Turned more macros in inline functions.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6166 35acf78f-673a-0410-8e92-d51de3d6d3f4

6 files changed, 270 insertions, 249 deletions

diff --git a/os/hal/osal/chibios/osal.c b/os/hal/osal/chibios/osal.c
index 65912ce7e..da3746eaf 100644
--- a/os/hal/osal/chibios/osal.c
+++ b/os/hal/osal/chibios/osal.c
@@ -98,9 +98,9 @@ msg_t osalThreadSuspendS(thread_reference_t *trp) {
 

   chDbgAssert(*trp == NULL, "not NULL");

 

-  *trp = (thread_reference_t)chThdSelf();

+  *trp = (thread_reference_t)chThdGetSelfX();

   chSchGoSleepS(CH_STATE_SUSPENDED);

-  return chThdSelf()->p_msg;

+  return chThdGetSelfX()->p_msg;

 }

 

 /**

diff --git a/os/rt/include/ch.h b/os/rt/include/ch.h
index 6af6b8d4d..3e3b90983 100644
--- a/os/rt/include/ch.h
+++ b/os/rt/include/ch.h
@@ -114,9 +114,9 @@ typedef struct virtual_timer virtual_timer_t;
 #include "chsys.h"

 #include "chglobal.h"

 #include "chvt.h"

-#include "chthreads.h"

 #include "chlists.h"

 #include "chschd.h"

+#include "chthreads.h"

 #include "chregistry.h"

 #include "chsem.h"

 #include "chbsem.h"

diff --git a/os/rt/include/chglobal.h b/os/rt/include/chglobal.h
index 0d49d9a45..9803aa8fb 100644
--- a/os/rt/include/chglobal.h
+++ b/os/rt/include/chglobal.h
@@ -48,7 +48,6 @@
  * @brief   Generic threads single link list, it works like a stack.

  */

 typedef struct {

-

   thread_t              *p_next;    /**< @brief Next in the list/queue.     */

 } threads_list_t;

 

@@ -83,6 +82,149 @@ typedef struct {
 } ready_list_t;

 

 /**

+ * @extends threads_queue_t

+ *

+ * @brief   Structure representing a thread.

+ * @note    Not all the listed fields are always needed, by switching off some

+ *          not needed ChibiOS/RT subsystems it is possible to save RAM space

+ *          by shrinking the @p thread_t structure.

+ */

+typedef struct thread {

+  thread_t              *p_next;    /**< @brief Next in the list/queue.     */

+  /* End of the fields shared with the threads_list_t structure.*/

+  thread_t              *p_prev;    /**< @brief Previous in the queue.      */

+  /* End of the fields shared with the threads_queue_t structure.*/

+  tprio_t               p_prio;     /**< @brief Thread priority.            */

+  struct context        p_ctx;      /**< @brief Processor context.          */

+#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)

+  thread_t              *p_newer;   /**< @brief Newer registry element.     */

+  thread_t              *p_older;   /**< @brief Older registry element.     */

+#endif

+  /* End of the fields shared with the ReadyList structure. */

+#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)

+  /**

+   * @brief Thread name or @p NULL.

+   */

+  const char            *p_name;

+#endif

+#if CH_DBG_ENABLE_STACK_CHECK || defined(__DOXYGEN__)

+  /**

+   * @brief Thread stack boundary.

+   */

+  stkalign_t            *p_stklimit;

+#endif

+  /**

+   * @brief Current thread state.

+   */

+  tstate_t              p_state;

+  /**

+   * @brief Various thread flags.

+   */

+  tmode_t               p_flags;

+#if CH_CFG_USE_DYNAMIC || defined(__DOXYGEN__)

+  /**

+   * @brief References to this thread.

+   */

+  trefs_t               p_refs;

+#endif

+  /**

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

+   */

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

+  tslices_t             p_preempt;

+#endif

+#if CH_DBG_THREADS_PROFILING || defined(__DOXYGEN__)

+  /**

+   * @brief Thread consumed time in ticks.

+   * @note  This field can overflow.

+   */

+  volatile systime_t    p_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.

+   */

+  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.

+     */

+    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.

+     */

+    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.

+     */

+    void                *wtobjp;

+#if CH_CFG_USE_EVENTS || 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.

