RTEMS | libi2c: Use RTEMS thread API and support initialization at device driver level (!821)

[Vijay Banerjee (@vijay)]

Vijay Banerjee commented: https://gitlab.rtems.org/rtems/rtos/rtems/-/merge_requests/821#note_136916


I will ask in the epics-controls channel for help with testing before this can be merged. These patches would be needed for branch 6, too.

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View it on GitLab: https://gitlab.rtems.org/rtems/rtos/rtems/-/merge_requests/821#note_136916
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