diff options
| -rw-r--r-- | os/hal/ports/STM32/OTGv1/usb_lld.c | 4 | ||||
| -rw-r--r-- | os/rt/include/ch.h | 13 | ||||
| -rw-r--r-- | os/rt/include/chglobal.h | 321 | ||||
| -rw-r--r-- | os/rt/include/chlists.h | 217 | ||||
| -rw-r--r-- | os/rt/include/chschd.h | 376 | ||||
| -rw-r--r-- | os/rt/include/chthreads.h | 48 | ||||
| -rw-r--r-- | os/rt/osal/osal.h | 26 | ||||
| -rw-r--r-- | os/rt/rt.mk | 3 | ||||
| -rw-r--r-- | os/rt/src/chlists.c | 251 | ||||
| -rw-r--r-- | os/rt/src/chqueues.c | 20 | ||||
| -rw-r--r-- | os/rt/src/chschd.c | 128 | ||||
| -rw-r--r-- | os/rt/src/chsys.c | 5 | ||||
| -rw-r--r-- | os/rt/src/chthreads.c | 309 |
13 files changed, 766 insertions, 955 deletions
diff --git a/os/hal/ports/STM32/OTGv1/usb_lld.c b/os/hal/ports/STM32/OTGv1/usb_lld.c index a6197feb8..39464b367 100644 --- a/os/hal/ports/STM32/OTGv1/usb_lld.c +++ b/os/hal/ports/STM32/OTGv1/usb_lld.c @@ -305,7 +305,7 @@ static void otg_fifo_write_from_queue(volatile uint32_t *fifop, /* Updating queue.*/
osalSysLock();
oqp->q_counter += n;
- osalQueueWakeupAllI(&oqp->q_waiting, Q_OK);
+ osalThreadDequeueAllI(&oqp->q_waiting, Q_OK);
osalOsRescheduleS();
osalSysUnlock();
}
@@ -416,7 +416,7 @@ static void otg_fifo_read_to_queue(volatile uint32_t *fifop, /* Updating queue.*/
osalSysLock();
iqp->q_counter += n;
- osalQueueWakeupAllI(&iqp->q_waiting, Q_OK);
+ osalThreadDequeueAllI(&iqp->q_waiting, Q_OK);
osalOsRescheduleS();
osalSysUnlock();
}
diff --git a/os/rt/include/ch.h b/os/rt/include/ch.h index e96bc797c..c1360d4c4 100644 --- a/os/rt/include/ch.h +++ b/os/rt/include/ch.h @@ -66,15 +66,6 @@ typedef struct thread thread_t;
typedef struct virtual_timer virtual_timer_t;
-/* This function is special, it must be accessible from all modules.*/
-#ifdef __cplusplus
-extern "C" {
-#endif
- void chSysHalt(const char *reason);
-#ifdef __cplusplus
-}
-#endif
-
/* Inclusion of all the kernel sub-headers.*/
#include "chtypes.h"
#include "chconf.h"
@@ -82,11 +73,9 @@ extern "C" { #include "chdebug.h"
#include "chtm.h"
#include "chstats.h"
-#include "chglobal.h"
+#include "chschd.h"
#include "chsys.h"
#include "chvt.h"
-#include "chlists.h"
-#include "chschd.h"
#include "chthreads.h"
#include "chregistry.h"
#include "chsem.h"
diff --git a/os/rt/include/chglobal.h b/os/rt/include/chglobal.h deleted file mode 100644 index 3d8458f02..000000000 --- a/os/rt/include/chglobal.h +++ /dev/null @@ -1,321 +0,0 @@ -/*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
- 2011,2012,2013 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/>.
-*/
-
-/**
- * @file chglobal.h
- * @brief Data structures with global scope header.
- *
- * @addtogroup global
- */
-
-#ifndef _CHGLOBAL_H_
-#define _CHGLOBAL_H_
-
-/*===========================================================================*/
-/* Module constants. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module pre-compile time settings. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Derived constants and error checks. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module data structures and types. */
-/*===========================================================================*/
-
-/**
- * @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;
-
-/**
- * @extends threads_list_t
- *
- * @brief Generic threads bidirectional linked list header and element.
- */
-typedef struct {
- thread_t *p_next; /**< @brief Next in the list/queue. */
- thread_t *p_prev; /**< @brief Previous in the queue. */
-} threads_queue_t;
-
-/**
- * @extends threads_queue_t
- *
- * @brief Ready list header.
- */
-typedef struct {
- threads_queue_t r_queue; /**< @brief Threads queue. */
- tprio_t r_prio; /**< @brief This field must be
- initialized to zero. */
- struct context r_ctx; /**< @brief Not used, present because
- offsets. */
-#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)
- thread_t *r_newer; /**< @brief Newer registry element. */
- thread_t *r_older; /**< @brief Older registry element. */
-#endif
- /* End of the fields shared with the thread_t structure.*/
- thread_t *r_current; /**< @brief The currently running
- thread. */
-} 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
- * timer is often used in the code.
