Mass change, all thread functions now return void.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7849 35acf78f-673a-0410-8e92-d51de3d6d3f4

demos/AVR/RT-ARDUINOMEGA/main.c

@@ -21,11 +21,10 @@
 static WORKING_AREA(waThread1, 32);
 static msg_t Thread1(void *arg) {
 
-  while (TRUE) {
+  while (true) {
     palTogglePad(IOPORT2, PORTB_LED1);
     chThdSleepMilliseconds(1000);
   }
-  return 0;
 }
 
 /*

demos/KINETIS/RT-FREEDOM-K20D50M/main.c

@@ -23,12 +23,10 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("RedBlinker");
-  while (TRUE) {
+  while (true) {
     palTogglePad(IOPORT3, 3);
     chThdSleepMilliseconds(300);
   }
-
-  return 0;
 }
 
 static THD_WORKING_AREA(waThread2, 64);
@@ -36,12 +34,10 @@ static THD_FUNCTION(Thread2, arg) {
 
   (void)arg;
   chRegSetThreadName("GreenBlinker");
-  while (TRUE) {
+  while (true) {
     palTogglePad(IOPORT4, 4);
     chThdSleepMilliseconds(600);
   }
-
-  return 0;
 }
 
 static THD_WORKING_AREA(waThread3, 64);
@@ -49,12 +45,10 @@ static THD_FUNCTION(Thread3, arg) {
 
   (void)arg;
   chRegSetThreadName("BlueBlinker");
-  while (TRUE) {
+  while (true) {
     palTogglePad(IOPORT1, 2);
     chThdSleepMilliseconds(900);
   }
-
-  return 0;
 }
 
 /*

demos/KINETIS/RT-FREEDOM-KL25Z/main.c

@@ -23,12 +23,10 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("RedBlinker");
-  while (TRUE) {
+  while (true) {
     palTogglePad(IOPORT2, 18);
     chThdSleepMilliseconds(300);
   }
-
-  return 0;
 }
 
 static THD_WORKING_AREA(waThread2, 64);
@@ -36,12 +34,10 @@ static THD_FUNCTION(Thread2, arg) {
 
   (void)arg;
   chRegSetThreadName("GreenBlinker");
-  while (TRUE) {
+  while (true) {
     palTogglePad(IOPORT2, 19);
     chThdSleepMilliseconds(600);
   }
-
-  return 0;
 }
 
 static THD_WORKING_AREA(waThread3, 64);
@@ -49,12 +45,10 @@ static THD_FUNCTION(Thread3, arg) {
 
   (void)arg;
   chRegSetThreadName("BlueBlinker");
-  while (TRUE) {
+  while (true) {
     palTogglePad(IOPORT4, 1);
     chThdSleepMilliseconds(900);
   }
-
-  return 0;
 }
 
 /*

demos/KINETIS/RT-MCHCK-K20-SPI/main.c

@@ -42,7 +42,7 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("Blinker");
-  while (TRUE) {
+  while (true) {
     palSetPad(GPIOB, GPIOB_LED);
 
     /* Send the Manufacturer and Device ID Read command */
@@ -54,8 +54,6 @@ static THD_FUNCTION(Thread1, arg) {
 
     chThdSleepMilliseconds(1000);
   }
-
-  return 0;
 }
 
 /*

demos/KINETIS/RT-TEENSY3/main.c

@@ -22,16 +22,14 @@
  * LED blinker thread.
  */
 static THD_WORKING_AREA(waThread1, 64);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
     (void)arg;
     chRegSetThreadName("LEDBlinker");
-    while (TRUE) {
+    while (true) {
         palTogglePad(IOPORT3, PORTC_TEENSY_PIN13);
         chThdSleepMilliseconds(500);
     }
-
-    return 0;
 }
 
 /*
@@ -60,7 +58,7 @@ int main(void) {
   chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
 
   TestThread(&SD1);
-  while (TRUE) {
+  while (true) {
       chThdSleepMilliseconds(1000);
   }
 

demos/LPC21xx/RT-LPC214x-OLIMEX/main.c

@@ -28,7 +28,7 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker1");
-  while (TRUE) {
+  while (true) {
     palClearPort(IOPORT1, PAL_PORT_BIT(PA_LED2));
     chThdSleepMilliseconds(200);
     palSetPort(IOPORT1, PAL_PORT_BIT(PA_LED1) | PAL_PORT_BIT(PA_LED2));
@@ -48,7 +48,7 @@ static THD_FUNCTION(Thread2, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker2");
-  while (TRUE) {
+  while (true) {
     palClearPad(IOPORT1, PA_LEDUSB);
     chThdSleepMilliseconds(200);
     palSetPad(IOPORT1, PA_LEDUSB);
@@ -86,7 +86,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the buttons state and run test procedure.
    */
-  while (TRUE) {
+  while (true) {
     if (!palReadPad(IOPORT1, PA_BUTTON1))
       sdWrite(&SD1, (uint8_t *)"Hello World!\r\n", 14);
     if (!palReadPad(IOPORT1, PA_BUTTON2))

demos/SPC5/NIL-SPC560D-EVB/main.c

@@ -31,7 +31,7 @@ static THD_FUNCTION(Thread1, arg) {
    */
   sdStart(&SD1, NULL);
 
-  while (TRUE) {
+  while (true) {
     unsigned i;
 
     chnWriteTimeout(&SD1, (uint8_t *)"Hello World!\r\n", 14, TIME_INFINITE);

demos/SPC5/RT-SPC560B-EVB/main.c

@@ -90,12 +90,12 @@ static const ShellConfig shell_cfg1 = {
  * LEDs blinker thread, times are in milliseconds.
  */
 static THD_WORKING_AREA(waThread1, 128);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
 
-  while (TRUE) {
+  while (true) {
     unsigned i;
 
     for (i = 0; i < 4; i++) {
@@ -153,7 +153,6 @@ static msg_t Thread1(void *arg) {
     palSetPort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED2) |
                        PAL_PORT_BIT(PE_LED3) | PAL_PORT_BIT(PE_LED4));
   }
-  return 0;
 }
 
 /*
@@ -190,7 +189,7 @@ int main(void) {
   /*
    * Normal main() thread activity.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp)
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp)) {

demos/SPC5/RT-SPC560D-EVB/main.c

@@ -90,12 +90,12 @@ static const ShellConfig shell_cfg1 = {
  * LEDs blinker thread, times are in milliseconds.
  */
 static THD_WORKING_AREA(waThread1, 128);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
 
-  while (TRUE) {
+  while (true) {
     unsigned i;
 
     for (i = 0; i < 4; i++) {
@@ -153,7 +153,6 @@ static msg_t Thread1(void *arg) {
     palSetPort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED2) |
                        PAL_PORT_BIT(PE_LED3) | PAL_PORT_BIT(PE_LED4));
   }
-  return 0;
 }
 
 /*
@@ -190,7 +189,7 @@ int main(void) {
   /*
    * Normal main() thread activity.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp)
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp)) {

demos/SPC5/RT-SPC560P-EVB/main.c

@@ -90,12 +90,12 @@ static const ShellConfig shell_cfg1 = {
  * LEDs blinker thread, times are in milliseconds.
  */
 static THD_WORKING_AREA(waThread1, 128);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
 
-  while (TRUE) {
+  while (true) {
     unsigned i;
 
     for (i = 0; i < 4; i++) {
@@ -153,7 +153,6 @@ static msg_t Thread1(void *arg) {
     palSetPort(PORT_D, PAL_PORT_BIT(PD_LED1) | PAL_PORT_BIT(PD_LED2) |
                        PAL_PORT_BIT(PD_LED3) | PAL_PORT_BIT(PD_LED4));
   }
-  return 0;
 }
 
 /*
@@ -190,7 +189,7 @@ int main(void) {
   /*
    * Normal main() thread activity.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp)
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp)) {

demos/SPC5/RT-SPC563M-EVB/main.c

@@ -90,12 +90,12 @@ static const ShellConfig shell_cfg1 = {
  * LEDs blinker thread, times are in milliseconds.
  */
 static THD_WORKING_AREA(waThread1, 128);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
 
-  while (TRUE) {
+  while (true) {
     unsigned i;
 
     for (i = 0; i < 4; i++) {
@@ -136,7 +136,6 @@ static msg_t Thread1(void *arg) {
                PAL_PORT_BIT(P11_LED1) | PAL_PORT_BIT(P11_LED2) |
                PAL_PORT_BIT(P11_LED3) | PAL_PORT_BIT(P11_LED4));
   }
-  return 0;
 }
 
 /*
@@ -173,7 +172,7 @@ int main(void) {
   /*
    * Normal main() thread activity.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp)
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp)) {

demos/SPC5/RT-SPC564A-EVB/main.c

@@ -90,12 +90,12 @@ static const ShellConfig shell_cfg1 = {
  * LEDs blinker thread, times are in milliseconds.
  */
 static THD_WORKING_AREA(waThread1, 128);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
 
