git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@346 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 508 insertions, 505 deletions

diff --git a/src/include/queues.h b/src/include/queues.h
index 5c480e8cf..0a373b5ea 100644
--- a/src/include/queues.h
+++ b/src/include/queues.h
@@ -1,184 +1,184 @@
-/*

-    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.

-

-    This file is part of ChibiOS/RT.

-

-    ChibiOS/RT 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/RT 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/>.

-*/

-

-/**

- * @addtogroup IOQueues

- * @{

- */

-

-#ifndef _QUEUES_H_

-#define _QUEUES_H_

-

-/** Queue notification callback type.*/

-typedef void (*qnotify_t)(void);

-

-/** Returned by the queue functions if the operation is successful.*/

-#define Q_OK        RDY_OK

-/** Returned by the queue functions if a timeout occurs.*/

-#define Q_TIMEOUT   RDY_TIMEOUT

-/** Returned by the queue functions if the queue is reset.*/

-#define Q_RESET     RDY_RESET

-/** Returned by the queue functions if the queue is empty.*/

-#define Q_EMPTY     -3

-/** Returned by the queue functions if the queue is full.*/

-#define Q_FULL      -4

-

-#ifdef CH_USE_QUEUES

-/**

- * I/O queue structure, it is used by both Input and Output Queues,

- * the difference is on how the semaphore is initialized.

- */

-typedef struct {

-  /** Pointer to the queue buffer.*/

-  uint8_t           *q_buffer;

-  /** Pointer to the first location after the buffer.*/

-  uint8_t           *q_top;

-  /** Write pointer.*/

-  uint8_t           *q_wrptr;

-  /** Read pointer.*/

-  uint8_t           *q_rdptr;

-  /** Counter semaphore.*/

-  Semaphore         q_sem;

-  /** Data notification callback.*/

-  qnotify_t         q_notify;

-} Queue;

-

-/** Returns the queue's buffer size.*/

-#define chQSize(q) \

-        ((q)->q_top - (q)->q_buffer)

-

-/** Returns the used space if used on an Input Queue and the empty space if

- *  used on an Output Queue.*/

-#define chQSpace(q) \

-        ((q)->q_sem.s_cnt)

-

-/** Evaluates to TRUE if the specified Input Queue is empty.*/

-#define chIQIsEmpty(q) \

-        (chQSpace(q) <= 0)

-

-/** Evaluates to TRUE if the specified Input Queue is full.*/

-#define chIQIsFull(q) \

-        (chQSpace(q) >= chQSize(q))

-

-/** Evaluates to TRUE if the specified Output Queue is empty.*/

-#define chOQIsEmpty(q) \

-        (chQSpace(q) >= chQSize(q))

-

-/** Evaluates to TRUE if the specified Output Queue is full.*/

-#define chOQIsFull(q) \

-        (chQSpace(q) <= 0)

-

-#ifdef __cplusplus

-extern "C" {

-#endif

-  /*

-   * Input Queues functions. An Input Queue is usually written into by an

-   * interrupt handler and read from a thread.

-   */

-  void chIQInit(Queue *qp, uint8_t *buffer, size_t size, qnotify_t inotify);

-  void chIQReset(Queue *qp);

-  msg_t chIQPutI(Queue *qp, uint8_t b);

-  msg_t chIQGet(Queue *qp);

-  size_t chIQRead(Queue *qp, uint8_t *buffer, size_t n);

-#ifdef CH_USE_QUEUES_TIMEOUT

-  msg_t chIQGetTimeout(Queue *qp, systime_t time);

-#endif

-

-  /*

-   * Output Queues functions. An Output Queue is usually written into by a

-   * thread and read from an interrupt handler.

-   */

-  void chOQInit(Queue *queue, uint8_t *buffer, size_t size, qnotify_t onotify);

-  void chOQReset(Queue *queue);

-  void chOQPut(Queue *queue, uint8_t b);

-  msg_t chOQGetI(Queue *queue);

-  size_t chOQWrite(Queue *queue, uint8_t *buffer, size_t n);

-#ifdef __cplusplus

-}

-#endif

-#endif  /* CH_USE_QUEUES */

-

-#ifdef CH_USE_QUEUES_HALFDUPLEX

-/**

- * Half duplex queue structure.