- */
-typedef struct {
- virtual_timer_t *vt_next; /**< @brief Next timer in the delta
- list. */
- virtual_timer_t *vt_prev; /**< @brief Last timer in the delta
- list. */
- systime_t vt_delta; /**< @brief Must be initialized to -1. */
-#if CH_CFG_ST_TIMEDELTA == 0 || defined(__DOXYGEN__)
- volatile systime_t vt_systime; /**< @brief System Time counter. */
-#endif
-#if CH_CFG_ST_TIMEDELTA > 0 || defined(__DOXYGEN__)
- /**
- * @brief System time of the last tick event.
- */
- systime_t vt_lasttime;/**< @brief System time of the last
- tick event. */
-#endif
-} virtual_timers_list_t;
-
-/**
- * @brief System data structure.
- * @note This structure contain all the data areas used by the OS except
- * stacks.
- */
-typedef struct ch_system {
- /**
- * @brief Ready list header.
- */
- ready_list_t rlist;
- /**
- * @brief Virtual timers delta list header.
- */
- virtual_timers_list_t vtlist;
-#if CH_CFG_USE_TM || defined(__DOXYGEN__)
- /**
- * @brief Measurement calibration value.
- */
- rtcnt_t measurement_offset;
-#endif
-#if CH_DBG_STATISTICS || defined(__DOXYGEN__)
- /**
- * @brief Global kernel statistics.
- */
- kernel_stats_t kernel_stats;
-#endif
-#if CH_DBG_ENABLED || defined(__DOXYGEN__)
- /**
- * @brief Pointer to the panic message.
- * @details This pointer is meant to be accessed through the debugger, it is
- * written once and then the system is halted.
- */
- const char *dbg_panic_msg;
-#endif
-#if CH_DBG_SYSTEM_STATE_CHECK || defined(__DOXYGEN__)
- /**
- * @brief ISR nesting level.
- */
- cnt_t dbg_isr_cnt;
- /**
- * @brief Lock nesting level.
- */
- cnt_t dbg_lock_cnt;
-#endif
-#if CH_DBG_ENABLE_TRACE || defined(__DOXYGEN__)
- /**
- * @brief Public trace buffer.
- */
- ch_trace_buffer_t dbg_trace_buffer;
-#endif
-} ch_system_t;
-
-/*===========================================================================*/
-/* Module macros. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* External declarations. */
-/*===========================================================================*/
-
-#if !defined(__DOXYGEN__)
-extern ch_system_t ch;
-#endif
-
-/*===========================================================================*/
-/* Module inline functions. */
-/*===========================================================================*/
-
-#endif /* _CHGLOBAL_H_ */
-
-/** @} */
diff --git a/os/rt/include/chlists.h b/os/rt/include/chlists.h deleted file mode 100644 index f49ce679f..000000000 --- a/os/rt/include/chlists.h +++ /dev/null @@ -1,217 +0,0 @@ -/*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
- 2011,2012,2013 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/>.
-*/
-
-/**
- * @file chlists.h
- * @brief Thread queues and lists header.
- *
- * @addtogroup queues_list
- * @{
- */
-
-#ifndef _CHLISTS_H_
-#define _CHLISTS_H_
-
-/*===========================================================================*/
-/* Module constants. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module pre-compile time settings. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Derived constants and error checks. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module data structures and types. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module macros. */
-/*===========================================================================*/
-
-/**
- * @brief Data part of a static threads queue initializer.
- * @details This macro should be used when statically initializing a threads
- * queue that is part of a bigger structure.
- *
- * @param[in] name the name of the threads queue variable
- */
-#define _threads_queue_t_DATA(name) {(thread_t *)&name, (thread_t *)&name}
-
-/**
- * @brief Static threads queue initializer.
- * @details Statically initialized threads queues require no explicit
- * initialization using @p queue_init().
- *
- * @param[in] name the name of the threads queue variable
- */
-#define threads_queue_t_DECL(name) \
- threads_queue_t name = _threads_queue_t_DATA(name)
-
-/*===========================================================================*/
-/* External declarations. */
-/*===========================================================================*/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
- msg_t chQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t timeout);
- void chQueueWakeupOneI(threads_queue_t *tqp, msg_t msg);
- void chQueueWakeupAllI(threads_queue_t *tqp, msg_t msg);
-#ifdef __cplusplus
-}
-#endif
-
-/*===========================================================================*/
-/* Module inline functions. */
-/*===========================================================================*/
-
-/**
- * @brief Threads list initialization.
- *
- * @notapi
- */
-static inline void list_init(threads_list_t *tlp) {
-
- tlp->p_next = (thread_t *)tlp;
-}
-
-/**
- * @brief Evaluates to @p true if the specified threads list is empty.
- *
- * @notapi
- */
-static inline bool list_isempty(threads_list_t *tlp) {
-
- return (bool)(tlp->p_next == (thread_t *)tlp);
-}
-
-/**
- * @brief Evaluates to @p true if the specified threads list is not empty.