+     */

+    eventmask_t         ewmask;

+#endif

+  }                     p_u;

+#if CH_CFG_USE_WAITEXIT || defined(__DOXYGEN__)

+  /**

+   * @brief Termination waiting list.

+   */

+  threads_list_t        p_waiting;

+#endif

+#if CH_CFG_USE_MESSAGES || defined(__DOXYGEN__)

+  /**

+   * @brief Messages queue.

+   */

+  threads_queue_t       p_msgqueue;

+  /**

+   * @brief Thread message.

+   */

+  msg_t                 p_msg;

+#endif

+#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)

+  /**

+   * @brief Pending events mask.

+   */

+  eventmask_t           p_epending;

+#endif

+#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)

+  /**

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

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

+   */

+  struct mutex          *p_mtxlist;

+  /**

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

+   */

+  tprio_t               p_realprio;

+#endif

+#if (CH_CFG_USE_DYNAMIC && CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__)

+  /**

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

+   */

+  void                  *p_mpool;

+#endif

+#if CH_DBG_STATISTICS || defined(__DOXYGEN__)

+  time_measurement_t    p_stats;

+#endif

+#if defined(CH_CFG_THREAD_EXTRA_FIELDS)

+  /* Extra fields defined in chconf.h.*/

+  CH_CFG_THREAD_EXTRA_FIELDS

+#endif

+} thread_t;

+

+/**

  * @brief   Virtual timers list header.

  * @note    The timers list is implemented as a double link bidirectional list

  *          in order to make the unlink time constant, the reset of a virtual

diff --git a/os/rt/include/chmtx.h b/os/rt/include/chmtx.h
index a4ff5e49f..0444d936c 100644
--- a/os/rt/include/chmtx.h
+++ b/os/rt/include/chmtx.h
@@ -48,16 +48,21 @@
 /*===========================================================================*/

 

 /**

+ * @brief   Type of a mutex structure.

+ */

+typedef struct mutex mutex_t;

+

+/**

  * @brief   Mutex structure.

  */

-typedef struct mutex {

+struct mutex {

   threads_queue_t       m_queue;    /**< @brief Queue of the threads sleeping

                                                 on this mutex.              */

   thread_t              *m_owner;   /**< @brief Owner @p thread_t pointer or

                                                 @p NULL.                    */

   mutex_t               *m_next;    /**< @brief Next @p mutex_t into an

                                                 owner-list or @p NULL.      */

-} mutex_t;

+};

 

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

 /* Module macros.                                                            */

diff --git a/os/rt/include/chthreads.h b/os/rt/include/chthreads.h
index 22f499edf..d27de04a9 100644
--- a/os/rt/include/chthreads.h
+++ b/os/rt/include/chthreads.h
@@ -39,22 +39,23 @@
  */

 #define CH_STATE_READY          0   /**< @brief Waiting on the ready list.  */

 #define CH_STATE_CURRENT        1   /**< @brief Currently running.          */

-#define CH_STATE_SUSPENDED      2   /**< @brief Created in suspended state. */

-#define CH_STATE_WTSEM          3   /**< @brief Waiting on a semaphore.     */

-#define CH_STATE_WTMTX          4   /**< @brief Waiting on a mutex.         */

-#define CH_STATE_WTCOND         5   /**< @brief Waiting on a condition

+#define CH_STATE_WTSTART        2   /**< @brief Created but not started.    */

+#define CH_STATE_SUSPENDED      3   /**< @brief Created in suspended state. */

+#define CH_STATE_WTSEM          4   /**< @brief Waiting on a semaphore.     */

+#define CH_STATE_WTMTX          5   /**< @brief Waiting on a mutex.         */

+#define CH_STATE_WTCOND         6   /**< @brief Waiting on a condition

                                          variable.                          */

-#define CH_STATE_SLEEPING       6   /**< @brief Waiting in @p chThdSleep()

+#define CH_STATE_SLEEPING       7   /**< @brief Waiting in @p chThdSleep()