- */

-typedef struct {

-  /** Pointer to the queue buffer.*/

-  uint8_t           *hdq_buffer;

-  /** Pointer to the first location after the buffer.*/

-  uint8_t           *hdq_top;

-  /** Write pointer.*/

-  uint8_t           *hdq_wrptr;

-  /** Read pointer.*/

-  uint8_t           *hdq_rdptr;

-  /** Input counter semaphore.*/

-  Semaphore         hdq_isem;

-  /** Output counter semaphore.*/

-  Semaphore         hdq_osem;

-  /** Input data notification callback.*/

-  qnotify_t         hdq_inotify;

-  /** Output data notification callback.*/

-  qnotify_t         hdq_onotify;

-} HalfDuplexQueue;

-

-/** Returns the queue's buffer size.*/

-#define chHDQSize(q) \

-        ((q)->hdq_top - (q)->hdq_buffer)

-

-/** Returns the queue space when in transmission mode.*/

-#define chHDQEmptySpace(q) \

-        ((q)->hdq_osem.s_cnt)

-

-/** Returns the number of the bytes in the queue when in receive mode.*/

-#define chHDQFilledSpace(q) \

-        ((q)->hdq_isem.s_cnt)

-

-/** Evaluates to TRUE if the queue is in transmit mode.*/

-#define chHDQIsTransmitting(q) \

-        (chHDQEmptySpace(q) < chHDQSize(q))

-

-/** Evaluates to TRUE if the queue is in receive mode.*/

-#define chHDQIsReceiving(q) \

-        (chHDQEmptySpaceQ(q) >= chHDQSize(q))

-

-/** Evaluates to TRUE if the receive queue is full.*/

-#define chHDQIsFullReceive(q) \

-        (chHDQFilledSpace(q) >= chHDQSize(q))

-

-#ifdef __cplusplus

-extern "C" {

-#endif

-  void chHDQInit(HalfDuplexQueue *qp, uint8_t *buffer, size_t size,

-                 qnotify_t inotify, qnotify_t onotify);

-  msg_t chHDQGetReceive(HalfDuplexQueue *qp);

-  void chHDQPutTransmit(HalfDuplexQueue *qp, uint8_t b);

-  msg_t chHDQGetTransmitI(HalfDuplexQueue *qp);

-  msg_t chHDQPutReceiveI(HalfDuplexQueue *qp, uint8_t b);

-#ifdef CH_USE_QUEUES_TIMEOUT

-  msg_t chHDQGetReceiveTimeout(HalfDuplexQueue *qp, systime_t time);