- *
- * @notapi
- */
-static inline bool list_notempty(threads_list_t *tlp) {
-
- return (bool)(tlp->p_next != (thread_t *)tlp);
-}
-
-/**
- * @brief Threads queue initialization.
- *
- * @notapi
- */
-static inline void queue_init(threads_queue_t *tqp) {
-
- tqp->p_next = tqp->p_prev = (thread_t *)tqp;
-}
-
-/**
- * @brief Evaluates to @p true if the specified threads queue is empty.
- *
- * @notapi
- */
-static inline bool queue_isempty(threads_queue_t *tqp) {
-
- return (bool)(tqp->p_next == (thread_t *)tqp);
-}
-
-/**
- * @brief Evaluates to @p true if the specified threads queue is not empty.
- *
- * @notapi
- */
-static inline bool queue_notempty(threads_queue_t *tqp) {
-
- return (bool)(tqp->p_next != (thread_t *)tqp);
-}
-
-/* If the performance code path has been chosen then all the following
- functions are inlined into the various kernel modules.*/
-#if CH_CFG_OPTIMIZE_SPEED
-static inline void list_insert(thread_t *tp, threads_list_t *tlp) {
-
- tp->p_next = tlp->p_next;
- tlp->p_next = tp;
-}
-
-static inline thread_t *list_remove(threads_list_t *tlp) {
-
- thread_t *tp = tlp->p_next;
- tlp->p_next = tp->p_next;
- return tp;
-}
-
-static inline void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) {
-
- thread_t *cp = (thread_t *)tqp;
- do {
- cp = cp->p_next;
- } while ((cp != (thread_t *)tqp) && (cp->p_prio >= tp->p_prio));
- tp->p_next = cp;
- tp->p_prev = cp->p_prev;
- tp->p_prev->p_next = cp->p_prev = tp;
-}
-
-static inline void queue_insert(thread_t *tp, threads_queue_t *tqp) {
-
- tp->p_next = (thread_t *)tqp;
- tp->p_prev = tqp->p_prev;
- tp->p_prev->p_next = tqp->p_prev = tp;
-}
-
-static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
- thread_t *tp = tqp->p_next;
-
- (tqp->p_next = tp->p_next)->p_prev = (thread_t *)tqp;
- return tp;
-}
-
-static inline thread_t *queue_lifo_remove(threads_queue_t *tqp) {
- thread_t *tp = tqp->p_prev;
-
- (tqp->p_prev = tp->p_prev)->p_next = (thread_t *)tqp;
- return tp;
-}
-
-static inline thread_t *queue_dequeue(thread_t *tp) {
-
- tp->p_prev->p_next = tp->p_next;
- tp->p_next->p_prev = tp->p_prev;
- return tp;
-}
-#endif /* CH_CFG_OPTIMIZE_SPEED */
-
-/**
- * @brief Initializes a threads queue object.
- *
- * @param[out] tqp pointer to the threads queue object
- *
- * @init
- */
-static inline void chQueueObjectInit(threads_queue_t *tqp) {
-
- queue_init(tqp);
-}
-
-#endif /* _CHLISTS_H_ */
diff --git a/os/rt/include/chschd.h b/os/rt/include/chschd.h index b4160acc6..718cedd58 100644 --- a/os/rt/include/chschd.h +++ b/os/rt/include/chschd.h @@ -87,6 +87,262 @@ /* Module data structures and types. */
/*===========================================================================*/
+/**
+ * @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;
+
+/**
+ * @extends threads_list_t
+ *
+ * @brief Generic threads bidirectional linked list header and element.
+ */
+typedef struct {
+ thread_t *p_next; /**< @brief Next in the list/queue. */
+ thread_t *p_prev; /**< @brief Previous in the queue. */
+} threads_queue_t;
+
+/**
+ * @extends threads_queue_t
+ *
+ * @brief Ready list header.
+ */
+typedef struct {
+ threads_queue_t r_queue; /**< @brief Threads queue. */
+ tprio_t r_prio; /**< @brief This field must be
+ initialized to zero. */
+ struct context r_ctx; /**< @brief Not used, present because
+ offsets. */
+#if CH_CFG_USE_REGISTRY || defined(__DOXYGEN__)
+ thread_t *r_newer; /**< @brief Newer registry element. */
+ thread_t *r_older; /**< @brief Older registry element. */
+#endif
+ /* End of the fields shared with the thread_t structure.*/
+ thread_t *r_current; /**< @brief The currently running
+ thread. */
+} 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
+ * timer is often used in the code.
+ */
+typedef struct {
+ virtual_timer_t *vt_next; /**< @brief Next timer in the delta
+ list. */
+ virtual_timer_t *vt_prev; /**< @brief Last timer in the delta
+ list. */
+ systime_t vt_delta; /**< @brief Must be initialized to -1. */
+#if CH_CFG_ST_TIMEDELTA == 0 || defined(__DOXYGEN__)
+ volatile systime_t vt_systime; /**< @brief System Time counter. */
+#endif
+#if CH_CFG_ST_TIMEDELTA > 0 || defined(__DOXYGEN__)
+ /**
+ * @brief System time of the last tick event.
