ChibiOS Free Embedded RTOS

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 *            - SV#8, misplaced @p CH_IRQ_PROLOGUE().
 *              - Not called at ISR begin.
 *              - Called from a critical zone.
 *              .

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/**
 * @brief   Creates a new thread into a static memory area.
 * @details The new thread is initialized and make ready to execute.
 * @post    The created thread has a reference counter set to one, it is
 *          caller responsibility to call @p chThdRelease() or @p chthdWait()
 *          in order to release the reference. The thread persists in the
 *          registry until its reference counter reaches zero.
 * @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.
 *
 * @iclass
 */
thread_t *chThdCreate(const thread_descriptor_t *tdp) {
  thread_t *tp;

#if (CH_CFG_USE_REGISTRY == TRUE) &&                                        \
    (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE)
  chDbgAssert(chRegFindThreadByWorkingArea(tdp->wbase) == NULL,
              "working area in use");
#endif

#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);
  chSchWakeupS(tp, MSG_OK);
  chSysUnlock();

  return tp;
}