-  while (TRUE) {
+  while (true) {
     unsigned i;
 
     for (i = 0; i < 4; i++) {
@@ -136,7 +136,6 @@ static msg_t Thread1(void *arg) {
                PAL_PORT_BIT(P11_LED1) | PAL_PORT_BIT(P11_LED2) |
                PAL_PORT_BIT(P11_LED3) | PAL_PORT_BIT(P11_LED4));
   }
-  return 0;
 }
 
 /*
@@ -173,7 +172,7 @@ int main(void) {
   /*
    * Normal main() thread activity.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp)
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp)) {

demos/SPC5/RT-SPC56EC-EVB/main.c

@@ -90,12 +90,12 @@ static const ShellConfig shell_cfg1 = {
  * LEDs blinker thread, times are in milliseconds.
  */
 static THD_WORKING_AREA(waThread1, 128);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
 
-  while (TRUE) {
+  while (true) {
     unsigned i;
 
     for (i = 0; i < 4; i++) {
@@ -153,7 +153,6 @@ static msg_t Thread1(void *arg) {
     palSetPort(PORT_E, PAL_PORT_BIT(PE_LED1) | PAL_PORT_BIT(PE_LED2) |
                        PAL_PORT_BIT(PE_LED3) | PAL_PORT_BIT(PE_LED4));
   }
-  return 0;
 }
 
 /*
@@ -190,7 +189,7 @@ int main(void) {
   /*
    * Normal main() thread activity.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp)
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp)) {

demos/SPC5/RT-SPC56EL-EVB/main.c

@@ -90,12 +90,12 @@ static const ShellConfig shell_cfg1 = {
  * LEDs blinker thread, times are in milliseconds.
  */
 static THD_WORKING_AREA(waThread1, 128);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
 
-  while (TRUE) {
+  while (true) {
     unsigned i;
 
     for (i = 0; i < 4; i++) {
@@ -153,7 +153,6 @@ static msg_t Thread1(void *arg) {
     palSetPort(PORT_D, PAL_PORT_BIT(PD_LED1) | PAL_PORT_BIT(PD_LED2) |
                        PAL_PORT_BIT(PD_LED3) | PAL_PORT_BIT(PD_LED4));
   }
-  return 0;
 }
 
 /*
@@ -190,7 +189,7 @@ int main(void) {
   /*
    * Normal main() thread activity.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp)
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp)) {

demos/STM32/CMSIS-STM32F407-DISCOVERY/main.c

@@ -25,7 +25,7 @@ static void Thread1(void const *arg) {
 
   (void)arg;
 
-  while (TRUE) {
+  while (true) {
     palSetPad(GPIOD, GPIOD_LED3);       /* Orange.  */
     osDelay(500);
     palClearPad(GPIOD, GPIOD_LED3);     /* Orange.  */
@@ -67,7 +67,7 @@ int main(void) {
 
   /* In the ChibiOS/RT CMSIS RTOS implementation the main() is an
      usable thread, here we just sleep in a loop printing a message.*/
-  while (TRUE) {
+  while (true) {
     sdWrite(&SD2, (uint8_t *)"Hello World!\r\n", 14);
     osDelay(500);
   }

demos/STM32/RT-STM32F030R8-NUCLEO/main.c

@@ -26,7 +26,7 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOA, GPIOA_LED_GREEN);
     chThdSleepMilliseconds(500);
     palSetPad(GPIOA, GPIOA_LED_GREEN);
@@ -63,7 +63,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
    */
-  while (TRUE) {
+  while (true) {
     if (!palReadPad(GPIOC, GPIOC_BUTTON))
       TestThread(&SD2);
     chThdSleepMilliseconds(500);

demos/STM32/RT-STM32F051-DISCOVERY/main.c

@@ -26,7 +26,7 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker1");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOC, GPIOC_LED4);
     chThdSleepMilliseconds(500);
     palSetPad(GPIOC, GPIOC_LED4);
@@ -42,7 +42,7 @@ static THD_FUNCTION(Thread2, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker2");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOC, GPIOC_LED3);
     chThdSleepMilliseconds(250);
     palSetPad(GPIOC, GPIOC_LED3);
@@ -85,7 +85,7 @@ int main(void) {
    * pressed the test procedure is launched with output on the serial
    * driver 1.
    */
-  while (TRUE) {
+  while (true) {
     if (palReadPad(GPIOA, GPIOA_BUTTON))
       TestThread(&SD1);
     chThdSleepMilliseconds(500);

demos/STM32/RT-STM32F072-DISCOVERY/main.c

@@ -26,7 +26,7 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker1");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOC, GPIOC_LED_BLUE);
     chThdSleepMilliseconds(500);
     palSetPad(GPIOC, GPIOC_LED_BLUE);
@@ -42,7 +42,7 @@ static THD_FUNCTION(Thread2, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker2");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOC, GPIOC_LED_GREEN);
     chThdSleepMilliseconds(250);
     palSetPad(GPIOC, GPIOC_LED_GREEN);
@@ -85,7 +85,7 @@ int main(void) {
    * pressed the test procedure is launched with output on the serial
    * driver 1.
    */
-  while (TRUE) {
+  while (true) {
     if (palReadPad(GPIOA, GPIOA_BUTTON))
       TestThread(&SD1);
     chThdSleepMilliseconds(500);

demos/STM32/RT-STM32F100-DISCOVERY/main.c

@@ -84,7 +84,7 @@ int main(void) {
    * sleeping in a loop and check the button state, when the button is
    * pressed the test procedure is launched.
    */
-  while (TRUE) {
+  while (true) {
     if (palReadPad(GPIOA, GPIOA_BUTTON))
       TestThread(&SD1);
     chThdSleepMilliseconds(500);

demos/STM32/RT-STM32F103-MAPLEMINI/main.c

@@ -143,7 +143,7 @@ static __attribute__((noreturn)) THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     systime_t time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
     palClearPad(GPIOB, GPIOB_LED);
     chThdSleepMilliseconds(time);
@@ -198,7 +198,7 @@ int __attribute__((noreturn)) main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE))
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp)) {

demos/STM32/RT-STM32F103-OLIMEX_STM32_P103/main.c

@@ -66,7 +66,7 @@ int main(void) {
    * sleeping in a loop and check the button state, when the button is
    * pressed the test procedure is launched.
    */
-  while (TRUE) {
+  while (true) {
     if (palReadPad(GPIOA, GPIOA_BUTTON))
       TestThread(&SD2);
     chThdSleepMilliseconds(500);

demos/STM32/RT-STM32F103RB-NUCLEO/main.c

@@ -26,7 +26,7 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOA, GPIOA_LED_GREEN);
     chThdSleepMilliseconds(500);
     palSetPad(GPIOA, GPIOA_LED_GREEN);
@@ -63,7 +63,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
    */
-  while (TRUE) {
+  while (true) {
     if (!palReadPad(GPIOC, GPIOC_BUTTON))
       TestThread(&SD2);
     chThdSleepMilliseconds(500);

demos/STM32/RT-STM32F103_INEMO_DISCOVERY/main.c

@@ -143,7 +143,7 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     systime_t time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
     palClearPad(GPIOA, GPIOA_LED_BLUE);
     chThdSleepMilliseconds(time);
@@ -198,7 +198,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE))
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp)) {

demos/STM32/RT-STM32F303-DISCOVERY/main.c

@@ -110,7 +110,7 @@ int main(void) {
    * sleeping in a loop and check the button state, when the button is
    * pressed the test procedure is launched.
    */
-  while (TRUE) {
+  while (true) {
     if (palReadPad(GPIOA, GPIOA_BUTTON))
       TestThread(&SD1);
     chThdSleepMilliseconds(500);

demos/STM32/RT-STM32F334R8-NUCLEO/main.c

@@ -26,7 +26,7 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOA, GPIOA_LED_GREEN);
     chThdSleepMilliseconds(500);
     palSetPad(GPIOA, GPIOA_LED_GREEN);
@@ -63,7 +63,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
    */
-  while (TRUE) {
+  while (true) {
     if (!palReadPad(GPIOC, GPIOC_BUTTON))
       TestThread(&SD2);
     chThdSleepMilliseconds(500);

demos/STM32/RT-STM32F373-STM32373C_EVAL/main.c

@@ -27,7 +27,7 @@ static THD_FUNCTION(Thread1, arg) {
   (void)arg;
 
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOC, GPIOC_LED1);
     chThdSleepMilliseconds(250);
     palSetPad(GPIOC, GPIOC_LED1);
@@ -74,7 +74,7 @@ int main(void) {
    * sleeping in a loop and check the button state, when the button is
    * pressed the test procedure is launched.
    */
-  while (TRUE) {
+  while (true) {
     if (palReadPad(GPIOA, GPIOA_WKUP_BUTTON))
       TestThread(&SD2);
     chThdSleepMilliseconds(500);

demos/STM32/RT-STM32F401RE-NUCLEO/main.c

@@ -26,7 +26,7 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOA, GPIOA_LED_GREEN);
     chThdSleepMilliseconds(500);
     palSetPad(GPIOA, GPIOA_LED_GREEN);
@@ -63,7 +63,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
    */
-  while (TRUE) {
+  while (true) {
     if (!palReadPad(GPIOC, GPIOC_BUTTON))
       TestThread(&SD2);
     chThdSleepMilliseconds(500);

demos/STM32/RT-STM32F407-DISCOVERY-MEMS/main.c

@@ -166,7 +166,7 @@ static THD_FUNCTION(Thread1, arg) {
 
   /* Reader thread loop.*/
   time = chVTGetSystemTime();
-  while (TRUE) {
+  while (true) {
     int32_t x, y;
     unsigned i;
 