+ */
+ systime_t vt_lasttime;/**< @brief System time of the last
+ tick event. */
+#endif
+} virtual_timers_list_t;
+
+/**
+ * @brief System data structure.
+ * @note This structure contain all the data areas used by the OS except
+ * stacks.
+ */
+typedef struct ch_system {
+ /**
+ * @brief Ready list header.
+ */
+ ready_list_t rlist;
+ /**
+ * @brief Virtual timers delta list header.
+ */
+ virtual_timers_list_t vtlist;
+#if CH_CFG_USE_TM || defined(__DOXYGEN__)
+ /**
+ * @brief Measurement calibration value.
+ */
+ rtcnt_t measurement_offset;
+#endif
+#if CH_DBG_STATISTICS || defined(__DOXYGEN__)
+ /**
+ * @brief Global kernel statistics.
+ */
+ kernel_stats_t kernel_stats;
+#endif
+#if CH_DBG_ENABLED || defined(__DOXYGEN__)
+ /**
+ * @brief Pointer to the panic message.
+ * @details This pointer is meant to be accessed through the debugger, it is
+ * written once and then the system is halted.
+ */
+ const char *dbg_panic_msg;
+#endif
+#if CH_DBG_SYSTEM_STATE_CHECK || defined(__DOXYGEN__)
+ /**
+ * @brief ISR nesting level.
+ */
+ cnt_t dbg_isr_cnt;
+ /**
+ * @brief Lock nesting level.
+ */
+ cnt_t dbg_lock_cnt;
+#endif
+#if CH_DBG_ENABLE_TRACE || defined(__DOXYGEN__)
+ /**
+ * @brief Public trace buffer.
+ */
+ ch_trace_buffer_t dbg_trace_buffer;
+#endif
+} ch_system_t;
+
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
@@ -120,6 +376,10 @@ /* External declarations. */
/*===========================================================================*/
+#if !defined(__DOXYGEN__)
+extern ch_system_t ch;
+#endif
+
/*
* Scheduler APIs.
*/
@@ -144,6 +404,122 @@ extern "C" { /* Module inline functions. */
/*===========================================================================*/
+ /**
+ * @brief Threads list initialization.
+ *
+ * @notapi
+ */
+ static inline void list_init(threads_list_t *tlp) {
+
+ tlp->p_next = (thread_t *)tlp;
+ }
+
+ /**
+ * @brief Evaluates to @p true if the specified threads list is empty.
+ *
+ * @notapi
+ */
+ static inline bool list_isempty(threads_list_t *tlp) {
+
+ return (bool)(tlp->p_next == (thread_t *)tlp);
+ }
+
+ /**
+ * @brief Evaluates to @p true if the specified threads list is not empty.
+ *
+ * @notapi
+ */
+ static inline bool list_notempty(threads_list_t *tlp) {
+
+ return (bool)(tlp->p_next != (thread_t *)tlp);
+ }
+
+ /**
+ * @brief Threads queue initialization.
+ *
+ * @notapi
+ */
+ static inline void queue_init(threads_queue_t *tqp) {
+
+ tqp->p_next = tqp->p_prev = (thread_t *)tqp;
+ }
+
+ /**
+ * @brief Evaluates to @p true if the specified threads queue is empty.
+ *
+ * @notapi
+ */
+ static inline bool queue_isempty(threads_queue_t *tqp) {
+
+ return (bool)(tqp->p_next == (thread_t *)tqp);
+ }
+
+ /**
+ * @brief Evaluates to @p true if the specified threads queue is not empty.
+ *
+ * @notapi
+ */
+ static inline bool queue_notempty(threads_queue_t *tqp) {
+
+ return (bool)(tqp->p_next != (thread_t *)tqp);
+ }
+
+ /* If the performance code path has been chosen then all the following
+ functions are inlined into the various kernel modules.*/
+ #if CH_CFG_OPTIMIZE_SPEED
+ static inline void list_insert(thread_t *tp, threads_list_t *tlp) {
+
+ tp->p_next = tlp->p_next;
+ tlp->p_next = tp;
+ }
+
+ static inline thread_t *list_remove(threads_list_t *tlp) {
+
+ thread_t *tp = tlp->p_next;
+ tlp->p_next = tp->p_next;
+ return tp;
+ }
+
+ static inline void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) {
+
+ thread_t *cp = (thread_t *)tqp;
+ do {
+ cp = cp->p_next;
+ } while ((cp != (thread_t *)tqp) && (cp->p_prio >= tp->p_prio));
+ tp->p_next = cp;
+ tp->p_prev = cp->p_prev;
+ tp->p_prev->p_next = cp->p_prev = tp;
+ }
+
+ static inline void queue_insert(thread_t *tp, threads_queue_t *tqp) {
+
+ tp->p_next = (thread_t *)tqp;
+ tp->p_prev = tqp->p_prev;
+ tp->p_prev->p_next = tqp->p_prev = tp;
+ }
+
+ static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
+ thread_t *tp = tqp->p_next;
+
+ (tqp->p_next = tp->p_next)->p_prev = (thread_t *)tqp;
+ return tp;
+ }
+
+ static inline thread_t *queue_lifo_remove(threads_queue_t *tqp) {
+ thread_t *tp = tqp->p_prev;
+
+ (tqp->p_prev = tp->p_prev)->p_next = (thread_t *)tqp;
+ return tp;
+ }
+
+ static inline thread_t *queue_dequeue(thread_t *tp) {
+
+ tp->p_prev->p_next = tp->p_next;
+ tp->p_next->p_prev = tp->p_prev;
+ return tp;
+ }
+#endif /* CH_CFG_OPTIMIZE_SPEED */
+
/**
* @brief Determines if the current thread must reschedule.