-#endif

-#ifdef __cplusplus

-}

-#endif

-

-#endif /* CH_USE_QUEUES_HALFDUPLEX */

-

-#endif /* _QUEUES_H_ */

-

-/** @} */

+/*
+    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT 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/RT 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/>.
+*/
+
+/**
+ * @addtogroup IOQueues
+ * @{
+ */
+
+#ifndef _QUEUES_H_
+#define _QUEUES_H_
+
+/** Queue notification callback type. */
+typedef void (*qnotify_t)(void);
+
+/** Returned by the queue functions if the operation is successful. */
+#define Q_OK        RDY_OK
+/** Returned by the queue functions if a timeout occurs. */
+#define Q_TIMEOUT   RDY_TIMEOUT
+/** Returned by the queue functions if the queue is reset. */
+#define Q_RESET     RDY_RESET
+/** Returned by the queue functions if the queue is empty. */
+#define Q_EMPTY     -3
+/** Returned by the queue functions if the queue is full. */
+#define Q_FULL      -4
+
+#ifdef CH_USE_QUEUES
+/**
+ * I/O queue structure, it is used by both Input and Output Queues,
+ * the difference is on how the semaphore is initialized.
+ */
+typedef struct {
+  /** Pointer to the queue buffer. */
+  uint8_t           *q_buffer;
+  /** Pointer to the first location after the buffer. */
+  uint8_t           *q_top;
+  /** Write pointer. */
+  uint8_t           *q_wrptr;
+  /** Read pointer. */
+  uint8_t           *q_rdptr;
+  /** Counter semaphore. */
+  Semaphore         q_sem;
+  /** Data notification callback. */
+  qnotify_t         q_notify;
+} Queue;
+
+/** Returns the queue's buffer size. */
+#define chQSize(q) \
+        ((q)->q_top - (q)->q_buffer)
+
+/** Returns the used space if used on an Input Queue and the empty space if
+ *  used on an Output Queue. */
+#define chQSpace(q) \
+        ((q)->q_sem.s_cnt)
+
+/** Evaluates to TRUE if the specified Input Queue is empty. */
+#define chIQIsEmpty(q) \
+        (chQSpace(q) <= 0)
+
+/** Evaluates to TRUE if the specified Input Queue is full. */
+#define chIQIsFull(q) \
+        (chQSpace(q) >= chQSize(q))
+
+/** Evaluates to TRUE if the specified Output Queue is empty. */
+#define chOQIsEmpty(q) \
+        (chQSpace(q) >= chQSize(q))
+
+/** Evaluates to TRUE if the specified Output Queue is full. */
+#define chOQIsFull(q) \
+        (chQSpace(q) <= 0)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  /*
+   * Input Queues functions. An Input Queue is usually written into by an
+   * interrupt handler and read from a thread.
+   */
+  void chIQInit(Queue *qp, uint8_t *buffer, size_t size, qnotify_t inotify);
+  void chIQReset(Queue *qp);
+  msg_t chIQPutI(Queue *qp, uint8_t b);
+  msg_t chIQGet(Queue *qp);
+  size_t chIQRead(Queue *qp, uint8_t *buffer, size_t n);
+#ifdef CH_USE_QUEUES_TIMEOUT
+  msg_t chIQGetTimeout(Queue *qp, systime_t time);
+#endif
+
+  /*
+   * Output Queues functions. An Output Queue is usually written into by a
+   * thread and read from an interrupt handler.
+   */
+  void chOQInit(Queue *queue, uint8_t *buffer, size_t size, qnotify_t onotify);
+  void chOQReset(Queue *queue);
+  void chOQPut(Queue *queue, uint8_t b);
+  msg_t chOQGetI(Queue *queue);
+  size_t chOQWrite(Queue *queue, uint8_t *buffer, size_t n);
+#ifdef __cplusplus
+}
+#endif
+#endif  /* CH_USE_QUEUES */
+
+#ifdef CH_USE_QUEUES_HALFDUPLEX
+/**
+ * Half duplex queue structure.
+ */
+typedef struct {
+  /** Pointer to the queue buffer. */
+  uint8_t           *hdq_buffer;
+  /** Pointer to the first location after the buffer. */
+  uint8_t           *hdq_top;
+  /** Write pointer.*/
+  uint8_t           *hdq_wrptr;
+  /** Read pointer.*/
+  uint8_t           *hdq_rdptr;
+  /** Input counter semaphore. */
+  Semaphore         hdq_isem;
+  /** Output counter semaphore. */
+  Semaphore         hdq_osem;
+  /** Input data notification callback. */
+  qnotify_t         hdq_inotify;
+  /** Output data notification callback. */
+  qnotify_t         hdq_onotify;
+} HalfDuplexQueue;
+
+/** Returns the queue's buffer size. */
+#define chHDQSize(q) \
+        ((q)->hdq_top - (q)->hdq_buffer)
+
+/** Returns the queue space when in transmission mode. */
+#define chHDQEmptySpace(q) \
+        ((q)->hdq_osem.s_cnt)
+
+/** Returns the number of the bytes in the queue when in receive mode. */
+#define chHDQFilledSpace(q) \
+        ((q)->hdq_isem.s_cnt)
+
+/** Evaluates to TRUE if the queue is in transmit mode. */
+#define chHDQIsTransmitting(q) \
+        (chHDQEmptySpace(q) < chHDQSize(q))
+
+/** Evaluates to TRUE if the queue is in receive mode. */
+#define chHDQIsReceiving(q) \
+        (chHDQEmptySpaceQ(q) >= chHDQSize(q))
+
+/** Evaluates to TRUE if the receive queue is full. */
+#define chHDQIsFullReceive(q) \
+        (chHDQFilledSpace(q) >= chHDQSize(q))
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void chHDQInit(HalfDuplexQueue *qp, uint8_t *buffer, size_t size,
+                 qnotify_t inotify, qnotify_t onotify);
+  msg_t chHDQGetReceive(HalfDuplexQueue *qp);
+  void chHDQPutTransmit(HalfDuplexQueue *qp, uint8_t b);
+  msg_t chHDQGetTransmitI(HalfDuplexQueue *qp);
+  msg_t chHDQPutReceiveI(HalfDuplexQueue *qp, uint8_t b);
+#ifdef CH_USE_QUEUES_TIMEOUT
+  msg_t chHDQGetReceiveTimeout(HalfDuplexQueue *qp, systime_t time);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CH_USE_QUEUES_HALFDUPLEX */
+
+#endif /* _QUEUES_H_ */
+
+/** @} */
diff --git a/src/include/scheduler.h b/src/include/scheduler.h
index 0235a7c97..3a6486efe 100644
--- a/src/include/scheduler.h
+++ b/src/include/scheduler.h
@@ -1,80 +1,82 @@
-/*