@@ -306,7 +306,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it just performs
    * a shell respawn upon its termination.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp) {
       if (SDU1.config->usbp->state == USB_ACTIVE) {
         /* Spawns a new shell.*/

demos/STM32/RT-STM32F407-DISCOVERY/main.c

@@ -27,7 +27,7 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palSetPad(GPIOD, GPIOD_LED3);       /* Orange.  */
     chThdSleepMilliseconds(500);
     palClearPad(GPIOD, GPIOD_LED3);     /* Orange.  */
@@ -67,7 +67,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it just performs
    * a shell respawn upon its termination.
    */
-  while (TRUE) {
+  while (true) {
     if (palReadPad(GPIOA, GPIOA_BUTTON))
       TestThread(&SD2);
     chThdSleepMilliseconds(500);

demos/STM32/RT-STM32F407-OLIMEX_E407-LWIP-FATFS-USB/main.c

@@ -595,7 +595,7 @@ static msg_t Thread1(void *arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palTogglePad(GPIOC, GPIOC_LED);
     chThdSleepMilliseconds(fs_ready ? 125 : 500);
   }
@@ -680,7 +680,7 @@ int main(void) {
    */
   chEvtRegister(&inserted_event, &el0, 0);
   chEvtRegister(&removed_event, &el1, 1);
-  while (TRUE) {
+  while (true) {
     if (!shelltp && (SDU2.config->usbp->state == USB_ACTIVE))
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp)) {

demos/STM32/RT-STM32F411RE-NUCLEO/main.c

@@ -26,7 +26,7 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOA, GPIOA_LED_GREEN);
     chThdSleepMilliseconds(500);
     palSetPad(GPIOA, GPIOA_LED_GREEN);
@@ -63,7 +63,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
    */
-  while (TRUE) {
+  while (true) {
     if (!palReadPad(GPIOC, GPIOC_BUTTON))
       TestThread(&SD2);
     chThdSleepMilliseconds(500);

demos/STM32/RT-STM32F429-DISCOVERY/main.c

@@ -31,7 +31,7 @@ static msg_t Thread1(void *arg) {
 
   (void)arg;
   chRegSetThreadName("blinker1");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOG, GPIOG_LED4_RED);
     chThdSleepMilliseconds(500);
     palSetPad(GPIOG, GPIOG_LED4_RED);
@@ -47,7 +47,7 @@ static msg_t Thread2(void *arg) {
 
   (void)arg;
   chRegSetThreadName("blinker2");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOG, GPIOG_LED3_GREEN);
     chThdSleepMilliseconds(250);
     palSetPad(GPIOG, GPIOG_LED3_GREEN);
@@ -181,7 +181,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it just performs
    * a shell respawn upon its termination.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp) {
       if (SDU1.config->usbp->state == USB_ACTIVE) {
         /* Spawns a new shell.*/

demos/STM32/RT-STM32L152-DISCOVERY/main.c

@@ -86,7 +86,7 @@ int main(void) {
    * sleeping in a loop and check the button state, when the button is
    * pressed the test procedure is launched.
    */
-  while (TRUE) {
+  while (true) {
     if (palReadPad(GPIOA, GPIOA_BUTTON))
       TestThread(&SD1);
     chThdSleepMilliseconds(500);

demos/STM32/RT-STM32L152RE-NUCLEO/main.c

@@ -26,7 +26,7 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOA, GPIOA_LED_GREEN);
     chThdSleepMilliseconds(500);
     palSetPad(GPIOA, GPIOA_LED_GREEN);
@@ -63,7 +63,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
    */
-  while (TRUE) {
+  while (true) {
     if (!palReadPad(GPIOC, GPIOC_BUTTON))
       TestThread(&SD2);
     chThdSleepMilliseconds(500);

demos/various/RT-Win32-Simulator/main.c

@@ -103,7 +103,7 @@ static const ShellConfig shell_cfg2 = {
  * to the C printf() thread safe and the print operation atomic among threads.
  * In this example the message is the zero terminated string itself.
  */
-static msg_t console_thread(void *arg) {
+static THD_FUNCTION(console_thread, arg) {
 
   (void)arg;
   while (!chThdShouldTerminateX()) {
@@ -112,7 +112,6 @@ static msg_t console_thread(void *arg) {
     fflush(stdout);
     chMsgRelease(tp, MSG_OK);
   }
-  return 0;
 }
 
 /**

os/hal/ports/STM32/LLD/OTGv1/usb_lld.c

@@ -1288,11 +1288,10 @@ void usb_lld_clear_in(USBDriver *usbp, usbep_t ep) {
  *          in order to not perform heavy tasks withing interrupt handlers.
  *
  * @param[in] p         pointer to the @p USBDriver object
- * @return              The function never returns.
  *
  * @special
  */
-msg_t usb_lld_pump(void *p) {
+void usb_lld_pump(void *p) {
   USBDriver *usbp = (USBDriver *)p;
   stm32_otg_t *otgp = usbp->otg;
 

os/hal/ports/STM32/LLD/OTGv1/usb_lld.h

@@ -543,7 +543,7 @@ extern "C" {
   void usb_lld_stall_in(USBDriver *usbp, usbep_t ep);
   void usb_lld_clear_out(USBDriver *usbp, usbep_t ep);
   void usb_lld_clear_in(USBDriver *usbp, usbep_t ep);
-  msg_t usb_lld_pump(void *p);
+  void usb_lld_pump(void *p);
 #ifdef __cplusplus
 }
 #endif

os/rt/include/chthreads.h

@@ -49,7 +49,7 @@
 /**
  * @brief   Thread function.
  */
-typedef msg_t (*tfunc_t)(void *p);
+typedef void (*tfunc_t)(void *p);
 
 /*===========================================================================*/
 /* Module macros.                                                            */

os/rt/ports/ARM/compilers/GCC/chcoreasm.s

@@ -268,6 +268,7 @@ _bxr4:          bx      r4
                 mov     r0, r5
                 mov     lr, pc
                 bx      r4
+                mov     r0, #0              /* MSG_OK */
                 bl      chThdExit
 _zombies:       b       _zombies
 #endif /* !defined(THUMB_NO_INTERWORKING) */

os/rt/ports/ARM/compilers/GCC/chtypes.h

@@ -98,7 +98,7 @@ typedef uint32_t            ucnt_t;         /**< Generic unsigned counter.  */
 /**
  * @brief   Optimized thread function declaration macro.
  */
-#define PORT_THD_FUNCTION(tname, arg) msg_t tname(void *arg)
+#define PORT_THD_FUNCTION(tname, arg) void tname(void *arg)
 
 /**
  * @brief   Packed variable specifier.

os/rt/ports/ARMCMx/compilers/GCC/chcoreasm_v6m.s

@@ -95,6 +95,7 @@ _port_thread_start:
                 cpsie   i
                 mov     r0, r5
                 blx     r4
+                movs    r0, #0              /* MSG_OK */
                 bl      chThdExit
 
 /*--------------------------------------------------------------------------*

os/rt/ports/ARMCMx/compilers/GCC/chcoreasm_v7m.s

@@ -96,6 +96,7 @@ _port_thread_start:
 #endif
                 mov     r0, r5
                 blx     r4
+                movs    r0, #0              /* MSG_OK */
                 bl      chThdExit
 
 /*--------------------------------------------------------------------------*

os/rt/ports/ARMCMx/compilers/GCC/chtypes.h

@@ -99,7 +99,7 @@ typedef uint32_t            ucnt_t;         /**< Generic unsigned counter.  */
 /**
  * @brief   Optimized thread function declaration macro.
  */
-#define PORT_THD_FUNCTION(tname, arg) msg_t tname(void *arg)
+#define PORT_THD_FUNCTION(tname, arg) void tname(void *arg)
 
 /**
  * @brief   Packed variable specifier.

os/rt/ports/ARMCMx/compilers/IAR/chtypes.h

@@ -98,7 +98,7 @@ typedef uint32_t            ucnt_t;         /**< Generic unsigned counter.  */
 /**
  * @brief   Optimized thread function declaration macro.
  */
-#define PORT_THD_FUNCTION(tname, arg) msg_t tname(void *arg)
+#define PORT_THD_FUNCTION(tname, arg) void tname(void *arg)
 
 /**
  * @brief   Packed variable specifier.

os/rt/ports/ARMCMx/compilers/RVCT/chtypes.h

@@ -98,7 +98,7 @@ typedef uint32_t            ucnt_t;         /**< Generic unsigned counter.  */
 /**
  * @brief   Optimized thread function declaration macro.
  */
-#define PORT_THD_FUNCTION(tname, arg) msg_t tname(void *arg)
+#define PORT_THD_FUNCTION(tname, arg) void tname(void *arg)
 
 /**
  * @brief   Packed variable specifier.

