git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8940 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 159 insertions, 45 deletions

diff --git a/os/rt/include/chdynamic.h b/os/rt/include/chdynamic.h
new file mode 100644
index 000000000..fa42bf3ae
--- /dev/null
+++ b/os/rt/include/chdynamic.h
@@ -0,0 +1,97 @@
+/*

+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio.

+

+    This file is part of ChibiOS.

+

+    ChibiOS is free software; you can redistribute it and/or modify

+    it under the terms of the GNU General Public License as published by

+    the Free Software Foundation; either version 3 of the License, or

+    (at your option) any later version.

+

+    ChibiOS is distributed in the hope that it will be useful,

+    but WITHOUT ANY WARRANTY; without even the implied warranty of

+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+    GNU General Public License for more details.

+

+    You should have received a copy of the GNU General Public License

+    along with this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file    chdynamic.h

+ * @brief   Dynamic threads macros and structures.

+ *

+ * @addtogroup dynamic_threads

+ * @{

+ */

+

+#ifndef _CHDYNAMIC_H_

+#define _CHDYNAMIC_H_

+

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

+

+/*===========================================================================*/

+/* Module constants.                                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+/*

+ * Module dependencies check.

+ */

+#if CH_CFG_USE_WAITEXIT == FALSE

+#error "CH_CFG_USE_DYNAMIC requires CH_CFG_USE_WAITEXIT"

+#endif

+

+#if (CH_CFG_USE_HEAP == FALSE) && (CH_CFG_USE_MEMPOOLS == FALSE)

+#error "CH_CFG_USE_DYNAMIC requires CH_CFG_USE_HEAP and/or CH_CFG_USE_MEMPOOLS"

+#endif

+

+/*===========================================================================*/

+/* Module data structures and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module macros.                                                            */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+/*

+ * Dynamic threads APIs.

+ */

+#ifdef __cplusplus

+extern "C" {

+#endif

+#if CH_CFG_USE_HEAP == TRUE

+  thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,

+                                const char *name, tprio_t prio,

+                                tfunc_t pf, void *arg);

+  void chThdFreeToHeap(thread_t *tp);

+#endif

+#if CH_CFG_USE_MEMPOOLS == TRUE

+  thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, const char *name,

+                                      tprio_t prio, tfunc_t pf, void *arg);

+  void chThdFreeToMemoryPool(thread_t *tp, memory_pool_t *mp);

+#endif

+#ifdef __cplusplus

+}

+#endif

+

+/*===========================================================================*/

+/* Module inline functions.                                                  */

+/*===========================================================================*/

+

+#endif /* CH_CFG_USE_DYNAMIC == TRUE */

+

+#endif /* _CHDYNAMIC_H_ */

+

+/** @} */

diff --git a/os/rt/include/chschd.h b/os/rt/include/chschd.h
index 8275a1eee..ca48afe75 100644
--- a/os/rt/include/chschd.h
+++ b/os/rt/include/chschd.h
@@ -218,131 +218,148 @@ struct ch_thread {
   /* End of the fields shared with the ReadyList structure. */

 #if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief Thread name or @p NULL.

+   * @brief   Thread name or @p NULL.

    */

   const char            *name;

 #endif

   /**

-   * @brief Thread stack boundary.

-   * @note  This pointer matches with the working area base address.

+   * @brief   Thread stack boundary.

+   * @note    This pointer matches with the working area base address.

    */

   stkalign_t            *stklimit;

   /**

-   * @brief Current thread state.

+   * @brief   Current thread state.

    */

   tstate_t              state;

   /**

-   * @brief Number of ticks remaining to this thread.

+   * @brief   Various thread flags.

+   */

+  tmode_t               flags;

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

+  /**

+   * @brief   References to this thread.

+   */

+  trefs_t               refs;

+#endif

+  /**

+   * @brief   Number of ticks remaining to this thread.

    */

 #if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__)

   tslices_t             preempt;

 #endif

 #if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief Thread consumed time in ticks.

-   * @note  This field can overflow.

+   * @brief   Thread consumed time in ticks.

+   * @note    This field can overflow.

    */

   volatile systime_t    time;

 #endif

   /**

-   * @brief State-specific fields.

-   * @note  All the fields declared in this union are only valid in the

-   *        specified state or condition and are thus volatile.

+   * @brief   State-specific fields.

+   * @note    All the fields declared in this union are only valid in the

+   *          specified state or condition and are thus volatile.

    */

   union {

     /**

-     * @brief Thread wakeup code.