-    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.

-

-    This file is part of ChibiOS/RT.

-

-    ChibiOS/RT 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/RT 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/>.

-*/

-

-/**

- * @addtogroup Scheduler

- * @{

- */

-

-#ifndef _SCHEDULER_H_

-#define _SCHEDULER_H_

-

-/** Normal \p chSchReadyI() message.*/

-#define RDY_OK      0

-/** Returned if the thread was made ready because a timeout.*/

-#define RDY_TIMEOUT -1

-/** Returned if the thread was made ready because a reset.*/

-#define RDY_RESET   -2

-

-#define firstprio(rlp)   ((rlp)->p_next->p_prio)

-

-/**

- * Ready list header.

- */

-typedef struct {

-  ThreadsQueue          r_queue;

-  tprio_t               r_prio;

-  cnt_t                 r_preempt;

-#ifndef CH_CURRP_REGISTER_CACHE

-  Thread                *r_current;

-#endif

-#ifdef CH_USE_SYSTEMTIME

-  volatile systime_t    r_stime;

-#endif

-} ReadyList;

-

-extern ReadyList rlist;

-

-/*

- * Scheduler APIs.

- */

-#ifdef __cplusplus

-extern "C" {

-#endif

-  void chSchInit(void);

-  Thread *chSchReadyI(Thread *tp);

-  void chSchGoSleepS(tstate_t newstate);

-  msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time);

-  void chSchWakeupS(Thread *tp, msg_t msg);

-  void chSchDoRescheduleI(void);

-  void chSchRescheduleS(void);

-  bool_t chSchRescRequiredI(void);

-#ifdef __cplusplus

-}

-#endif

-

-#ifdef CH_CURRP_REGISTER_CACHE

-register Thread *currp asm(CH_CURRP_REGISTER_CACHE);

-#else

-#define currp rlist.r_current

-#endif

-

-#endif /* _SCHEDULER_H_ */

-

-/** @} */

+/*
+    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT 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/RT 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/>.
+*/
+
+/**
+ * @addtogroup Scheduler
+ * @{
+ */
+
+#ifndef _SCHEDULER_H_
+#define _SCHEDULER_H_
+
+/** Normal \p chSchReadyI() message. */
+#define RDY_OK      0
+/** Returned when the thread was made ready because of a timeout. */
+#define RDY_TIMEOUT -1
+/** Returned when the thread was made ready because of a reset. */
+#define RDY_RESET   -2
+
+/** The priority of the first thread on the given ready list. */
+#define firstprio(rlp)   ((rlp)->p_next->p_prio)
+
+/**
+ * Ready list header.
+ */
+typedef struct {
+  ThreadsQueue          r_queue;
+  tprio_t               r_prio;
+  cnt_t                 r_preempt;
+#ifndef CH_CURRP_REGISTER_CACHE
+  /** the currently running thread */
+  Thread                *r_current;
+#endif
+#ifdef CH_USE_SYSTEMTIME
+  volatile systime_t    r_stime;
+#endif
+} ReadyList;
+
+extern ReadyList rlist;
+
+/*
+ * Scheduler APIs.
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void chSchInit(void);
+  Thread *chSchReadyI(Thread *tp);
+  void chSchGoSleepS(tstate_t newstate);
+  msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time);
+  void chSchWakeupS(Thread *tp, msg_t msg);
+  void chSchDoRescheduleI(void);
+  void chSchRescheduleS(void);
+  bool_t chSchRescRequiredI(void);
+#ifdef __cplusplus
+}
+#endif
+
+#ifdef CH_CURRP_REGISTER_CACHE
+register Thread *currp asm(CH_CURRP_REGISTER_CACHE);
+#else
+#define currp rlist.r_current
+#endif
+
+#endif /* _SCHEDULER_H_ */
+
+/** @} */
diff --git a/src/include/threads.h b/src/include/threads.h
index 5bfd51423..b7b1a3e29 100644
--- a/src/include/threads.h
+++ b/src/include/threads.h
@@ -1,241 +1,242 @@
-/*