os/rt/ports/SIMIA32/chcore.c

@@ -93,7 +93,8 @@ __attribute__((cdecl, noreturn))
 void _port_thread_start(msg_t (*pf)(void *), void *p) {
 
   chSysUnlock();
-  chThdExit(pf(p));
+  pf(p);
+  chThdExit(0);
   while(1);
 }
 

os/rt/ports/SIMIA32/compilers/GCC/chtypes.h

@@ -98,7 +98,7 @@ typedef uint32_t            ucnt_t;         /**< Generic unsigned counter.  */
 /**
  * @brief   Optimized thread function declaration macro.
  */
-#define PORT_THD_FUNCTION(tname, arg) msg_t tname(void *arg)
+#define PORT_THD_FUNCTION(tname, arg) void tname(void *arg)
 
 /**
  * @brief   Packed variable specifier.

os/rt/ports/e200/chcore.c

@@ -100,6 +100,7 @@ void port_dummy2(void) {
   asm ("mr          %r3, %r31");        /* Thread parameter.                */
   asm ("mtctr       %r30");
   asm ("bctrl");                        /* Invoke thread function.          */
+  asm ("li          %r0, 0");           /* MSG_OK.                          */
   asm ("bl          chThdExit");        /* Thread termination on exit.      */
 }
 

os/various/lwip_bindings/lwipthread.c

@@ -210,7 +210,7 @@ static err_t ethernetif_init(struct netif *netif) {
  * @param[in] p pointer to a @p lwipthread_opts structure or @p NULL
  * @return The function does not return.
  */
-msg_t lwip_thread(void *p) {
+THD_FUNCTION(lwip_thread, p) {
   event_timer_t evt;
   event_listener_t el0, el1;
   struct ip_addr ip, gateway, netmask;

os/various/lwip_bindings/lwipthread.h

@@ -121,7 +121,7 @@ extern THD_WORKING_AREA(wa_lwip_thread, LWIP_THREAD_STACK_SIZE);
 #ifdef __cplusplus
 extern "C" {
 #endif
-  msg_t lwip_thread(void *p);
+  THD_FUNCTION(lwip_thread, p);
 #ifdef __cplusplus
 }
 #endif

os/various/shell.c

@@ -121,22 +121,19 @@ static bool cmdexec(const ShellCommand *scp, BaseSequentialStream *chp,
   while (scp->sc_name != NULL) {
     if (strcasecmp(scp->sc_name, name) == 0) {
       scp->sc_function(chp, argc, argv);
-      return FALSE;
+      return false;
     }
     scp++;
   }
-  return TRUE;
+  return true;
 }
 
 /**
  * @brief   Shell thread function.
  *
  * @param[in] p         pointer to a @p BaseSequentialStream object
- * @return              Termination reason.
- * @retval MSG_OK       terminated by command.
- * @retval MSG_RESET    terminated by reset condition on the I/O channel.
  */
-static msg_t shell_thread(void *p) {
+static THD_FUNCTION(shell_thread, p) {
   int n;
   BaseSequentialStream *chp = ((ShellConfig *)p)->sc_channel;
   const ShellCommand *scp = ((ShellConfig *)p)->sc_commands;
@@ -145,7 +142,7 @@ static msg_t shell_thread(void *p) {
 
   chRegSetThreadName("shell");
   chprintf(chp, "\r\nChibiOS/RT Shell\r\n");
-  while (TRUE) {
+  while (true) {
     chprintf(chp, "ch> ");
     if (shellGetLine(chp, line, sizeof(line))) {
       chprintf(chp, "\r\nlogout");
@@ -190,8 +187,6 @@ static msg_t shell_thread(void *p) {
     }
   }
   shellExit(MSG_OK);
-  /* Never executed, silencing a warning.*/
-  return 0;
 }
 
 /**
@@ -265,22 +260,22 @@ thread_t *shellCreateStatic(const ShellConfig *scp, void *wsp,
  * @param[in] line      pointer to the line buffer
  * @param[in] size      buffer maximum length
  * @return              The operation status.
- * @retval TRUE         the channel was reset or CTRL-D pressed.
- * @retval FALSE        operation successful.
+ * @retval true         the channel was reset or CTRL-D pressed.
+ * @retval false        operation successful.
  *
  * @api
  */
 bool shellGetLine(BaseSequentialStream *chp, char *line, unsigned size) {
   char *p = line;
 
-  while (TRUE) {
+  while (true) {
     char c;
 
     if (chSequentialStreamRead(chp, (uint8_t *)&c, 1) == 0)
-      return TRUE;
+      return true;
     if (c == 4) {
       chprintf(chp, "^D");
-      return TRUE;
+      return true;
     }
     if ((c == 8) || (c == 127)) {
       if (p != line) {
@@ -294,7 +289,7 @@ bool shellGetLine(BaseSequentialStream *chp, char *line, unsigned size) {
     if (c == '\r') {
       chprintf(chp, "\r\n");
       *p = 0;
-      return FALSE;
+      return false;
     }
     if (c < 0x20)
       continue;

test/rt/coverage/main.c

@@ -27,7 +27,6 @@
  * Simulator main.
  */
 int main(int argc, char *argv[]) {
-  msg_t result;
 
   (void)argc;
   (void)argv;
@@ -43,8 +42,8 @@ int main(int argc, char *argv[]) {
   conInit();
   chSysInit();
 
-  result = TestThread(&CD1);
-  if (result)
+  TestThread(&CD1);
+  if (test_global_fail)
     exit(1);
   else
     exit(0);

test/rt/test.c

@@ -56,7 +56,8 @@ static ROMCONST struct testcase * ROMCONST *patterns[] = {
   NULL
 };
 
-static bool local_fail, global_fail;
+bool test_global_fail;
+static bool local_fail;
 static unsigned failpoint;
 static char tokens_buffer[MAX_TOKENS];
 static char *tokp;
@@ -156,8 +157,8 @@ void test_emit_token(char token) {
  */
 bool _test_fail(unsigned point) {
 
+  test_global_fail = TRUE;
   local_fail = TRUE;
-  global_fail = TRUE;
   failpoint = point;
   return TRUE;
 }
@@ -309,9 +310,8 @@ static void print_line(void) {
  * @brief   Test execution thread function.
  *
  * @param[in] p         pointer to a @p BaseChannel object for test output
- * @return              A failure boolean value.
  */
-msg_t TestThread(void *p) {
+void TestThread(void *p) {
   int i, j;
 
   chp = p;
@@ -346,7 +346,7 @@ msg_t TestThread(void *p) {
 #endif
   test_println("");
 
-  global_fail = FALSE;
+  test_global_fail = FALSE;
   i = 0;
   while (patterns[i]) {
     j = 0;
@@ -379,12 +379,10 @@ msg_t TestThread(void *p) {
   print_line();
   test_println("");
   test_print("Final result: ");
-  if (global_fail)
+  if (test_global_fail)
     test_println("FAILURE");
   else
     test_println("SUCCESS");
-
-  return (msg_t)global_fail;
 }
 
 /** @} */

test/rt/test.h

@@ -76,10 +76,12 @@ union test_buffers {
 };
 #endif
 
+extern bool test_global_fail;
+
 #ifdef __cplusplus
 extern "C" {
 #endif
-  msg_t TestThread(void *p);
+  void TestThread(void *p);
   void test_printn(uint32_t n);
   void test_print(const char *msgp);
   void test_println(const char *msgp);

test/rt/testbmk.c

@@ -63,13 +63,13 @@ static semaphore_t sem1;
 static mutex_t mtx1;
 #endif
 
-static msg_t thread1(void *p) {
+static THD_FUNCTION(thread1, p) {
 
-  return (msg_t)p;
+  chThdExit((msg_t)p);
 }
 
 #if CH_CFG_USE_MESSAGES || defined(__DOXYGEN__)
-static msg_t thread2(void *p) {
+static THD_FUNCTION(thread2, p) {
   thread_t *tp;
   msg_t msg;
 
@@ -79,7 +79,6 @@ static msg_t thread2(void *p) {
     msg = chMsgGet(tp);
     chMsgRelease(tp, msg);
   } while (msg);
-  return 0;
 }
 
 #ifdef __GNUC__
@@ -204,7 +203,7 @@ ROMCONST struct testcase testbmk3 = {
  * iterations after a second of continuous operations.
  */
 
-msg_t thread4(void *p) {
+static THD_FUNCTION(thread4, p) {
   msg_t msg;
   thread_t *self = chThdGetSelfX();
 
@@ -215,7 +214,6 @@ msg_t thread4(void *p) {
     msg = self->p_u.rdymsg;
   } while (msg == MSG_OK);
   chSysUnlock();
-  return 0;
 }
 
 static void bmk4_execute(void) {
@@ -344,12 +342,11 @@ ROMCONST struct testcase testbmk6 = {
  * a second of continuous operations.
  */
 
-static msg_t thread3(void *p) {
+static THD_FUNCTION(thread3, p) {
 
   (void)p;
   while (!chThdShouldTerminateX())
     chSemWait(&sem1);
-  return 0;
 }
 
 static void bmk7_setup(void) {
@@ -405,7 +402,7 @@ ROMCONST struct testcase testbmk7 = {
  * a second of continuous operations.
  */
 
