AMiRo-OS

diff --git a/os/rt/include/chschd.h b/os/rt/include/chschd.h

--- a/os/rt/include/chschd.h

+++ b/os/rt/include/chschd.h

    */

   trefs_t               refs;

+#if (CH_CFG_USE_THREADHIERARCHY == TRUE) || defined(__DOXYGEN__)

+  /**

+   * @brief   Pointer to the parent thread.

+   * @brief   NULL if there are no more child threads.

+   */

+  thread_t              *sibling;

   /**

    * @brief   Number of ticks remaining to this thread.

diff --git a/os/rt/include/chthreads.h b/os/rt/include/chthreads.h

--- a/os/rt/include/chthreads.h

+++ b/os/rt/include/chthreads.h

    * @brief   Thread argument.

    */

   void              *arg;

+  /**

+   * @brief   Pointer to the parent thread.

+   */

+  thread_t          *parent;

 } thread_descriptor_t;

 /*===========================================================================*/

 #ifdef __cplusplus

 extern "C" {

 #endif

+   thread_t *_thread_init(thread_t *tp, thread_t* parent, const char *name, tprio_t prio);

 #if CH_DBG_FILL_THREADS == TRUE

   void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v);

 #endif

   thread_t *chThdCreateSuspended(const thread_descriptor_t *tdp);

   thread_t *chThdCreateI(const thread_descriptor_t *tdp);

   thread_t *chThdCreate(const thread_descriptor_t *tdp);

 #if CH_CFG_USE_REGISTRY == TRUE

   thread_t *chThdAddRef(thread_t *tp);

diff --git a/os/rt/src/chsys.c b/os/rt/src/chsys.c

--- a/os/rt/src/chsys.c

+++ b/os/rt/src/chsys.c

 #if CH_CFG_NO_IDLE_THREAD == FALSE

   /* Now this instructions flow becomes the main thread.*/

 #if CH_CFG_USE_REGISTRY == TRUE

+  currp = _thread_init(&ch.mainthread, NULL, (const char *)&ch_debug, NORMALPRIO);

+  currp = _thread_init(&ch.mainthread, NULL, "main", NORMALPRIO);

 #endif

 #else

   /* Now this instructions flow becomes the idle thread.*/

+  currp = _thread_init(&ch.mainthread, NULL, "idle", IDLEPRIO);

 #endif

 #if CH_DBG_ENABLE_STACK_CHECK == TRUE

       THD_WORKING_AREA_END(ch_idle_thread_wa),

       IDLEPRIO,

       _idle_thread,

+      NULL,

       NULL

     };

diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c

--- a/os/rt/src/chthreads.c

+++ b/os/rt/src/chthreads.c

 /* Module local functions.                                                   */

 /*===========================================================================*/

 /*===========================================================================*/

 /* Module exported functions.                                                */

 /*===========================================================================*/

  * @note    This is an internal functions, do not use it in application code.

  *

  * @param[in] tp        pointer to the thread

  *

  * @notapi

  */

+thread_t *_thread_init(thread_t *tp, thread_t *parent,  const char *name, tprio_t prio) {

   tp->prio      = prio;

   tp->state     = CH_STATE_WTSTART;

 #else

   (void)name;

 #endif

 #if CH_CFG_USE_WAITEXIT == TRUE

   list_init(&tp->waiting);

 #endif

   PORT_SETUP_CONTEXT(tp, tdp->wbase, tp, tdp->funcp, tdp->arg);

   /* The driver object is initialized but not started.*/

+  return _thread_init(tp, tdp->parent, tdp->name, tdp->prio);

 }

 /**

  * @param[in] pf        the thread function

  * @param[in] arg       an argument passed to the thread function. It can be

  *                      @p NULL.

  *

  * @api

  */

+thread_t *chThdCreateStatic(void *wsp, size_t size,

+                            tprio_t prio, tfunc_t pf, void *arg, thread_t *parent) {

+#else

   thread_t *tp;

   chDbgCheck((wsp != NULL) &&

   /* Setting up the port-dependent part of the working area.*/

   PORT_SETUP_CONTEXT(tp, wsp, tp, pf, arg);

+#if CH_CFG_USE_THREADHIERARCHY == TRUE

+  tp = _thread_init(tp, parent, "noname", prio);

+#else

+#endif

   /* Starting the thread immediately.*/

   chSchWakeupS(tp, MSG_OK);

 #endif

 #endif

   /* Going into final state.*/

   chSchGoSleepS(CH_STATE_FINAL);

   oldprio = currp->prio;

   currp->prio = newprio;

+#if (CH_CFG_USE_THREADHIERARCHY == TRUE) && (CH_CFG_THREADHIERARCHY_ORDERED == TRUE)

+  /* Reorder sibling list. */

+  if (currp->parent != NULL && newprio != oldprio) {

+      }

+    }

+  }

   chSchRescheduleS();

   chSysUnlock();

diff --git a/test/rt/source/test/rt_test_root.c b/test/rt/source/test/rt_test_root.c

--- a/test/rt/source/test/rt_test_root.c

+++ b/test/rt/source/test/rt_test_root.c

@@ -106,6 +106,14 @@ void * ROMCONST wa[5] = {test_buffer + (WA_SIZE * 0),

  * Sets a termination request in all the test-spawned threads.