                                          or @p chThdSleepUntil().           */

-#define CH_STATE_WTEXIT         7   /**< @brief Waiting in @p chThdWait().  */

-#define CH_STATE_WTOREVT        8   /**< @brief Waiting for an event.       */

-#define CH_STATE_WTANDEVT       9   /**< @brief Waiting for several events. */

-#define CH_STATE_SNDMSGQ        10  /**< @brief Sending a message, in queue.*/

-#define CH_STATE_SNDMSG         11  /**< @brief Sent a message, waiting

+#define CH_STATE_WTEXIT         8   /**< @brief Waiting in @p chThdWait().  */

+#define CH_STATE_WTOREVT        9   /**< @brief Waiting for an event.       */

+#define CH_STATE_WTANDEVT       10   /**< @brief Waiting for several events. */

+#define CH_STATE_SNDMSGQ        11  /**< @brief Sending a message, in queue.*/

+#define CH_STATE_SNDMSG         12  /**< @brief Sent a message, waiting

                                          answer.                            */

-#define CH_STATE_WTMSG          12  /**< @brief Waiting for a message.      */

-#define CH_STATE_WTQUEUE        13  /**< @brief Waiting on an I/O queue.    */

-#define CH_STATE_FINAL          14  /**< @brief Thread terminated.          */

+#define CH_STATE_WTMSG          13  /**< @brief Waiting for a message.      */

+#define CH_STATE_WTQUEUE        14  /**< @brief Waiting on an I/O queue.    */

+#define CH_STATE_FINAL          15  /**< @brief Thread terminated.          */

 

 /**

  * @brief   Thread states as array of strings.

@@ -62,9 +63,9 @@
  *          indexed using the numeric thread state values.

  */

 #define CH_STATE_NAMES                                                     \

-  "READY", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND", "SLEEPING",  \

-  "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG", "WTMSG", "WTQUEUE", \

-  "FINAL"

+  "READY", "WTSTART", "CURRENT", "SUSPENDED", "WTSEM", "WTMTX", "WTCOND",  \

+  "SLEEPING", "WTEXIT", "WTOREVT", "WTANDEVT", "SNDMSGQ", "SNDMSG",        \

+  "WTMSG", "WTQUEUE", "FINAL"

 /** @} */

 

 /**

@@ -92,154 +93,6 @@
 /* Module data structures and types.                                         */

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

 

-/* Forward declaration required by the mutexes stack structure present

-   in every thread.*/

-#if CH_CFG_USE_MUTEXES

-typedef struct mutex mutex_t;

-#endif

-

-/**

- * @extends threads_queue_t

- *

- * @brief   Structure representing a thread.

- * @note    Not all the listed fields are always needed, by switching off some

- *          not needed ChibiOS/RT subsystems it is possible to save RAM space

- *          by shrinking the @p thread_t structure.

- */

-typedef struct thread {

-  thread_t              *p_next;    /**< @brief Next in the list/queue.     */

-  /* End of the fields shared with the threads_list_t structure.*/

-  thread_t              *p_prev;    /**< @brief Previous in the queue.      */

-  /* End of the fields shared with the threads_queue_t structure.*/

-  tprio_t               p_prio;     /**< @brief Thread priority.            */

-  struct context        p_ctx;      /**< @brief Processor context.          */

-#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)

-  thread_t              *p_newer;   /**< @brief Newer registry element.     */

-  thread_t              *p_older;   /**< @brief Older registry element.     */

-#endif

-  /* End of the fields shared with the ReadyList structure. */

-#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)

-  /**

-   * @brief Thread name or @p NULL.

-   */

-  const char            *p_name;

-#endif

-#if CH_DBG_ENABLE_STACK_CHECK || defined(__DOXYGEN__)

-  /**

-   * @brief Thread stack boundary.

-   */

-  stkalign_t            *p_stklimit;

-#endif

-  /**

-   * @brief Current thread state.

-   */

-  tstate_t              p_state;

-  /**

-   * @brief Various thread flags.

-   */

-  tmode_t               p_flags;

-#if CH_CFG_USE_DYNAMIC || defined(__DOXYGEN__)

-  /**

-   * @brief References to this thread.

-   */

-  trefs_t               p_refs;

-#endif

-  /**

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

-   */

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

-  tslices_t             p_preempt;

-#endif

-#if CH_DBG_THREADS_PROFILING || defined(__DOXYGEN__)

-  /**

-   * @brief Thread consumed time in ticks.

-   * @note  This field can overflow.

-   */

-  volatile systime_t    p_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.

-   */

-  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.

-     */

-    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.