-    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.

-

-    This file is part of ChibiOS/RT.

-

-    ChibiOS/RT 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/RT 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/>.

-*/

-

-/**

- * @addtogroup Threads

- * @{

- */

-

-#ifndef _THREADS_H_

-#define _THREADS_H_

-

-/**

- * 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 structure.

- */

-struct Thread {

-  /** Next \p Thread in the threads list.*/

-  Thread            *p_next;

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

-  /** Previous \p Thread in the threads list.*/

-  Thread            *p_prev;

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

-  /** The thread priority.*/

-  tprio_t           p_prio;

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

-  /** Thread identifier. */

-  tid_t             p_tid;

-  /** Current thread state.*/

-  tstate_t          p_state;

-  /** Mode flags.*/

-  tmode_t           p_flags;

-  /** Machine dependent processor context.*/

-  Context           p_ctx;

-  /*

-   * The following fields are merged in unions because they are all

-   * state-specific fields. This trick saves some extra space for each

-   * thread in the system.

-   */

-  union {

-    /** Thread wakeup code (only valid when exiting the \p PRREADY state).*/

-    msg_t           p_rdymsg;

-    /** The thread exit code (only while in \p PREXIT state).*/

-    msg_t           p_exitcode;

-#ifdef CH_USE_SEMAPHORES

-    /** Semaphore where the thread is waiting on (only in \p PRWTSEM state).*/

-    Semaphore       *p_wtsemp;

-#endif

-#ifdef CH_USE_MUTEXES

-    /** Mutex where the thread is waiting on (only in \p PRWTMTX state).*/

-    Mutex           *p_wtmtxp;

-#endif

-#ifdef CH_USE_MESSAGES

-    /** Destination thread for message send (only in \p PRSNDMSG state).*/

-    Thread          *p_wtthdp;

-#endif

-#ifdef CH_USE_EVENTS

-    /** Enabled events mask (only while in \p PRWTEVENT state).*/

-    eventmask_t     p_ewmask;

-#endif

-#ifdef CH_USE_TRACE

-    /** Kernel object where the thread is waiting on. It is only valid when

-        the thread is some sleeping states.*/

-    void            *p_wtobjp;

-#endif

-  };

-  /*

-   * Start of the optional fields.

-   */

-#ifdef CH_USE_WAITEXIT

-  /** The list of the threads waiting for this thread termination.*/

-  ThreadsList       p_waiting;

-#endif

-#ifdef CH_USE_EXIT_EVENT

-  /** The thread termination \p EventSource.*/

-  EventSource       p_exitesource;

-#endif

-#ifdef CH_USE_MESSAGES

-  ThreadsQueue      p_msgqueue;

-  msg_t             p_msg;

-#endif

-#ifdef CH_USE_EVENTS

-  /** Pending events mask.*/

-  eventmask_t       p_epending;

-#endif

-#ifdef CH_USE_MUTEXES

-  /** Owner mutexes list, \p NULL terminated.*/

-  Mutex             *p_mtxlist;

-  tprio_t           p_realprio;

-#endif

-};

