock();
return tp;
}
/**
* @brief Creates a new thread allocating the memory from the specified
* memory pool.
* @pre The configuration options @p CH_CFG_USE_DYNAMIC and
* @p CH_CFG_USE_MEMPOOLS must be enabled in order to use this
* function.
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
* @note The memory allocated for the thread is not released when the thread
* terminates but when a @p chThdWait() is performed.
*
* @param[in] mp pointer to the memory pool object
* @param[in] prio the priority level for the new thread
* @param[in] pf the thread function
* @param[in] arg an argument passed to the thread function. It can be
* @p NULL.
* @return The pointer to the @p thread_t structure allocated for
* the thread into the working space area.
* @retval NULL if the memory pool is empty.
*
* @api
*/
thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, tprio_t prio,
tfunc_t pf, void *arg) {
void *wsp;
thread_t *tp;
chDbgCheck(mp != NULL);
wsp = chPoolAlloc(mp);
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 + mp->mp_object_size,
CH_DBG_STACK_FILL_VALUE);
#endif
chSysLock();
tp = chThdCreateI(wsp, mp->mp_object_size, prio, pf, arg);
tp->p_flags = CH_FLAG_MODE_MPOOL;
tp->p_mpool = mp;
chSchWakeupS(tp, MSG_OK);
chSysUnlock();
return tp;
}
/**
* @brief Creates a new thread allocating the memory from the heap.
* @pre The configuration options @p CH_CFG_USE_DYNAMIC and
* @p CH_CFG_USE_HEAP must be enabled in order to use this function.
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
* @note The memory allocated for the thread is not released when the thread
* terminates but when a @p chThdWait() is performed.
*
* @param[in] heapp heap from which allocate the memory or @p NULL for the
* default heap
* @param[in] size size of the working area to be allocated
* @param[in] prio the priority level for the new thread
* @param[in] pf the thread function
* @param[in] arg an argument passed to the thread function. It can be
* @p NULL.
* @return The pointer to the @p thread_t structure allocated for
* the thread into the working space area.
* @retval NULL if the memory cannot be allocated.
*
* @api
*/
thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,
tprio_t prio, tfunc_t pf, void *arg) {
void *wsp;
thread_t *tp;
wsp = chHeapAlloc(heapp, size);
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 + size,
CH_DBG_STACK_FILL_VALUE);
#endif
chSysLock();
tp = chThdCreateI(wsp, size, prio, pf, arg);
tp->p_flags = CH_FLAG_MODE_HEAP;
chSchWakeupS(tp, MSG_OK);
chSysUnlock();
return tp;
}
/**
* @brief Low level USB driver initialization.
*
* @notapi
*/
void usb_lld_init(void) {
/* Driver initialization.*/
#if STM32_USB_USE_OTG1
usbObjectInit(&USBD1);
USBD1.wait = NULL;
USBD1.otg = OTG_FS;
USBD1.otgparams = &fsparams;
#if defined(_CHIBIOS_RT_)
USBD1.tr = NULL;
/* Filling the thread working area here because the function
@p chThdCreateI() does not do it.*/
#if CH_DBG_FILL_THREADS
{
void *wsp = USBD1.wa_pump;
_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 + sizeof(USBD1.wa_pump) - sizeof(thread_t),
CH_DBG_STACK_FILL_VALUE);
}
#endif /* CH_DBG_FILL_THREADS */
#endif /* defined(_CHIBIOS_RT_) */
#endif
#if STM32_USB_USE_OTG2
usbObjectInit(&USBD2);
USBD2.wait = NULL;
USBD2.otg = OTG_HS;
USBD2.otgparams = &hsparams;
#if defined(_CHIBIOS_RT_)
USBD2.tr = NULL;
/* Filling the thread working area here because the function
@p chThdCreateI() does not do it.*/
#if CH_DBG_FILL_THREADS
{
void *wsp = USBD2.wa_pump;
_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 + sizeof(USBD2.wa_pump) - sizeof(thread_t),
CH_DBG_STACK_FILL_VALUE);
}
#endif /* CH_DBG_FILL_THREADS */
#endif /* defined(_CHIBIOS_RT_) */
#endif
}
/**
* @brief Creates a new thread allocating the memory from the heap.
* @pre The configuration options @p CH_CFG_USE_DYNAMIC and
* @p CH_CFG_USE_HEAP must be enabled in order to use this function.
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
* @note The memory allocated for the thread is not released automatically,
* it is responsibility of the creator thread to call @p chThdWait()
* and then release the allocated memory.
*
* @param[in] heapp heap from which allocate the memory or @p NULL for the
* default heap
* @param[in] size size of the working area to be allocated
* @param[in] name thread name
* @param[in] prio the priority level for the new thread
* @param[in] pf the thread function
* @param[in] arg an argument passed to the thread function. It can be
* @p NULL.