* @details This function returns @p true if there is a ready thread with
diff --git a/os/rt/include/chthreads.h b/os/rt/include/chthreads.h index 1dcad9b48..e1a8b496d 100644 --- a/os/rt/include/chthreads.h +++ b/os/rt/include/chthreads.h @@ -159,6 +159,29 @@ typedef msg_t (*tfunc_t)(void *); /** @} */
/**
+ * @name Threads queues
+ */
+/**
+ * @brief Data part of a static threads queue object initializer.
+ * @details This macro should be used when statically initializing a threads
+ * queue that is part of a bigger structure.
+ *
+ * @param[in] name the name of the threads queue variable
+ */
+#define _threads_queue_t_DATA(name) {(thread_t *)&name, (thread_t *)&name}
+
+/**
+ * @brief Static threads queue object initializer.
+ * @details Statically initialized threads queues require no explicit
+ * initialization using @p queue_init().
+ *
+ * @param[in] name the name of the threads queue variable
+ */
+#define threads_queue_t_DECL(name) \
+ threads_queue_t name = _threads_queue_t_DATA(name)
+/** @} */
+
+/**
* @name Macro Functions
* @{
*/
@@ -218,11 +241,14 @@ extern "C" { tprio_t prio, tfunc_t pf, void *arg);
thread_t *chThdStart(thread_t *tp);
tprio_t chThdSetPriority(tprio_t newprio);
- msg_t chThreadSuspendS(thread_reference_t *trp);
- msg_t chThreadSuspendTimeoutS(thread_reference_t *trp, systime_t timeout);
- void chThreadResumeI(thread_reference_t *trp, msg_t msg);
- void chThreadResumeS(thread_reference_t *trp, msg_t msg);
- void chThreadResume(thread_reference_t *trp, msg_t msg);
+ msg_t chThdSuspendS(thread_reference_t *trp);
+ msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout);
+ void chThdResumeI(thread_reference_t *trp, msg_t msg);
+ void chThdResumeS(thread_reference_t *trp, msg_t msg);
+ void chThdResume(thread_reference_t *trp, msg_t msg);
+ msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout);
+ void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg);
+ void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg);
void chThdTerminate(thread_t *tp);
void chThdSleep(systime_t time);
void chThdSleepUntil(systime_t time);
@@ -337,6 +363,18 @@ static inline void chThdSleepS(systime_t time) { chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);
}
+/**
+ * @brief Initializes a threads queue object.
+ *
+ * @param[out] tqp pointer to the threads queue object
+ *
+ * @init
+ */
+static inline void chThdQueueObjectInit(threads_queue_t *tqp) {
+
+ queue_init(tqp);
+}
+
#endif /* _CHTHREADS_H_ */
/** @} */
diff --git a/os/rt/osal/osal.h b/os/rt/osal/osal.h index d5322cc96..b3335ccfd 100644 --- a/os/rt/osal/osal.h +++ b/os/rt/osal/osal.h @@ -570,7 +570,7 @@ static inline void osalThreadSleep(systime_t time) { */
static inline msg_t osalThreadSuspendS(thread_reference_t *trp) {
- return chThreadSuspendS(trp);
+ return chThdSuspendS(trp);
}
/**
@@ -595,7 +595,7 @@ static inline msg_t osalThreadSuspendS(thread_reference_t *trp) { static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp,
systime_t timeout) {
- return chThreadSuspendTimeoutS(trp, timeout);
+ return chThdSuspendTimeoutS(trp, timeout);
}
/**
@@ -610,7 +610,7 @@ static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, */
static inline void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
- chThreadResumeI(trp, msg);
+ chThdResumeI(trp, msg);
}
/**
@@ -625,7 +625,7 @@ static inline void osalThreadResumeI(thread_reference_t *trp, msg_t msg) { */
static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
- chThreadResumeS(trp, msg);
+ chThdResumeS(trp, msg);
}
/**
@@ -635,9 +635,9 @@ static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) { *
* @init
*/
-static inline void osalQueueObjectInit(threads_queue_t *tqp) {
+static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
- queue_init(tqp);
+ chThdQueueObjectInit(tqp);
}
/**
@@ -663,10 +663,10 @@ static inline void osalQueueObjectInit(threads_queue_t *tqp) { *
* @sclass
*/
-static inline msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp,
- systime_t time) {
+static inline msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp,
+ systime_t time) {
- return chQueueGoSleepTimeoutS(tqp, time);
+ return chThdEnqueueTimeoutS(tqp, time);
}
/**
@@ -677,9 +677,9 @@ static inline msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, *
* @iclass
*/
-static inline void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
+static inline void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
- chQueueWakeupOneI(tqp, msg);
+ chThdDequeueNextI(tqp, msg);
}
/**
@@ -690,9 +690,9 @@ static inline void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) { *
* @iclass
*/
-static inline void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
+static inline void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
- chQueueWakeupAllI(tqp, msg);
+ chThdDequeueAllI(tqp, msg);
}
/**
diff --git a/os/rt/rt.mk b/os/rt/rt.mk index b6dc526ec..55a189f75 100644 --- a/os/rt/rt.mk +++ b/os/rt/rt.mk @@ -2,11 +2,10 @@ # from this list, you can disable parts of the kernel by editing chconf.h.