-

-/** Thread state: Thread in the ready list.*/

-#define PRREADY     0

-/** Thread state: Current.*/

-#define PRCURR      1

-/** Thread state: Thread created in suspended state.*/

-#define PRSUSPENDED 2

-/** Thread state: Waiting on a semaphore.*/

-#define PRWTSEM     3

-/** Thread state: Waiting on a mutex.*/

-#define PRWTMTX     4

-/** Thread state: Waiting in \p chThdSleep() or \p chThdSleepUntil().*/

-#define PRSLEEP     5

-/** Thread state: Waiting in \p chThdWait().*/

-#define PRWAIT      6

-/** Thread state: Waiting in \p chEvtWait().*/

-#define PRWTEVENT   7

-/** Thread state: Waiting in \p chMsgSend().*/

-#define PRSNDMSG    8

-/** Thread state: Waiting in \p chMsgWait().*/

-#define PRWTMSG     9

-/** Thread state: After termination.*/

-#define PREXIT      10

-

-#ifdef CH_USE_TERMINATE

-/** Thread option: Termination requested flag.*/

-#define P_TERMINATE 1

-#endif

-#ifdef CH_USE_RESUME

-/** Thread option: Create suspended thread.*/

-#define P_SUSPENDED 2

-#endif

-#ifdef CH_USE_MESSAGES_PRIORITY

-/** Thread option: Serve messages by priority instead of FIFO order.*/

-#define P_MSGBYPRIO 4

-#endif

-

-/** Pseudo priority used by the ready list header, do not use.*/

-#define NOPRIO      0

-/** Idle thread priority.*/

-#define IDLEPRIO    1

-/** Lowest user priority.*/

-#define LOWPRIO     2

-/** Normal user priority.*/

-#define NORMALPRIO  64

-/** Highest user priority.*/

-#define HIGHPRIO    127

-/** Greatest possible priority.*/

-#define ABSPRIO     255

-

-/* Not an API, don't use into the application code.*/

-void init_thread(tprio_t prio, tmode_t mode, Thread *tp);

-

-/** Thread function.*/

-typedef msg_t (*tfunc_t)(void *);

-

-/*

- * Threads APIs.

- */

-#ifdef __cplusplus

-extern "C" {

-#endif

-  Thread *chThdCreate(tprio_t prio, tmode_t mode, void *workspace,

-                      size_t wsize, tfunc_t pf, void *arg);

-  Thread *chThdCreateFast(tprio_t prio, void *workspace,

-                          size_t wsize, tfunc_t pf);

-  void chThdSetPriority(tprio_t newprio);

-  void chThdExit(msg_t msg);

-#ifdef CH_USE_RESUME

-  void chThdResume(Thread *tp);

-#endif

-#ifdef CH_USE_SUSPEND

-  void chThdSuspend(Thread **tpp);

-#endif

-#ifdef CH_USE_TERMINATE

-  void chThdTerminate(Thread *tp);

-#endif

-#ifdef CH_USE_WAITEXIT

-  msg_t chThdWait(Thread *tp);

-#endif

-#ifdef __cplusplus

-}

-#endif

-

-/** Returns the pointer to the \p Thread currently in execution.*/

-#define chThdSelf() currp

-

-/** Returns the thread priority.*/

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

-

-/** Returns the pointer to the \p Thread local storage area, if any.*/

-#define chThdLS() (void *)(currp + 1)

-

-/** Verifies if the specified thread is in the \p PREXIT state.*/

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

-

-/**

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

- */

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

-

-/**

- * Returns the exit event source for the specified thread. The source is

- * signaled when the thread terminates.

- * @param tp the pointer to the thread

- * @note When registering on a thread termination make sure the thread

- *       is still alive, if you do that after the thread termination

- *       then you would miss the event. There are two ways to ensure

- *       this:<br>

- *       <ul>

- *       <li>Create the thread suspended, register on the event source

- *           and then resume the thread (recommended).</li>

- *       <li>Create the thread with a lower priority then register on it.

- *           This does not work if the hardware is capable of multiple

- *           physical threads.</li>

- *       </ul>

- * @note You dont need to unregister from a terminated thread because

- *       the event source becomes inactive.

- * @note The function is available only if the \p CH_USE_EXIT_EVENT

- *       option is enabled in \p chconf.h.

- */

-#define chThdGetExitEventSource(tp) (&(tp)->p_exitesource)

-

-/**

- * Resumes a thread created with the \p P_SUSPENDED option or suspended with

- * \p chThdSuspend().