* @return The pointer to the @p thread_t structure allocated for
* the thread into the working space area.
* @retval NULL if the memory cannot be allocated.
*
* @api
*/
thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,
const char *name, tprio_t prio,
tfunc_t pf, void *arg) {
thread_t *tp;
void *wsp;
wsp = chHeapAllocAligned(heapp, size, PORT_WORKING_AREA_ALIGN);
if (wsp == NULL) {
return NULL;
}
thread_descriptor_t td = {
name,
wsp,
(stkalign_t *)((uint8_t *)wsp + size),
prio,
pf,
arg
};
#if CH_DBG_FILL_THREADS == TRUE
_thread_memfill((uint8_t *)wsp,
(uint8_t *)wsp + size,
CH_DBG_STACK_FILL_VALUE);
#endif
chSysLock();
tp = chThdCreateSuspendedI(&td);
tp->flags = CH_FLAG_MODE_HEAP;
chSchWakeupS(tp, MSG_OK);
chSysUnlock();
return tp;
}
/**
* @brief Creates a new thread into a static memory area.
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
*
* @param[out] wsp pointer to a working area dedicated to the thread stack
* @param[in] size size of the working area
* @param[in] prio the priority level for the new thread
* @param[in] pf the thread function
* @param[in] arg an argument passed to the thread function. It can be
* @p NULL.
* @return The pointer to the @p Thread structure allocated for
* the thread into the working space area.
*
* @api
*/
Thread *chThdCreateStatic(void *wsp, size_t size,
tprio_t prio, tfunc_t pf, void *arg) {
Thread *tp;
#if CH_DBG_FILL_THREADS
_thread_memfill((uint8_t *)wsp,
(uint8_t *)wsp + sizeof(Thread),
CH_THREAD_FILL_VALUE);
_thread_memfill((uint8_t *)wsp + sizeof(Thread),
(uint8_t *)wsp + size,
CH_STACK_FILL_VALUE);
#endif
chSysLock();
chSchWakeupS(tp = chThdCreateI(wsp, size, prio, pf, arg), RDY_OK);
chSysUnlock();
return tp;
}
/**
* @brief Creates a new thread into a static memory area.
* @details The new thread is initialized but not inserted in the ready list,
* the initial state is @p CH_STATE_WTSTART.
* @post The initialized thread can be subsequently started by invoking
* @p chThdStart(), @p chThdStartI() or @p chSchWakeupS()
* depending on the execution context.
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
*
* @param[out] tdp pointer to the thread descriptor
* @return The pointer to the @p thread_t structure allocated for
* the thread into the working space area.
*
* @api
*/
thread_t *chThdCreateSuspended(const thread_descriptor_t *tdp) {
thread_t *tp;
#if CH_DBG_FILL_THREADS == TRUE
_thread_memfill((uint8_t *)tdp->wbase,
(uint8_t *)tdp->wend,
CH_DBG_STACK_FILL_VALUE);
#endif
chSysLock();
tp = chThdCreateSuspendedI(tdp);
chSysUnlock();
return tp;
}
/**
* @brief Creates a new thread allocating the memory from the heap.
* @pre The configuration options @p CH_CFG_USE_DYNAMIC and
* @p CH_CFG_USE_HEAP must be enabled in order to use this function.
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
* @note The memory allocated for the thread is not released automatically,
* it is responsibility of the creator thread to call @p chThdWait()
* and then release the allocated memory.
*
* @param[in] heapp heap from which allocate the memory or @p NULL for the
* default heap
* @param[in] size size of the working area to be allocated
* @param[in] prio the priority level for the new thread
* @param[in] pf the thread function
* @param[in] arg an argument passed to the thread function. It can be
* @p NULL.
* @return The pointer to the @p thread_t structure allocated for
* the thread into the working space area.
* @retval NULL if the memory cannot be allocated.
*
* @api
*/
thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,
tprio_t prio, tfunc_t pf, void *arg) {
void *wsp;
wsp = chHeapAllocAligned(heapp, size, PORT_WORKING_AREA_ALIGN);
if (wsp == NULL) {
return NULL;
}
#if CH_DBG_FILL_THREADS == TRUE
_thread_memfill((uint8_t *)wsp,
(uint8_t *)wsp + size,
CH_DBG_STACK_FILL_VALUE);
#endif
return chThdCreateStatic(wsp, size, prio, pf, arg);
}
/**
* @brief Creates a new thread allocating the memory from the specified
* memory pool.
* @pre The configuration options @p CH_CFG_USE_DYNAMIC and
* @p CH_CFG_USE_MEMPOOLS must be enabled in order to use this
* function.