KERNSRC = ${CHIBIOS}/os/rt/src/chsys.c \
${CHIBIOS}/os/rt/src/chdebug.c \
- ${CHIBIOS}/os/rt/src/chlists.c \
- ${CHIBIOS}/os/rt/src/chvt.c \
${CHIBIOS}/os/rt/src/chtm.c \
${CHIBIOS}/os/rt/src/chstats.c \
${CHIBIOS}/os/rt/src/chschd.c \
+ ${CHIBIOS}/os/rt/src/chvt.c \
${CHIBIOS}/os/rt/src/chthreads.c \
${CHIBIOS}/os/rt/src/chdynamic.c \
${CHIBIOS}/os/rt/src/chregistry.c \
diff --git a/os/rt/src/chlists.c b/os/rt/src/chlists.c deleted file mode 100644 index 4dd141b9c..000000000 --- a/os/rt/src/chlists.c +++ /dev/null @@ -1,251 +0,0 @@ -/*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
- 2011,2012,2013 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/>.
-*/
-
-/**
- * @file chlists.c
- * @brief Thread queues and lists code.
- *
- * @addtogroup queues_list
- * @{
- */
-#include "ch.h"
-
-/*===========================================================================*/
-/* Module local definitions. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module exported variables. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module local types. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module local variables. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module local functions. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module exported functions. */
-/*===========================================================================*/
-
-/**
- * @brief Enqueues the caller thread.
- * @details The caller thread is enqueued and put to sleep until it is
- * dequeued or the specified timeouts expires.
- *
- * @param[in] tqp pointer to the threads queue object
- * @param[in] timeout the timeout in system ticks, the special values are
- * handled as follow:
- * - @a TIME_INFINITE the thread enters an infinite sleep
- * state.
- * - @a TIME_IMMEDIATE the thread is not enqueued and
- * the function returns @p MSG_TIMEOUT as if a timeout
- * occurred.
- * .
- * @return The message from @p osalQueueWakeupOneI() or
- * @p osalQueueWakeupAllI() functions.
- * @retval MSG_TIMEOUT if the thread has not been dequeued within the
- * specified timeout or if the function has been
- * invoked with @p TIME_IMMEDIATE as timeout
- * specification.
- *
- * @sclass
- */
-msg_t chQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t timeout) {
-
- if (TIME_IMMEDIATE == timeout)
- return MSG_TIMEOUT;
-
- queue_insert(currp, tqp);
- return chSchGoSleepTimeoutS(CH_STATE_QUEUED, timeout);
-}
-
-/**
- * @brief Dequeues and wakes up one thread from the queue, if any.
- *
- * @param[in] tqp pointer to the threads queue object
- * @param[in] msg the message code
- *
- * @iclass
- */
-void chQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
-
- if (queue_notempty(tqp)) {
- thread_t *tp = queue_fifo_remove(tqp);
-
- chDbgAssert(tp->p_state == CH_STATE_QUEUED,
- "not CH_STATE_QUEUED");
-
- tp->p_u.rdymsg = msg;
- chSchReadyI(tp);
- }
-}
-
-/**
- * @brief Dequeues and wakes up all threads from the queue.
- *
- * @param[in] tqp pointer to the threads queue object
- * @param[in] msg the message code
- *
- * @iclass
- */
-void chQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
-
- while (queue_notempty(tqp)) {
- thread_t *tp = queue_fifo_remove(tqp);
-
- chDbgAssert(tp->p_state == CH_STATE_QUEUED,
- "not CH_STATE_QUEUED");
-
- tp->p_u.rdymsg = msg;
- chSchReadyI(tp);
- }
-}
-
-#if !CH_CFG_OPTIMIZE_SPEED || defined(__DOXYGEN__)
-/**
- * @brief Inserts a thread into a priority ordered queue.