-static msg_t thread8(void *p) {
+static THD_FUNCTION(thread8, p) {
 
   do {
     chThdYield();
@@ -417,7 +414,6 @@ static msg_t thread8(void *p) {
     _sim_check_for_interrupts();
 #endif
   } while(!chThdShouldTerminateX());
-  return 0;
 }
 
 static void bmk8_execute(void) {

test/rt/testbuild/main.c

@@ -26,7 +26,6 @@
  * Simulator main.
  */
 int main(int argc, char *argv[]) {
-  msg_t result;
 
   (void)argc;
   (void)argv;
@@ -42,8 +41,8 @@ int main(int argc, char *argv[]) {
   conInit();
   chSysInit();
 
-  result = TestThread(&CD1);
-  if (result)
+  TestThread(&CD1);
+  if (test_global_fail)
     exit(1);
   else
     exit(0);

test/rt/testdyn.c

@@ -68,10 +68,9 @@ static memory_pool_t mp1;
  * one to fail.
  */
 
-static msg_t thread(void *p) {
+static THD_FUNCTION(thread, p) {
 
   test_emit_token(*(char *)p);
-  return 0;
 }
 
 #if (CH_CFG_USE_HEAP && !CH_CFG_USE_MALLOC_HEAP) || defined(__DOXYGEN__)

test/rt/testevt.c

@@ -130,20 +130,18 @@ static void evt2_setup(void) {
   chEvtGetAndClearEvents(ALL_EVENTS);
 }
 
-static msg_t thread1(void *p) {
+static THD_FUNCTION(thread1, p) {
 
   chThdSleepMilliseconds(50);
   chEvtSignal((thread_t *)p, 1);
-  return 0;
 }
 
-static msg_t thread2(void *p) {
+static THD_FUNCTION(thread2, p) {
 
   (void)p;
   chEvtBroadcast(&es1);
   chThdSleepMilliseconds(50);
   chEvtBroadcast(&es2);
-  return 0;
 }
 
 static void evt2_execute(void) {

test/rt/testmsg.c

@@ -56,12 +56,11 @@
  * not find a fifth message waiting.
  */
 
-static msg_t thread(void *p) {
+static THD_FUNCTION(thread, p) {
 
   chMsgSend(p, 'A');
   chMsgSend(p, 'B');
   chMsgSend(p, 'C');
-  return 0;
 }
 
 static void msg1_execute(void) {

test/rt/testmtx.c

@@ -86,12 +86,11 @@ static void mtx1_setup(void) {
   chMtxObjectInit(&m1);
 }
 
-static msg_t thread1(void *p) {
+static THD_FUNCTION(thread1, p) {
 
   chMtxLock(&m1);
   test_emit_token(*(char *)p);
   chMtxUnlock(&m1);
-  return 0;
 }
 
 static void mtx1_execute(void) {
@@ -154,7 +153,7 @@ static void mtx2_setup(void) {
 }
 
 /* Low priority thread */
-static msg_t thread2L(void *p) {
+static THD_FUNCTION(thread2L, p) {
 
   (void)p;
   chMtxLock(&m1);
@@ -162,21 +161,19 @@ static msg_t thread2L(void *p) {
   chMtxUnlock(&m1);
   test_cpu_pulse(10);
   test_emit_token('C');
-  return 0;
 }
 
 /* Medium priority thread */
-static msg_t thread2M(void *p) {
+static THD_FUNCTION(thread2M, p) {
 
   (void)p;
   chThdSleepMilliseconds(20);
   test_cpu_pulse(40);
   test_emit_token('B');
-  return 0;
 }
 
 /* High priority thread */
-static msg_t thread2H(void *p) {
+static THD_FUNCTION(thread2H, p) {
 
   (void)p;
   chThdSleepMilliseconds(40);
@@ -184,7 +181,6 @@ static msg_t thread2H(void *p) {
   test_cpu_pulse(10);
   chMtxUnlock(&m1);
   test_emit_token('A');
-  return 0;
 }
 
 static void mtx2_execute(void) {
@@ -245,18 +241,17 @@ static void mtx3_setup(void) {
 }
 
 /* Lowest priority thread */
-static msg_t thread3LL(void *p) {
+static THD_FUNCTION(thread3LL, p) {
 
   (void)p;
   chMtxLock(&m1);
   test_cpu_pulse(30);
   chMtxUnlock(&m1);
   test_emit_token('E');
-  return 0;
 }
 
 /* Low priority thread */
-static msg_t thread3L(void *p) {
+static THD_FUNCTION(thread3L, p) {
 
   (void)p;
   chThdSleepMilliseconds(10);
@@ -268,11 +263,10 @@ static msg_t thread3L(void *p) {
   test_cpu_pulse(10);
   chMtxUnlock(&m2);
   test_emit_token('D');
-  return 0;
 }
 
 /* Medium priority thread */
-static msg_t thread3M(void *p) {
+static THD_FUNCTION(thread3M, p) {
 
   (void)p;
   chThdSleepMilliseconds(20);
@@ -280,21 +274,19 @@ static msg_t thread3M(void *p) {
   test_cpu_pulse(10);
   chMtxUnlock(&m2);
   test_emit_token('C');
-  return 0;
 }
 
 /* High priority thread */
-static msg_t thread3H(void *p) {
+static THD_FUNCTION(thread3H, p) {
 
   (void)p;
   chThdSleepMilliseconds(40);
   test_cpu_pulse(20);
   test_emit_token('B');
-  return 0;
 }
 
 /* Highest priority thread */
-static msg_t thread3HH(void *p) {
+static THD_FUNCTION(thread3HH, p) {
 
   (void)p;
   chThdSleepMilliseconds(50);
@@ -302,7 +294,6 @@ static msg_t thread3HH(void *p) {
   test_cpu_pulse(10);
   chMtxUnlock(&m2);
   test_emit_token('A');
-  return 0;
 }
 
 static void mtx3_execute(void) {
@@ -344,22 +335,20 @@ static void mtx4_setup(void) {
   chMtxObjectInit(&m2);
 }
 
-static msg_t thread4a(void *p) {
+static THD_FUNCTION(thread4a, p) {
 
   (void)p;
   chThdSleepMilliseconds(50);
   chMtxLock(&m2);
   chMtxUnlock(&m2);
-  return 0;
 }
 
-static msg_t thread4b(void *p) {
+static THD_FUNCTION(thread4b, p) {
 
   (void)p;
   chThdSleepMilliseconds(150);
   chMtxLock(&m1);
   chMtxUnlock(&m1);
-  return 0;
 }
 
 static void mtx4_execute(void) {
@@ -483,13 +472,12 @@ static void mtx6_setup(void) {
   chMtxObjectInit(&m1);
 }
 
-static msg_t thread10(void *p) {
+static THD_FUNCTION(thread10, p) {
 
   chMtxLock(&m1);
   chCondWait(&c1);
   test_emit_token(*(char *)p);
   chMtxUnlock(&m1);
-  return 0;
 }
 
 static void mtx6_execute(void) {
@@ -571,7 +559,7 @@ static void mtx8_setup(void) {
   chMtxObjectInit(&m2);
 }
 
-static msg_t thread11(void *p) {
+static THD_FUNCTION(thread11, p) {
 
   chMtxLock(&m2);
   chMtxLock(&m1);
@@ -583,15 +571,13 @@ static msg_t thread11(void *p) {
   test_emit_token(*(char *)p);
   chMtxUnlock(&m1);
   chMtxUnlock(&m2);
-  return 0;
 }
 
-static msg_t thread12(void *p) {
+static THD_FUNCTION(thread12, p) {
 
   chMtxLock(&m2);
   test_emit_token(*(char *)p);
   chMtxUnlock(&m2);
-  return 0;
 }
 
 static void mtx8_execute(void) {

test/rt/testqueues.c

@@ -70,7 +70,7 @@ static OUTPUTQUEUE_DECL(oq, test.wa.T1, TEST_QUEUES_SIZE, notify, NULL);
  * @page test_queues_001 Input Queues functionality and APIs
  *
  * <h2>Description</h2>
- * This test case tests sysnchronos and asynchronous operations on an
+ * This test case tests synchronous and asynchronous operations on an
  * @p InputQueue object including timeouts. The queue state must remain
  * consistent through the whole test.
  */
@@ -80,11 +80,10 @@ static void queues1_setup(void) {
   chIQObjectInit(&iq, wa[0], TEST_QUEUES_SIZE, notify, NULL);
 }
 
-static msg_t thread1(void *p) {
+static THD_FUNCTION(thread1, p) {
 
   (void)p;
   chIQGetTimeout(&iq, MS2ST(200));
-  return 0;
 }
 
 static void queues1_execute(void) {
@@ -157,7 +156,7 @@ ROMCONST struct testcase testqueues1 = {
  * @page test_queues_002 Output Queues functionality and APIs
  *
  * <h2>Description</h2>
- * This test case tests sysnchronos and asynchronous operations on an
+ * This test case tests synchronous and asynchronous operations on an
  * @p OutputQueue object including timeouts. The queue state must remain
  * consistent through the whole test.
  */
@@ -167,11 +166,10 @@ static void queues2_setup(void) {
   chOQObjectInit(&oq, wa[0], TEST_QUEUES_SIZE, notify, NULL);
 }
 