  */

diff --git a/test/rt/source/test/rt_test_root.h b/test/rt/source/test/rt_test_root.h

--- a/test/rt/source/test/rt_test_root.h

+++ b/test/rt/source/test/rt_test_root.h

@@ -88,6 +88,7 @@ extern thread_t *threads[MAX_THREADS];

 void test_wait_threads(void);

 systime_t test_wait_tick(void);

diff --git a/test/rt/source/test/rt_test_sequence_001.c b/test/rt/source/test/rt_test_sequence_001.c

--- a/test/rt/source/test/rt_test_sequence_001.c

+++ b/test/rt/source/test/rt_test_sequence_001.c

@@ -193,6 +193,12 @@ static void rt_test_001_003_execute(void) {

     test_println("");

@@ -207,7 +213,7 @@ static void rt_test_001_003_execute(void) {

     test_println("");

     test_printn(CH_CFG_USE_MUTEXES_RECURSIVE);

-    test_println("");   

+    test_println("");

     test_printn(CH_CFG_USE_CONDVARS);

     test_println("");

diff --git a/test/rt/source/test/rt_test_sequence_003.c b/test/rt/source/test/rt_test_sequence_003.c

--- a/test/rt/source/test/rt_test_sequence_003.c

+++ b/test/rt/source/test/rt_test_sequence_003.c

@@ -46,6 +46,20 @@ static THD_FUNCTION(thread, p) {

 /****************************************************************************

  * Exported data.

  ****************************************************************************/

 #if (CH_CFG_USE_MUTEXES) || defined(__DOXYGEN__)

   &rt_test_003_004,

+#if (CH_CFG_USE_THREADHIERARCHY) || defined(__DOXYGEN__)

+  &rt_test_003_005,

   NULL

 };

diff --git a/test/rt/source/test/rt_test_sequence_004.c b/test/rt/source/test/rt_test_sequence_004.c

--- a/test/rt/source/test/rt_test_sequence_004.c

+++ b/test/rt/source/test/rt_test_sequence_004.c

@@ -83,7 +83,7 @@ static void rt_test_004_001_execute(void) {

     msg = chThdSuspendTimeoutS(&tr1, TIME_INFINITE);

     chSysUnlock();

diff --git a/test/rt/source/test/rt_test_sequence_005.c b/test/rt/source/test/rt_test_sequence_005.c

--- a/test/rt/source/test/rt_test_sequence_005.c

+++ b/test/rt/source/test/rt_test_sequence_005.c

@@ -178,11 +178,11 @@ static void rt_test_005_002_execute(void) {

   }

diff --git a/test/rt/source/test/rt_test_sequence_006.c b/test/rt/source/test/rt_test_sequence_006.c

--- a/test/rt/source/test/rt_test_sequence_006.c

+++ b/test/rt/source/test/rt_test_sequence_006.c

@@ -276,11 +276,11 @@ static void rt_test_006_001_execute(void) {

   /* [6.9.5] Signaling C1: TA wakes up, unlocks M1 and priority goes to

diff --git a/test/rt/source/test/rt_test_sequence_007.c b/test/rt/source/test/rt_test_sequence_007.c

--- a/test/rt/source/test/rt_test_sequence_007.c

+++ b/test/rt/source/test/rt_test_sequence_007.c

@@ -79,7 +79,7 @@ static void rt_test_007_001_execute(void) {

   }

diff --git a/test/rt/source/test/rt_test_sequence_008.c b/test/rt/source/test/rt_test_sequence_008.c

--- a/test/rt/source/test/rt_test_sequence_008.c

+++ b/test/rt/source/test/rt_test_sequence_008.c

@@ -226,7 +226,7 @@ static void rt_test_008_003_execute(void) {

   }

diff --git a/test/rt/source/test/rt_test_sequence_010.c b/test/rt/source/test/rt_test_sequence_010.c

--- a/test/rt/source/test/rt_test_sequence_010.c

+++ b/test/rt/source/test/rt_test_sequence_010.c

@@ -169,7 +169,7 @@ static void rt_test_010_001_execute(void) {