-     * @note  This field contains the low level message sent to the thread

-     *        by the waking thread or interrupt handler. The value is valid

-     *        after exiting the @p chSchWakeupS() function.

+     * @brief   Thread wakeup code.

+     * @note    This field contains the low level message sent to the thread

+     *          by the waking thread or interrupt handler. The value is valid

+     *          after exiting the @p chSchWakeupS() function.

      */

     msg_t               rdymsg;

     /**

-     * @brief Thread exit code.

-     * @note  The thread termination code is stored in this field in order

-     *        to be retrieved by the thread performing a @p chThdWait() on

-     *        this thread.

+     * @brief   Thread exit code.

+     * @note    The thread termination code is stored in this field in order

+     *          to be retrieved by the thread performing a @p chThdWait() on

+     *          this thread.

      */

     msg_t               exitcode;

     /**

-     * @brief Pointer to a generic "wait" object.

-     * @note  This field is used to get a generic pointer to a synchronization

-     *        object and is valid when the thread is in one of the wait

-     *        states.

+     * @brief   Pointer to a generic "wait" object.

+     * @note    This field is used to get a generic pointer to a synchronization

+     *          object and is valid when the thread is in one of the wait

+     *          states.

      */

     void                *wtobjp;

     /**

-     * @brief Pointer to a generic thread reference object.

-     * @note  This field is used to get a pointer to a synchronization

-     *        object and is valid when the thread is in @p CH_STATE_SUSPENDED

-     *        state.

+     * @brief   Pointer to a generic thread reference object.

+     * @note    This field is used to get a pointer to a synchronization

+     *          object and is valid when the thread is in @p CH_STATE_SUSPENDED

+     *          state.

      */

     thread_reference_t  *wttrp;

 #if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)

     /**

-     * @brief Thread sent message.

+     * @brief   Thread sent message.

      */

     msg_t               sentmsg;

 #endif

 #if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)

     /**

-     * @brief Pointer to a generic semaphore object.

-     * @note  This field is used to get a pointer to a synchronization

-     *        object and is valid when the thread is in @p CH_STATE_WTSEM

-     *        state.

+     * @brief   Pointer to a generic semaphore object.

+     * @note    This field is used to get a pointer to a synchronization

+     *          object and is valid when the thread is in @p CH_STATE_WTSEM

+     *          state.

      */

     struct ch_semaphore *wtsemp;

 #endif

 #if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)

     /**

-     * @brief Pointer to a generic mutex object.

-     * @note  This field is used to get a pointer to a synchronization

-     *        object and is valid when the thread is in @p CH_STATE_WTMTX

-     *        state.

+     * @brief   Pointer to a generic mutex object.

+     * @note    This field is used to get a pointer to a synchronization

+     *          object and is valid when the thread is in @p CH_STATE_WTMTX

+     *          state.

      */

     struct ch_mutex     *wtmtxp;

 #endif

 #if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)

     /**

-     * @brief Enabled events mask.

-     * @note  This field is only valid while the thread is in the

-     *        @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.

+     * @brief   Enabled events mask.

+     * @note    This field is only valid while the thread is in the

+     *          @p CH_STATE_WTOREVT or @p CH_STATE_WTANDEVT states.

      */

     eventmask_t         ewmask;

 #endif

   }                     u;

 #if (CH_CFG_USE_WAITEXIT == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief Termination waiting list.

+   * @brief   Termination waiting list.

    */

   threads_list_t        waiting;

 #endif

 #if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief Messages queue.

+   * @brief   Messages queue.

    */

   threads_queue_t       msgqueue;

 #endif

 #if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief Pending events mask.

+   * @brief   Pending events mask.

    */

   eventmask_t           epending;

 #endif

 #if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief List of the mutexes owned by this thread.

-   * @note  The list is terminated by a @p NULL in this field.

+   * @brief   List of the mutexes owned by this thread.

+   * @note    The list is terminated by a @p NULL in this field.

    */

   struct ch_mutex       *mtxlist;

   /**

-   * @brief Thread's own, non-inherited, priority.

+   * @brief   Thread's own, non-inherited, priority.

    */

   tprio_t               realprio;

 #endif

+#if ((CH_CFG_USE_DYNAMIC == TRUE) && (CH_CFG_USE_MEMPOOLS == TRUE)) ||      \

+    defined(__DOXYGEN__)

+  /**

+   * @brief   Memory Pool where the thread workspace is returned.

+   */

+  void                  *mpool;

+#endif

 #if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)

   /**

-   * @brief Thread statistics.

+   * @brief   Thread statistics.

    */

   time_measurement_t    stats;

 #endif