-     */

-    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.

-     */

-    void                *wtobjp;

-#if CH_CFG_USE_EVENTS || 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.

-     */

-    eventmask_t         ewmask;

-#endif

-  }                     p_u;

-#if CH_CFG_USE_WAITEXIT || defined(__DOXYGEN__)

-  /**

-   * @brief Termination waiting list.

-   */

-  threads_list_t        p_waiting;

-#endif

-#if CH_CFG_USE_MESSAGES || defined(__DOXYGEN__)

-  /**

-   * @brief Messages queue.

-   */

-  threads_queue_t       p_msgqueue;

-  /**

-   * @brief Thread message.

-   */

-  msg_t                 p_msg;

-#endif

-#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)

-  /**

-   * @brief Pending events mask.

-   */

-  eventmask_t           p_epending;

-#endif

-#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)

-  /**

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

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

-   */

-  mutex_t               *p_mtxlist;

-  /**

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

-   */

-  tprio_t               p_realprio;

-#endif

-#if (CH_CFG_USE_DYNAMIC && CH_CFG_USE_MEMPOOLS) || defined(__DOXYGEN__)

-  /**

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

-   */

-  void                  *p_mpool;

-#endif

-#if CH_DBG_STATISTICS || defined(__DOXYGEN__)

-  time_measurement_t    p_stats;

-#endif

-#if defined(CH_CFG_THREAD_EXTRA_FIELDS)

-  /* Extra fields defined in chconf.h.*/

-  CH_CFG_THREAD_EXTRA_FIELDS

-#endif

-} thread_t;

 

 /**

  * @brief   Thread function.

@@ -255,80 +108,6 @@ typedef msg_t (*tfunc_t)(void *);
  * @{

  */

 /**

- * @brief   Returns a pointer to the current @p thread_t.

- * @note    Can be invoked in any context.

- *

- * @special

- */

-#define chThdSelf() currp

-

-/**

- * @brief   Returns the current thread priority.

- * @note    Can be invoked in any context.

- *

- * @special

- */

-#define chThdGetPriority() (currp->p_prio)

-

-/**

- * @brief   Returns the number of ticks consumed by the specified thread.

- * @note    This function is only available when the

- *          @p CH_DBG_THREADS_PROFILING configuration option is enabled.

- * @note    Can be invoked in any context.

- *

- * @param[in] tp        pointer to the thread

- *

- * @special

- */

-#define chThdGetTicks(tp) ((tp)->p_time)

-

-/**

- * @brief   Verifies if the specified thread is in the @p CH_STATE_FINAL state.

- * @note    Can be invoked in any context.

- *

- * @param[in] tp        pointer to the thread

- * @retval true         thread terminated.

- * @retval false        thread not terminated.

- *

- * @special

- */

-#define chThdTerminated(tp) ((tp)->p_state == CH_STATE_FINAL)

-

-/**

- * @brief   Verifies if the current thread has a termination request pending.

- * @note    Can be invoked in any context.

- *

- * @retval true         termination request pending.

- * @retval false        termination request not pending.

- *

- * @special

- */

-#define chThdShouldTerminate() (currp->p_flags & CH_FLAG_TERMINATE)

-

-/**

- * @brief   Resumes a thread created with @p chThdCreateI().

- *

- * @param[in] tp        pointer to the thread

- *

- * @iclass

- */

-#define chThdResumeI(tp) chSchReadyI(tp)

-

-/**

- * @brief   Suspends the invoking thread for the specified time.

- *

- * @param[in] time      the delay in system ticks, the special values are

- *                      handled as follow:

- *                      - @a TIME_INFINITE the thread enters an infinite sleep

- *                        state.

- *                      - @a TIME_IMMEDIATE this value is not allowed.

- *                      .

- *

- * @sclass

- */

-#define chThdSleepS(time) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time)

-

-/**

  * @brief   Delays the invoking thread for the specified number of seconds.

  * @note    The specified time is rounded up to a value allowed by the real

  *          system tick clock.

@@ -401,6 +180,103 @@ extern "C" {
 /* Module inline functions.                                                  */

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

 

+ /**

+  * @brief   Returns a pointer to the current @p thread_t.