-static msg_t thread2(void *p) {
+static THD_FUNCTION(thread2, p) {
 
   (void)p;
   chOQPutTimeout(&oq, 0, MS2ST(200));
-  return 0;
 }
 
 static void queues2_execute(void) {

test/rt/testsem.c

@@ -74,11 +74,10 @@ static void sem1_setup(void) {
   chSemObjectInit(&sem1, 0);
 }
 
-static msg_t thread1(void *p) {
+static THD_FUNCTION(thread1, p) {
 
   chSemWait(&sem1);
   test_emit_token(*(char *)p);
-  return 0;
 }
 
 static void sem1_execute(void) {
@@ -131,7 +130,7 @@ static void sem2_setup(void) {
   chSemObjectInit(&sem1, 0);
 }
 
-static msg_t thread2(void *p) {
+static THD_FUNCTION(thread2, p) {
 
   (void)p;
   chThdSleepMilliseconds(50);
@@ -139,7 +138,6 @@ static msg_t thread2(void *p) {
   chSemSignalI(&sem1); /* For coverage reasons */
   chSchRescheduleS();
   chSysUnlock();
-  return 0;
 }
 
 static void sem2_execute(void) {
@@ -206,12 +204,11 @@ static void sem3_setup(void) {
   chSemObjectInit(&sem1, 0);
 }
 
-static msg_t thread3(void *p) {
+static THD_FUNCTION(thread3, p) {
 
   (void)p;
   chSemWait(&sem1);
   chSemSignal(&sem1);
-  return 0;
 }
 
 static void sem3_execute(void) {
@@ -241,10 +238,9 @@ ROMCONST struct testcase testsem3 = {
  * checks the binary semaphore status and the expected status of the underlying
  * counting semaphore.
  */
-static msg_t thread4(void *p) {
+static THD_FUNCTION(thread4, p) {
 
   chBSemSignal((binary_semaphore_t *)p);
-  return 0;
 }
 
 static void sem4_execute(void) {

test/rt/testthd.c

@@ -57,10 +57,9 @@
  * priority order regardless of the initial order.
  */
 
-static msg_t thread(void *p) {
+static THD_FUNCTION(thread, p) {
 
   test_emit_token(*(char *)p);
-  return 0;
 }
 
 static void thd1_execute(void) {

testhal/AVR/I2C/main.c

@@ -20,11 +20,10 @@
 static WORKING_AREA(waThread1, 32);
 static msg_t Thread1(void *arg) {
 
-  while (TRUE) {
+  while (true) {
     palTogglePad(IOPORT2, PORTB_LED1);
     chThdSleepMilliseconds(1000);
   }
-  return 0;
 }
 
 /*

testhal/AVR/ICU/main.c

@@ -58,7 +58,7 @@ void output_single_cycle(const uint16_t low, const uint16_t high) {
 }
 
 static WORKING_AREA(waThread1, 64);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   BaseSequentialStream *serp = (BaseSequentialStream *) &SD1;
   thread1 = chThdGetSelfX();
@@ -71,11 +71,10 @@ static msg_t Thread1(void *arg) {
                    period);
     chEvtSignal(thread_main, (eventmask_t) 1);
   }
-  return 0;
 }
 
 static WORKING_AREA(waThread2, 64);
-static msg_t Thread2(void *arg) {
+static THD_FUNCTION(Thread2, arg) {
 
   BaseSequentialStream *serp = (BaseSequentialStream *) &SD1;
   thread2 = chThdGetSelfX();
@@ -84,7 +83,6 @@ static msg_t Thread2(void *arg) {
     chprintf(serp, "OVERFLOW\r\n");
     chEvtSignal(thread_main, (eventmask_t) 2);
   }
-  return 0;
 }
 
 int main(void) {

testhal/KINETIS/I2C/main.c

@@ -37,8 +37,6 @@ static THD_FUNCTION(Thread1, arg) {
     }
     chThdSleepMilliseconds(500);
   }
-
-  return 0;
 }
 
 /*

testhal/STM32/STM32F0xx/ADC/main.c

@@ -84,11 +84,11 @@ static const ADCConversionGroup adcgrpcfg2 = {
  * Red LEDs blinker thread, times are in milliseconds.
  */
 static THD_WORKING_AREA(waThread1, 128);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palSetPad(GPIOC, GPIOC_LED4);
     chThdSleepMilliseconds(500);
     palClearPad(GPIOC, GPIOC_LED4);
@@ -142,7 +142,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     if (palReadPad(GPIOA, GPIOA_BUTTON)) {
       adcStopConversion(&ADCD1);
       adcSTM32SetCCR(0);

testhal/STM32/STM32F0xx/EXT/main.c

@@ -89,7 +89,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it enables and disables the
    * button EXT channel using 5 seconds intervals.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(5000);
     extChannelDisable(&EXTD1, 0);
     chThdSleepMilliseconds(5000);

testhal/STM32/STM32F0xx/IRQ_STORM/main.c

@@ -58,7 +58,7 @@ static msg_t b[NUM_THREADS][MAILBOX_SIZE];
  * Test worker threads.
  */
 static THD_WORKING_AREA(waWorkerThread[NUM_THREADS], 128);
-static msg_t WorkerThread(void *arg) {
+static THD_FUNCTION(WorkerThread, arg) {
   static volatile unsigned x = 0;
   static unsigned cnt = 0;
   unsigned me = (unsigned)arg;
@@ -69,7 +69,7 @@ static msg_t WorkerThread(void *arg) {
   chRegSetThreadName("worker");
 
   /* Work loop.*/
-  while (TRUE) {
+  while (true) {
     /* Waiting for a message.*/
    chMBFetch(&mb[me], &msg, TIME_INFINITE);
 
@@ -325,7 +325,7 @@ int main(void) {
   /*
    * Normal main() thread activity, nothing in this test.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(5000);
   }
   return 0;

testhal/STM32/STM32F0xx/PWM-ICU/main.c

@@ -141,7 +141,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(500);
   }
   return 0;

testhal/STM32/STM32F0xx/SPI/main.c

@@ -49,11 +49,11 @@ static uint8_t rxbuf[512];
  * SPI bus contender 1.
  */
 static THD_WORKING_AREA(spi_thread_1_wa, 256);
-static msg_t spi_thread_1(void *p) {
+static THD_FUNCTION(spi_thread_1, p) {
 
   (void)p;
   chRegSetThreadName("SPI thread 1");
-  while (TRUE) {
+  while (true) {
     spiAcquireBus(&SPID2);              /* Acquire ownership of the bus.    */
     palSetPad(GPIOC, GPIOC_LED4);       /* LED ON.                          */
     spiStart(&SPID2, &hs_spicfg);       /* Setup transfer parameters.       */
@@ -63,18 +63,17 @@ static msg_t spi_thread_1(void *p) {
     spiUnselect(&SPID2);                /* Slave Select de-assertion.       */
     spiReleaseBus(&SPID2);              /* Ownership release.               */
   }
-  return 0;
 }
 
 /*
  * SPI bus contender 2.
  */
 static THD_WORKING_AREA(spi_thread_2_wa, 256);
-static msg_t spi_thread_2(void *p) {
+static THD_FUNCTION(spi_thread_2, p) {
 
   (void)p;
   chRegSetThreadName("SPI thread 2");
-  while (TRUE) {
+  while (true) {
     spiAcquireBus(&SPID2);              /* Acquire ownership of the bus.    */
     palClearPad(GPIOC, GPIOC_LED4);     /* LED OFF.                         */
     spiStart(&SPID2, &ls_spicfg);       /* Setup transfer parameters.       */
@@ -84,18 +83,17 @@ static msg_t spi_thread_2(void *p) {
     spiUnselect(&SPID2);                /* Slave Select de-assertion.       */
     spiReleaseBus(&SPID2);              /* Ownership release.               */
   }
-  return 0;
 }
 /*
  * This is a periodic thread that does absolutely nothing except flashing
  * a LED.
  */
 static THD_WORKING_AREA(blinker_wa, 128);
-static msg_t blinker(void *arg) {
+static THD_FUNCTION(blinker, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palSetPad(GPIOC, GPIOC_LED3);
     chThdSleepMilliseconds(500);
     palClearPad(GPIOC, GPIOC_LED3);
@@ -155,7 +153,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(500);
   }
   return 0;

testhal/STM32/STM32F0xx/UART/main.c

@@ -136,7 +136,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(500);
   }
 }

testhal/STM32/STM32F0xx/USB_CDC/main.c

@@ -438,11 +438,11 @@ static const ShellConfig shell_cfg1 = {
  * Red LED blinker thread, times are in milliseconds.
  */
 static THD_WORKING_AREA(waThread1, 128);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     systime_t time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
     palClearPad(GPIOC, GPIOC_LED_RED);
     chThdSleepMilliseconds(time);
@@ -497,7 +497,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE))
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp)) {

testhal/STM32/STM32F1xx/ADC/main.c

@@ -95,13 +95,12 @@ static THD_FUNCTION(Thread1, arg) {
   (void)arg;
 