- * @note The insertion is done by scanning the list from the highest
- * priority toward the lowest.
- *
- * @param[in] tp the pointer to the thread to be inserted in the list
- * @param[in] tqp the pointer to the threads list header
- *
- * @notapi
- */
-void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) {
-
- /* cp iterates over the queue.*/
- thread_t *cp = (thread_t *)tqp;
- do {
- /* Iterate to next thread in queue.*/
- cp = cp->p_next;
- /* Not end of queue? and cp has equal or higher priority than tp?.*/
- } while ((cp != (thread_t *)tqp) && (cp->p_prio >= tp->p_prio));
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- tp->p_prev = cp->p_prev;
- tp->p_prev->p_next = cp->p_prev = tp;
-}
-
-/**
- * @brief Inserts a thread into a queue.
- *
- * @param[in] tp the pointer to the thread to be inserted in the list
- * @param[in] tqp the pointer to the threads list header
- *
- * @notapi
- */
-void queue_insert(thread_t *tp, threads_queue_t *tqp) {
-
- tp->p_next = (thread_t *)tqp;
- tp->p_prev = tqp->p_prev;
- tp->p_prev->p_next = tqp->p_prev = tp;
-}
-
-/**
- * @brief Removes the first-out thread from a queue and returns it.
- * @note If the queue is priority ordered then this function returns the
- * thread with the highest priority.
- *
- * @param[in] tqp the pointer to the threads list header
- * @return The removed thread pointer.
- *
- * @notapi
- */
-thread_t *queue_fifo_remove(threads_queue_t *tqp) {
- thread_t *tp = tqp->p_next;
-
- (tqp->p_next = tp->p_next)->p_prev = (thread_t *)tqp;
- return tp;
-}
-
-/**
- * @brief Removes the last-out thread from a queue and returns it.
- * @note If the queue is priority ordered then this function returns the
- * thread with the lowest priority.
- *
- * @param[in] tqp the pointer to the threads list header
- * @return The removed thread pointer.
- *
- * @notapi
- */
-thread_t *queue_lifo_remove(threads_queue_t *tqp) {
- thread_t *tp = tqp->p_prev;
-
- (tqp->p_prev = tp->p_prev)->p_next = (thread_t *)tqp;
- return tp;
-}
-
-/**
- * @brief Removes a thread from a queue and returns it.
- * @details The thread is removed from the queue regardless of its relative
- * position and regardless the used insertion method.
- *
- * @param[in] tp the pointer to the thread to be removed from the queue
- * @return The removed thread pointer.
- *
- * @notapi
- */
-thread_t *queue_dequeue(thread_t *tp) {
-
- tp->p_prev->p_next = tp->p_next;
- tp->p_next->p_prev = tp->p_prev;
- return tp;
-}
-
-/**
- * @brief Pushes a thread_t on top of a stack list.
- *
- * @param[in] tp the pointer to the thread to be inserted in the list
- * @param[in] tlp the pointer to the threads list header
- *
- * @notapi
- */
-void list_insert(thread_t *tp, threads_list_t *tlp) {
-
- tp->p_next = tlp->p_next;
- tlp->p_next = tp;
-}
-
-/**
- * @brief Pops a thread from the top of a stack list and returns it.
- * @pre The list must be non-empty before calling this function.
- *
- * @param[in] tlp the pointer to the threads list header
- * @return The removed thread pointer.
