ChibiOS Free Embedded RTOS

Hi,
as already discussed here, I've written a patch that introduces a thread hierarchy feature to ChibiOS. This feature is configured via two new feature flags:

• CH_CFG_USE_THREADHIERARCHY controls whether the feature is enabled at all. When disabled, there is zero overhead to existing ChibiOS.
• CH_CFG_THREADHIERARCHY_ORDERED controls the ordering if sibling threads (children of the same parent). When disabled, children are ordered from youngest to oldest (most efficient). When enabled, children are ordered by their thread priority from high to low.

If you are interested in the feature, you can find the patch here: https://gitlab.ub.uni-bielefeld.de/AMiRo/AMiRo-OS/-/blob/main/kernel/patches/0006_introduce-thread-hierarchy.patch

Best regards
Thomas