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palClearPad(IOPORT3, GPIOC_LED);
     chThdSleepMilliseconds(500);
     palSetPad(IOPORT3, GPIOC_LED);
     chThdSleepMilliseconds(500);
   }
-  return 0;
 }
 
 /*
@@ -149,7 +148,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     if (palReadPad(GPIOA, GPIOA_BUTTON))
       adcStopConversion(&ADCD1);
     chThdSleepMilliseconds(500);

testhal/STM32/STM32F1xx/CAN/main.c

@@ -48,7 +48,6 @@ static THD_FUNCTION(can_rx, p) {
     }
   }
   chEvtUnregister(&CAND1.rxfull_event, &el);
-  return 0;
 }
 
 /*
@@ -71,7 +70,6 @@ static THD_FUNCTION(can_tx, p) {
     canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));
     chThdSleepMilliseconds(500);
   }
-  return 0;
 }
 
 /*
@@ -104,7 +102,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(500);
   }
   return 0;

testhal/STM32/STM32F1xx/EXT/main.c

@@ -89,7 +89,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it enables and disables the
    * button EXT channel using 5 seconds intervals.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(5000);
     extChannelDisable(&EXTD1, 0);
     chThdSleepMilliseconds(5000);

testhal/STM32/STM32F1xx/I2C/main.c

@@ -42,14 +42,14 @@ static float acc[3];
  */
 static THD_WORKING_AREA(PollAccelThreadWA, 256);
 static THD_FUNCTION(PollAccelThread, arg) {
-  chRegSetThreadName("PollAccel");
+
   (void)arg;
 
-  while (TRUE) {
+  chRegSetThreadName("PollAccel");
+  while (true) {
     osalThreadSleepMilliseconds(32);
     lis3GetAcc(acc);
   }
-  return 0;
 }
 
 /*
@@ -57,14 +57,14 @@ static THD_FUNCTION(PollAccelThread, arg) {
  */
 static THD_WORKING_AREA(PollFakeThreadWA, 256);
 static THD_FUNCTION(PollFakeThread, arg) {
-  chRegSetThreadName("PollFake");
+
   (void)arg;
 
-  while (TRUE) {
+  chRegSetThreadName("PollFake");
+  while (true) {
     osalThreadSleepMilliseconds(16);
     request_fake();
   }
-  return 0;
 }
 
 /*
@@ -103,7 +103,7 @@ int main(void) {
           NULL);
 
   /* main loop handles LED */
-  while (TRUE) {
+  while (true) {
     if (sqrtf(acc[0]*acc[0] + acc[1]*acc[1]) > 0.5)
       palClearPad(IOPORT3, GPIOC_LED); /* on */
     else

testhal/STM32/STM32F1xx/IRQ_STORM/main.c

@@ -58,7 +58,7 @@ static msg_t b[NUM_THREADS][MAILBOX_SIZE];
  * Test worker threads.
  */
 static THD_WORKING_AREA(waWorkerThread[NUM_THREADS], 128);
-static msg_t WorkerThread(void *arg) {
+static THD_FUNCTION(WorkerThread, arg) {
   static volatile unsigned x = 0;
   static unsigned cnt = 0;
   unsigned me = (unsigned)arg;
@@ -69,7 +69,7 @@ static msg_t WorkerThread(void *arg) {
   chRegSetThreadName("worker");
 
   /* Work loop.*/
-  while (TRUE) {
+  while (true) {
     /* Waiting for a message.*/
    chMBFetch(&mb[me], &msg, TIME_INFINITE);
 
@@ -327,7 +327,7 @@ int main(void) {
   /*
    * Normal main() thread activity, nothing in this test.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(5000);
   }
 }

testhal/STM32/STM32F1xx/PWM-ICU/main.c

@@ -137,7 +137,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(500);
   }
   return 0;

testhal/STM32/STM32F1xx/RTC/main.c

@@ -30,7 +30,7 @@ RTCAlarm alarmspec;
 static THD_WORKING_AREA(blinkWA, 128);
 static THD_FUNCTION(blink_thd, arg) {
   (void)arg;
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(100);
     palTogglePad(GPIOC, GPIOC_LED);
   }
@@ -57,7 +57,7 @@ int main(void) {
   alarmspec.tv_sec = tv_sec + 20;
   rtcSetAlarm(&RTCD1, 0, &alarmspec);
 
-  while (TRUE){
+  while (true){
     chThdSleepSeconds(10);
 
     /* going to anabiosis*/
@@ -138,7 +138,7 @@ int main(void) {
 
   rtcSetCallback(&RTCD1, my_cb);
 
-  while (TRUE){
+  while (true){
 
     /* Wait until alarm callback signaled semaphore.*/
     status = chBSemWaitTimeout(&alarm_sem, S2ST(RTC_ALARMPERIOD + 5));

testhal/STM32/STM32F1xx/SPI/main.c

@@ -52,7 +52,7 @@ static THD_FUNCTION(spi_thread_1, p) {
   (void)p;
 
   chRegSetThreadName("SPI thread 1");
-  while (TRUE) {
+  while (true) {
     spiAcquireBus(&SPID1);              /* Acquire ownership of the bus.    */
     palClearPad(IOPORT3, GPIOC_LED);    /* LED ON.                          */
     spiStart(&SPID1, &hs_spicfg);       /* Setup transfer parameters.       */
@@ -62,7 +62,6 @@ static THD_FUNCTION(spi_thread_1, p) {
     spiUnselect(&SPID1);                /* Slave Select de-assertion.       */
     spiReleaseBus(&SPID1);              /* Ownership release.               */
   }
-  return 0;
 }
 
 /*
@@ -74,7 +73,7 @@ static THD_FUNCTION(spi_thread_2, p) {
   (void)p;
 
   chRegSetThreadName("SPI thread 2");
-  while (TRUE) {
+  while (true) {
     spiAcquireBus(&SPID1);              /* Acquire ownership of the bus.    */
     palSetPad(IOPORT3, GPIOC_LED);      /* LED OFF.                         */
     spiStart(&SPID1, &ls_spicfg);       /* Setup transfer parameters.       */
@@ -84,7 +83,6 @@ static THD_FUNCTION(spi_thread_2, p) {
     spiUnselect(&SPID1);                /* Slave Select de-assertion.       */
     spiReleaseBus(&SPID1);              /* Ownership release.               */
   }
-  return 0;
 }
 
 /*
@@ -129,7 +127,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(500);
   }
   return 0;

testhal/STM32/STM32F1xx/UART/main.c

@@ -138,7 +138,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(500);
   }
   return 0;

testhal/STM32/STM32F1xx/USB_CDC/main.c

@@ -441,8 +441,9 @@ static THD_WORKING_AREA(waThread1, 128);
 static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
+
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     systime_t time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
     palClearPad(IOPORT3, GPIOC_LED);
     chThdSleepMilliseconds(time);
@@ -497,7 +498,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE))
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp)) {

testhal/STM32/STM32F1xx/USB_CDC_F107/main.c

@@ -442,7 +442,7 @@ static msg_t Thread1(void *arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     systime_t time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
     palClearPad(IOPORT3, GPIOC_LED_STATUS1);
     chThdSleepMilliseconds(time);
@@ -497,7 +497,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE))
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminated(shelltp)) {

testhal/STM32/STM32F30x/ADC/main.c

@@ -105,17 +105,16 @@ static const ADCConversionGroup adcgrpcfg2 = {
  * Red LEDs blinker thread, times are in milliseconds.
  */
 static THD_WORKING_AREA(waThread1, 128);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palSetPad(GPIOE, GPIOE_LED10_RED);
     chThdSleepMilliseconds(500);
     palClearPad(GPIOE, GPIOE_LED10_RED);
     chThdSleepMilliseconds(500);
   }
-  return 0;
 }
 
 /*
@@ -163,7 +162,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     if (palReadPad(GPIOA, GPIOA_BUTTON)) {
       adcStopConversion(&ADCD1);
     }

testhal/STM32/STM32F30x/ADC_DUAL/main.c

@@ -129,17 +129,16 @@ static const ADCConversionGroup adcgrpcfg2 = {
  * Red LEDs blinker thread, times are in milliseconds.
  */
 static THD_WORKING_AREA(waThread1, 128);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palSetPad(GPIOE, GPIOE_LED10_RED);
     chThdSleepMilliseconds(500);
     palClearPad(GPIOE, GPIOE_LED10_RED);
     chThdSleepMilliseconds(500);
   }
-  return 0;
 }
 
 /*
@@ -187,7 +186,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     if (palReadPad(GPIOA, GPIOA_BUTTON)) {
       adcStopConversion(&ADCD1);
     }

testhal/STM32/STM32F30x/CAN/main.c

@@ -31,7 +31,7 @@ static const CANConfig cancfg = {
  * Receiver thread.
  */
 static THD_WORKING_AREA(can_rx_wa, 256);
-static msg_t can_rx(void *p) {
+static THD_FUNCTION(can_rx, p) {
   event_listener_t el;
   CANRxFrame rxmsg;
 
@@ -47,14 +47,13 @@ static msg_t can_rx(void *p) {
     }
   }
   chEvtUnregister(&CAND1.rxfull_event, &el);
-  return 0;
 }
 