+  *

+  * @xclass

+  */

+static inline thread_t *chThdGetSelfX(void) {

+

+  return ch.rlist.r_current;

+}

+

+/**

+ * @brief   Returns the current thread priority.

+ * @note    Can be invoked in any context.

+ *

+ * @xclass

+ */

+static inline tprio_t chThdGetPriorityX(void) {

+

+  return chThdGetSelfX()->p_prio;

+}

+

+/**

+ * @brief   Returns the number of ticks consumed by the specified thread.

+ * @note    This function is only available when the

+ *          @p CH_DBG_THREADS_PROFILING configuration option is enabled.

+ *

+ * @param[in] tp        pointer to the thread

+ *

+ * @xclass

+ */

+#if CH_DBG_THREADS_PROFILING || defined(__DOXYGEN__)

+static inline systime_t chThdGetTicksX(thread_t *tp) {

+

+  return tp->p_time;

+}

+#endif

+

+/**

+ * @brief   Verifies if the specified thread is in the @p CH_STATE_FINAL state.

+ *

+ * @param[in] tp        pointer to the thread

+ * @retval true         thread terminated.

+ * @retval false        thread not terminated.

+ *

+ * @xclass

+ */

+static inline bool chThdTerminatedX(thread_t *tp) {

+

+  return (bool)(tp->p_state == CH_STATE_FINAL);

+}

+

+/**

+ * @brief   Verifies if the current thread has a termination request pending.

+ *

+ * @retval true         termination request pending.

+ * @retval false        termination request not pending.

+ *

+ * @xclass

+ */

+static inline bool chThdShouldTerminateX(void) {

+

+  return (bool)(chThdGetSelfX()->p_flags & CH_FLAG_TERMINATE);

+}

+

+/**

+ * @brief   Resumes a thread created with @p chThdCreateI().

+ *

+ * @param[in] tp        pointer to the thread

+ *

+ * @xclass

+ */

+static inline thread_t *chThdStartI(thread_t *tp) {

+

+  chDbgAssert(tp->p_state == CH_STATE_WTSTART, "wrong state");

+

+  return chSchReadyI(tp);

+}

+

+/**

+ * @brief   Suspends the invoking thread for the specified time.

+ *

+ * @param[in] time      the delay in system ticks, the special values are

+ *                      handled as follow:

+ *                      - @a TIME_INFINITE the thread enters an infinite sleep

+ *                        state.

+ *                      - @a TIME_IMMEDIATE this value is not allowed.

+ *                      .

+ *

+ * @sclass

+ */

+static inline void chThdSleepS(systime_t time) {

+

+  chDbgCheck(time != TIME_IMMEDIATE);

+

+  chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);

+}

+

 #endif /* _CHTHREADS_H_ */

 

 /** @} */

diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c
index 073b6eed7..d6fbc880f 100644
--- a/os/rt/src/chthreads.c
+++ b/os/rt/src/chthreads.c
@@ -93,7 +93,7 @@
 thread_t *_thread_init(thread_t *tp, tprio_t prio) {

 

   tp->p_prio = prio;

-  tp->p_state = CH_STATE_SUSPENDED;

+  tp->p_state = CH_STATE_WTSTART;

   tp->p_flags = CH_FLAG_MODE_STATIC;

 #if CH_CFG_TIME_QUANTUM > 0

   tp->p_preempt = CH_CFG_TIME_QUANTUM;

@@ -153,9 +153,9 @@ void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v) {
 /**

  * @brief   Creates a new thread into a static memory area.

  * @details The new thread is initialized but not inserted in the ready list,

- *          the initial state is @p CH_STATE_SUSPENDED.

+ *          the initial state is @p CH_STATE_WTSTART.

  * @post    The initialized thread can be subsequently started by invoking

- *          @p chThdResume(), @p chThdResumeI() or @p chSchWakeupS()

+ *          @p chThdStart(), @p chThdStartI() or @p chSchWakeupS()

  *          depending on the execution context.

  * @note    A thread can terminate by calling @p chThdExit() or by simply

  *          returning from its main function.

@@ -310,8 +310,6 @@ void chThdTerminate(thread_t *tp) {
  */

 void chThdSleep(systime_t time) {

 

-  chDbgCheck(time != TIME_IMMEDIATE);

-

   chSysLock();

   chThdSleepS(time);

   chSysUnlock();