- * @param tp the pointer to the thread

- */

-#define chThdResumeI(tp) chSchReadyI((tp), RDY_OK)

-

-#endif  /* _THREADS_H_ */

-

-/** @} */

+/*
+    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT 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/RT 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/>.
+*/
+
+/**
+ * @addtogroup Threads
+ * @{
+ */
+
+#ifndef _THREADS_H_
+#define _THREADS_H_
+
+/**
+ * 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 structure.
+ */
+struct Thread {
+  /** Next \p Thread in the threads list.*/
+  Thread            *p_next;
+  /* End of the fields shared with the ThreadsList structure. */
+  /** Previous \p Thread in the threads list.*/
+  Thread            *p_prev;
+  /* End of the fields shared with the ThreadsQueue structure. */
+  /** The thread priority.*/
+  tprio_t           p_prio;
+  /* End of the fields shared with the ReadyList structure. */
+  /** Thread identifier. */
+  tid_t             p_tid;
+  /** Current thread state.*/
+  tstate_t          p_state;
+  /** Mode flags. */
+  tmode_t           p_flags;
+  /** Machine dependent processor context.*/
+  Context           p_ctx;
+  /*
+   * The following fields are merged in unions because they are all
+   * state-specific fields. This trick saves some extra space for each
+   * thread in the system.
+   */
+  union {
+    /** Thread wakeup code (only valid when exiting the \p PRREADY state). */
+    msg_t           p_rdymsg;
+    /** The thread exit code (only while in \p PREXIT state).*/
+    msg_t           p_exitcode;
+#ifdef CH_USE_SEMAPHORES
+    /** Semaphore where the thread is waiting on (only in \p PRWTSEM state). */
+    Semaphore       *p_wtsemp;
+#endif
+#ifdef CH_USE_MUTEXES
+    /** Mutex where the thread is waiting on (only in \p PRWTMTX state). */
+    Mutex           *p_wtmtxp;
+#endif
+#ifdef CH_USE_MESSAGES
+    /** Destination thread for message send (only in \p PRSNDMSG state). */
+    Thread          *p_wtthdp;
+#endif
+#ifdef CH_USE_EVENTS
+    /** Enabled events mask (only while in \p PRWTEVENT state). */
+    eventmask_t     p_ewmask;
+#endif
+#ifdef CH_USE_TRACE
+    /** Kernel object where the thread is waiting on. It is only valid when
+        the thread is some sleeping states. */
+    void            *p_wtobjp;
+#endif
+  };
+  /*
+   * Start of the optional fields.
+   */
+#ifdef CH_USE_WAITEXIT
+  /** The list of the threads waiting for this thread termination.*/
+  ThreadsList       p_waiting;
+#endif
+#ifdef CH_USE_EXIT_EVENT
+  /** The thread termination \p EventSource.*/
+  EventSource       p_exitesource;
+#endif
+#ifdef CH_USE_MESSAGES
+  ThreadsQueue      p_msgqueue;
+  msg_t             p_msg;
+#endif
+#ifdef CH_USE_EVENTS
+  /** Pending events mask.*/
+  eventmask_t       p_epending;
+#endif
+#ifdef CH_USE_MUTEXES
+  /** List of mutexes owned by this thread, \p NULL terminated.*/
+  Mutex             *p_mtxlist;
+  /** Thread's own, non-inherited, priority */
+  tprio_t           p_realprio;
+#endif
+};
+
+/** Thread state: Thread in the ready list.*/
+#define PRREADY     0
+/** Thread state: Current.*/
+#define PRCURR      1
+/** Thread state: Thread created in suspended state.*/
+#define PRSUSPENDED 2
+/** Thread state: Waiting on a semaphore.*/
+#define PRWTSEM     3
+/** Thread state: Waiting on a mutex.*/
+#define PRWTMTX     4
+/** Thread state: Waiting in \p chThdSleep() or \p chThdSleepUntil().*/
+#define PRSLEEP     5
+/** Thread state: Waiting in \p chThdWait().*/
+#define PRWAIT      6
+/** Thread state: Waiting in \p chEvtWait().*/
+#define PRWTEVENT   7