 /*
  * Transmitter thread.
  */
 static THD_WORKING_AREA(can_tx_wa, 256);
-static msg_t can_tx(void * p) {
+static THD_FUNCTION(can_tx, p) {
   CANTxFrame txmsg;
 
   (void)p;
@@ -70,7 +69,6 @@ static msg_t can_tx(void * p) {
     canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));
     chThdSleepMilliseconds(500);
   }
-  return 0;
 }
 
 /*
@@ -102,7 +100,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(500);
   }
   return 0;

testhal/STM32/STM32F30x/EXT/main.c

@@ -93,7 +93,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it enables and disables the
    * button EXT channel using 5 seconds intervals.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(5000);
     extChannelDisable(&EXTD1, 0);
     chThdSleepMilliseconds(5000);

testhal/STM32/STM32F30x/IRQ_STORM/main.c

@@ -58,7 +58,7 @@ static msg_t b[NUM_THREADS][MAILBOX_SIZE];
  * Test worker threads.
  */
 static THD_WORKING_AREA(waWorkerThread[NUM_THREADS], 128);
-static msg_t WorkerThread(void *arg) {
+static THD_FUNCTION(WorkerThread, arg) {
   static volatile unsigned x = 0;
   static unsigned cnt = 0;
   unsigned me = (unsigned)arg;
@@ -69,7 +69,7 @@ static msg_t WorkerThread(void *arg) {
   chRegSetThreadName("worker");
 
   /* Work loop.*/
-  while (TRUE) {
+  while (true) {
     /* Waiting for a message.*/
    chMBFetch(&mb[me], &msg, TIME_INFINITE);
 
@@ -329,7 +329,7 @@ int main(void) {
   /*
    * Normal main() thread activity, nothing in this test.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(5000);
   }
 }

testhal/STM32/STM32F30x/PWM-ICU/main.c

@@ -136,7 +136,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(500);
   }
   return 0;

testhal/STM32/STM32F30x/SPI/main.c

@@ -49,11 +49,11 @@ static uint8_t rxbuf[512];
  * SPI bus contender 1.
  */
 static THD_WORKING_AREA(spi_thread_1_wa, 256);
-static msg_t spi_thread_1(void *p) {
+static THD_FUNCTION(spi_thread_1, p) {
 
   (void)p;
   chRegSetThreadName("SPI thread 1");
-  while (TRUE) {
+  while (true) {
     spiAcquireBus(&SPID2);              /* Acquire ownership of the bus.    */
     palSetPad(GPIOE, GPIOE_LED10_RED);  /* LED ON.                          */
     spiStart(&SPID2, &hs_spicfg);       /* Setup transfer parameters.       */
@@ -63,18 +63,17 @@ static msg_t spi_thread_1(void *p) {
     spiUnselect(&SPID2);                /* Slave Select de-assertion.       */
     spiReleaseBus(&SPID2);              /* Ownership release.               */
   }
-  return 0;
 }
 
 /*
  * SPI bus contender 2.
  */
 static THD_WORKING_AREA(spi_thread_2_wa, 256);
-static msg_t spi_thread_2(void *p) {
+static THD_FUNCTION(spi_thread_2, p) {
 
   (void)p;
   chRegSetThreadName("SPI thread 2");
-  while (TRUE) {
+  while (true) {
     spiAcquireBus(&SPID2);              /* Acquire ownership of the bus.    */
     palClearPad(GPIOE, GPIOE_LED10_RED);/* LED OFF.                         */
     spiStart(&SPID2, &ls_spicfg);       /* Setup transfer parameters.       */
@@ -84,18 +83,17 @@ static msg_t spi_thread_2(void *p) {
     spiUnselect(&SPID2);                /* Slave Select de-assertion.       */
     spiReleaseBus(&SPID2);              /* Ownership release.               */
   }
-  return 0;
 }
 /*
  * This is a periodic thread that does absolutely nothing except flashing
  * a LED.
  */
 static THD_WORKING_AREA(blinker_wa, 128);
-static msg_t blinker(void *arg) {
+static THD_FUNCTION(blinker, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palSetPad(GPIOE, GPIOE_LED3_RED);
     chThdSleepMilliseconds(500);
     palClearPad(GPIOE, GPIOE_LED3_RED);
@@ -155,7 +153,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(500);
   }
   return 0;

testhal/STM32/STM32F30x/UART/main.c

@@ -136,7 +136,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(500);
   }
 }

testhal/STM32/STM32F30x/USB_CDC/main.c

@@ -445,11 +445,11 @@ static const ShellConfig shell_cfg1 = {
  * Red LED blinker thread, times are in milliseconds.
  */
 static THD_WORKING_AREA(waThread1, 128);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     systime_t time = serusbcfg.usbp->state == USB_ACTIVE ? 250 : 500;
     palClearPad(GPIOE, GPIOE_LED3_RED);
     chThdSleepMilliseconds(time);
@@ -504,7 +504,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE))
       shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp)) {

testhal/STM32/STM32F30x/USB_CDC_IAD/main.c

@@ -154,11 +154,11 @@ static const ShellConfig shell_cfg2 = {
  * Red LED blinker thread, times are in milliseconds.
  */
 static THD_WORKING_AREA(waThread1, 128);
-static msg_t Thread1(void *arg) {
+static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     systime_t time = serusbcfg1.usbp->state == USB_ACTIVE ? 250 : 500;
     palClearPad(GPIOE, GPIOE_LED3_RED);
     chThdSleepMilliseconds(time);
@@ -216,7 +216,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
    */
-  while (TRUE) {
+  while (true) {
     if (!shelltp1 && (SDU1.config->usbp->state == USB_ACTIVE))
       shelltp1 = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO);
     else if (chThdTerminatedX(shelltp1)) {

testhal/STM32/STM32F37x/ADC/main.c

@@ -111,13 +111,12 @@ static THD_FUNCTION(Thread1, arg) {
 
   (void)arg;
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palClearPad(GPIOC, GPIOC_LED1);
     chThdSleepMilliseconds(500);
     palSetPad(GPIOC, GPIOC_LED1);
     chThdSleepMilliseconds(500);
   }
-  return 0;
 }
 
 /*
@@ -163,7 +162,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     if (palReadPad(GPIOA, GPIOA_WKUP_BUTTON)) {
       adcStopConversion(&ADCD1);
     }

testhal/STM32/STM32F37x/CAN/main.c

@@ -47,7 +47,6 @@ static THD_FUNCTION(can_rx, p) {
     }
   }
   chEvtUnregister(&CAND1.rxfull_event, &el);
-  return 0;
 }
 
 /*
@@ -70,7 +69,6 @@ static THD_FUNCTION(can_tx, p) {
     canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, MS2ST(100));
     chThdSleepMilliseconds(500);
   }
-  return 0;
 }
 
 /*
@@ -102,7 +100,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(500);
   }
   return 0;

testhal/STM32/STM32F37x/EXT/main.c

@@ -91,7 +91,7 @@ int main(void) {
    * Normal main() thread activity, in this demo it enables and disables the
    * button EXT channel using 5 seconds intervals.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(5000);
     extChannelDisable(&EXTD1, 0);
     chThdSleepMilliseconds(5000);

testhal/STM32/STM32F37x/I2C/main.c

@@ -50,13 +50,12 @@ static THD_FUNCTION(blinker, arg) {
   (void)arg;
 
   chRegSetThreadName("blinker");
-  while (TRUE) {
+  while (true) {
     palSetPad(GPIOC, GPIOC_LED1);
     chThdSleepMilliseconds(500);
     palClearPad(GPIOC, GPIOC_LED1);
     chThdSleepMilliseconds(500);
   }
-  return 0;
 }
 
 /*
@@ -88,7 +87,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     unsigned i;
     msg_t msg;
     static const uint8_t cmd[] = {0, 0};

testhal/STM32/STM32F37x/IRQ_STORM/main.c

@@ -58,7 +58,7 @@ static msg_t b[NUM_THREADS][MAILBOX_SIZE];
  * Test worker threads.
  */
 static THD_WORKING_AREA(waWorkerThread[NUM_THREADS], 128);
-static msg_t WorkerThread(void *arg) {
+static THD_FUNCTION(WorkerThread, arg) {
   static volatile unsigned x = 0;
   static unsigned cnt = 0;
   unsigned me = (unsigned)arg;
@@ -69,7 +69,7 @@ static msg_t WorkerThread(void *arg) {
   chRegSetThreadName("worker");
 
   /* Work loop.*/
-  while (TRUE) {
+  while (true) {
     /* Waiting for a message.*/
    chMBFetch(&mb[me], &msg, TIME_INFINITE);
 
@@ -328,7 +328,7 @@ int main(void) {
   /*
    * Normal main() thread activity, nothing in this test.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(5000);
   }
 }

testhal/STM32/STM32F37x/PWM-ICU/main.c

@@ -134,7 +134,7 @@ int main(void) {
   /*
    * Normal main() thread activity, in this demo it does nothing.
    */
-  while (TRUE) {
+  while (true) {
     chThdSleepMilliseconds(500);
   }
   return 0;