* @pre The pool must be initialized to contain only objects with
* alignment @p PORT_WORKING_AREA_ALIGN.
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
* @note The memory allocated for the thread is not released automatically,
* it is responsibility of the creator thread to call @p chThdWait()
* and then release the allocated memory.
*
* @param[in] mp pointer to the memory pool object
* @param[in] prio the priority level for the new thread
* @param[in] pf the thread function
* @param[in] arg an argument passed to the thread function. It can be
* @p NULL.
* @return The pointer to the @p thread_t structure allocated for
* the thread into the working space area.
* @retval NULL if the memory pool is empty.
*
* @api
*/
thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, tprio_t prio,
tfunc_t pf, void *arg) {
void *wsp;
chDbgCheck(mp != NULL);
wsp = chPoolAlloc(mp);
if (wsp == NULL) {
return NULL;
}
#if CH_DBG_FILL_THREADS == TRUE
_thread_memfill((uint8_t *)wsp,
(uint8_t *)wsp + mp->object_size,
CH_DBG_STACK_FILL_VALUE);
#endif
return chThdCreateStatic(wsp, mp->object_size, prio, pf, arg);
}
/**
* @brief Creates a new thread into a static memory area.
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
*
* @param[out] wsp pointer to a working area dedicated to the thread stack
* @param[in] size size of the working area
* @param[in] prio the priority level for the new thread
* @param[in] pf the thread function
* @param[in] arg an argument passed to the thread function. It can be
* @p NULL.
* @return The pointer to the @p thread_t structure allocated for
* the thread into the working space area.
*
* @api
*/
thread_t *chThdCreateStatic(void *wsp, size_t size,
tprio_t prio, tfunc_t pf, void *arg) {
thread_t *tp;
chDbgCheck((wsp != NULL) &&
MEM_IS_ALIGNED(wsp, PORT_WORKING_AREA_ALIGN) &&
(size >= THD_WORKING_AREA_SIZE(0)) &&
MEM_IS_ALIGNED(size, PORT_STACK_ALIGN) &&
(prio <= HIGHPRIO) && (pf != NULL));
#if CH_DBG_FILL_THREADS == TRUE
_thread_memfill((uint8_t *)wsp,
(uint8_t *)wsp + size,
CH_DBG_STACK_FILL_VALUE);
#endif
chSysLock();
/* The thread structure is laid out in the upper part of the thread
workspace. The thread position structure is aligned to the required
stack alignment because it represents the stack top.*/
tp = (thread_t *)((uint8_t *)wsp + size -
MEM_ALIGN_NEXT(sizeof (thread_t), PORT_STACK_ALIGN));
/* Stack boundary.*/
tp->stklimit = (stkalign_t *)wsp;
/* Setting up the port-dependent part of the working area.*/
PORT_SETUP_CONTEXT(tp, wsp, tp, pf, arg);
tp = _thread_init(tp, "noname", prio);
/* Starting the thread immediately.*/
chSchWakeupS(tp, MSG_OK);
chSysUnlock();
return tp;
}
/**
* @brief Creates a new thread allocating the memory from the specified
* memory pool.
* @pre The configuration options @p CH_CFG_USE_DYNAMIC and
* @p CH_CFG_USE_MEMPOOLS must be enabled in order to use this
* function.
* @pre The pool must be initialized to contain only objects with
* alignment @p PORT_WORKING_AREA_ALIGN.
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
* @note The memory allocated for the thread is not released automatically,
* it is responsibility of the creator thread to call @p chThdWait()
* and then release the allocated memory.
*
* @param[in] mp pointer to the memory pool object
* @param[in] name thread name
* @param[in] prio the priority level for the new thread
* @param[in] pf the thread function
* @param[in] arg an argument passed to the thread function. It can be
* @p NULL.
* @return The pointer to the @p thread_t structure allocated for
* the thread into the working space area.
* @retval NULL if the memory pool is empty.
*
* @api
*/
thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, const char *name,
tprio_t prio, tfunc_t pf, void *arg) {
thread_t *tp;
void *wsp;
chDbgCheck(mp != NULL);
wsp = chPoolAlloc(mp);
if (wsp == NULL) {
return NULL;
}
thread_descriptor_t td = {
name,
wsp,
(stkalign_t *)((uint8_t *)wsp + mp->object_size),
prio,
pf,
arg
};
#if CH_DBG_FILL_THREADS == TRUE
_thread_memfill((uint8_t *)wsp,
(uint8_t *)wsp + mp->object_size,
CH_DBG_STACK_FILL_VALUE);
#endif
chSysLock();
tp = chThdCreateSuspendedI(&td);
tp->flags = CH_FLAG_MODE_MPOOL;
tp->mpool = mp;
chSchWakeupS(tp, MSG_OK);
chSysUnlock();
return tp;
}