+/** Thread state: Waiting in \p chMsgSend().*/
+#define PRSNDMSG    8
+/** Thread state: Waiting in \p chMsgWait().*/
+#define PRWTMSG     9
+/** Thread state: After termination.*/
+#define PREXIT      10
+
+#ifdef CH_USE_TERMINATE
+/** Thread option: Termination requested flag.*/
+#define P_TERMINATE 1
+#endif
+#ifdef CH_USE_RESUME
+/** Thread option: Create suspended thread.*/
+#define P_SUSPENDED 2
+#endif
+#ifdef CH_USE_MESSAGES_PRIORITY
+/** Thread option: Serve messages by priority instead of FIFO order.*/
+#define P_MSGBYPRIO 4
+#endif
+
+/** Pseudo priority used by the ready list header, do not use.*/
+#define NOPRIO      0
+/** Idle thread priority.*/
+#define IDLEPRIO    1
+/** Lowest user priority.*/
+#define LOWPRIO     2
+/** Normal user priority.*/
+#define NORMALPRIO  64
+/** Highest user priority.*/
+#define HIGHPRIO    127
+/** Greatest possible priority.*/
+#define ABSPRIO     255
+
+/* Not an API, don't use into the application code.*/
+void init_thread(tprio_t prio, tmode_t mode, Thread *tp);
+
+/** Thread function.*/
+typedef msg_t (*tfunc_t)(void *);
+
+/*
+ * Threads APIs.
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+  Thread *chThdCreate(tprio_t prio, tmode_t mode, void *workspace,
+                      size_t wsize, tfunc_t pf, void *arg);
+  Thread *chThdCreateFast(tprio_t prio, void *workspace,
+                          size_t wsize, tfunc_t pf);
+  void chThdSetPriority(tprio_t newprio);
+  void chThdExit(msg_t msg);
+#ifdef CH_USE_RESUME
+  void chThdResume(Thread *tp);
+#endif
+#ifdef CH_USE_SUSPEND
+  void chThdSuspend(Thread **tpp);
+#endif
+#ifdef CH_USE_TERMINATE
+  void chThdTerminate(Thread *tp);
+#endif
+#ifdef CH_USE_WAITEXIT
+  msg_t chThdWait(Thread *tp);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+/** Returns the pointer to the \p Thread currently in execution.*/
+#define chThdSelf() currp
+
+/** Returns the thread priority.*/
+#define chThdGetPriority() (currp->p_prio)
+
+/** Returns the pointer to the \p Thread local storage area, if any.*/
+#define chThdLS() (void *)(currp + 1)
+
+/** Verifies if the specified thread is in the \p PREXIT state.*/
+#define chThdTerminated(tp) ((tp)->p_state == PREXIT)
+
+/**
+ * Verifies if the current thread has a termination request pending.
+ */
+#define chThdShouldTerminate() (currp->p_flags & P_TERMINATE)
+
+/**
+ * Returns the exit event source for the specified thread. The source is
+ * signaled when the thread terminates.
+ * @param tp the pointer to the thread
+ * @note When registering on a thread termination make sure the thread
+ *       is still alive, if you do that after the thread termination
+ *       then you would miss the event. There are two ways to ensure
+ *       this:<br>
+ *       <ul>
+ *       <li>Create the thread suspended, register on the event source
+ *           and then resume the thread (recommended).</li>
+ *       <li>Create the thread with a lower priority then register on it.
+ *           This does not work if the hardware is capable of multiple
+ *           physical threads.</li>
+ *       </ul>
+ * @note You dont need to unregister from a terminated thread because
+ *       the event source becomes inactive.
+ * @note The function is available only if the \p CH_USE_EXIT_EVENT
+ *       option is enabled in \p chconf.h.
+ */
+#define chThdGetExitEventSource(tp) (&(tp)->p_exitesource)
+
+/**
+ * Resumes a thread created with the \p P_SUSPENDED option or suspended with
+ * \p chThdSuspend().
+ * @param tp the pointer to the thread
+ */
+#define chThdResumeI(tp) chSchReadyI((tp), RDY_OK)
+
+#endif  /* _THREADS_H_ */
+
+/** @} */