- *
- * @notapi
- */
-thread_t *list_remove(threads_list_t *tlp) {
-
- thread_t *tp = tlp->p_next;
- tlp->p_next = tp->p_next;
- return tp;
-}
-#endif /* CH_CFG_OPTIMIZE_SPEED */
-
-/** @} */
diff --git a/os/rt/src/chqueues.c b/os/rt/src/chqueues.c index c65eb06c6..c0b0f8256 100644 --- a/os/rt/src/chqueues.c +++ b/os/rt/src/chqueues.c @@ -88,7 +88,7 @@ void chIQObjectInit(input_queue_t *iqp, uint8_t *bp, size_t size,
qnotify_t infy, void *link) {
- chQueueObjectInit(&iqp->q_waiting);
+ chThdQueueObjectInit(&iqp->q_waiting);
iqp->q_counter = 0;
iqp->q_buffer = iqp->q_rdptr = iqp->q_wrptr = bp;
iqp->q_top = bp + size;
@@ -113,7 +113,7 @@ void chIQResetI(input_queue_t *iqp) { iqp->q_rdptr = iqp->q_wrptr = iqp->q_buffer;
iqp->q_counter = 0;
- chQueueWakeupAllI(&iqp->q_waiting, Q_RESET);
+ chThdDequeueAllI(&iqp->q_waiting, Q_RESET);
}
/**
@@ -141,7 +141,7 @@ msg_t chIQPutI(input_queue_t *iqp, uint8_t b) { if (iqp->q_wrptr >= iqp->q_top)
iqp->q_wrptr = iqp->q_buffer;
- chQueueWakeupOneI(&iqp->q_waiting, Q_OK);
+ chThdDequeueNextI(&iqp->q_waiting, Q_OK);
return Q_OK;
}
@@ -175,7 +175,7 @@ msg_t chIQGetTimeout(input_queue_t *iqp, systime_t time) { while (chIQIsEmptyI(iqp)) {
msg_t msg;
- if ((msg = chQueueGoSleepTimeoutS(&iqp->q_waiting, time)) < Q_OK) {
+ if ((msg = chThdEnqueueTimeoutS(&iqp->q_waiting, time)) < Q_OK) {
chSysUnlock();
return msg;
}
@@ -227,7 +227,7 @@ size_t chIQReadTimeout(input_queue_t *iqp, uint8_t *bp, nfy(iqp);
while (chIQIsEmptyI(iqp)) {
- if (chQueueGoSleepTimeoutS(&iqp->q_waiting, time) != Q_OK) {
+ if (chThdEnqueueTimeoutS(&iqp->q_waiting, time) != Q_OK) {
chSysUnlock();
return r;
}
@@ -266,7 +266,7 @@ size_t chIQReadTimeout(input_queue_t *iqp, uint8_t *bp, void chOQObjectInit(output_queue_t *oqp, uint8_t *bp, size_t size,
qnotify_t onfy, void *link) {
- chQueueObjectInit(&oqp->q_waiting);
+ chThdQueueObjectInit(&oqp->q_waiting);
oqp->q_counter = size;
oqp->q_buffer = oqp->q_rdptr = oqp->q_wrptr = bp;
oqp->q_top = bp + size;
@@ -291,7 +291,7 @@ void chOQResetI(output_queue_t *oqp) { oqp->q_rdptr = oqp->q_wrptr = oqp->q_buffer;
oqp->q_counter = chQSizeI(oqp);
- chQueueWakeupAllI(&oqp->q_waiting, Q_RESET);
+ chThdDequeueAllI(&oqp->q_waiting, Q_RESET);
}
/**
@@ -322,7 +322,7 @@ msg_t chOQPutTimeout(output_queue_t *oqp, uint8_t b, systime_t time) { while (chOQIsFullI(oqp)) {
msg_t msg;
- if ((msg = chQueueGoSleepTimeoutS(&oqp->q_waiting, time)) < Q_OK) {
+ if ((msg = chThdEnqueueTimeoutS(&oqp->q_waiting, time)) < Q_OK) {
chSysUnlock();
return msg;
}
@@ -363,7 +363,7 @@ msg_t chOQGetI(output_queue_t *oqp) { if (oqp->q_rdptr >= oqp->q_top)
oqp->q_rdptr = oqp->q_buffer;
- chQueueWakeupOneI(&oqp->q_waiting, Q_OK);
+ chThdDequeueNextI(&oqp->q_waiting, Q_OK);
return b;
}
@@ -402,7 +402,7 @@ size_t chOQWriteTimeout(output_queue_t *oqp, const uint8_t *bp, chSysLock();
while (true) {
while (chOQIsFullI(oqp)) {
- if (chQueueGoSleepTimeoutS(&oqp->q_waiting, time) != Q_OK) {
+ if (chThdEnqueueTimeoutS(&oqp->q_waiting, time) != Q_OK) {
chSysUnlock();
return w;
}
diff --git a/os/rt/src/chschd.c b/os/rt/src/chschd.c index 1e844b7b0..acf65fb85 100644 --- a/os/rt/src/chschd.c +++ b/os/rt/src/chschd.c @@ -37,6 +37,11 @@ /* Module exported variables. */
/*===========================================================================*/
+/**
+ * @brief System data structures.
+ */
+ch_system_t ch;
+
/*===========================================================================*/
/* Module local types. */
/*===========================================================================*/
@@ -67,6 +72,129 @@ void _scheduler_init(void) { #endif
}
+#if !CH_CFG_OPTIMIZE_SPEED || defined(__DOXYGEN__)
+/**
+ * @brief Inserts a thread into a priority ordered queue.
+ * @note The insertion is done by scanning the list from the highest
+ * priority toward the lowest.
+ *
+ * @param[in] tp the pointer to the thread to be inserted in the list
+ * @param[in] tqp the pointer to the threads list header
+ *
+ * @notapi
+ */
+void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) {
+
+ /* cp iterates over the queue.*/
+ thread_t *cp = (thread_t *)tqp;
+ do {
+ /* Iterate to next thread in queue.*/
+ cp = cp->p_next;
+ /* Not end of queue? and cp has equal or higher priority than tp?.*/
+ } while ((cp != (thread_t *)tqp) && (cp->p_prio >= tp->p_prio));
+ /* Insertion on p_prev.*/
+ tp->p_next = cp;
+ tp->p_prev = cp->p_prev;
+ tp->p_prev->p_next = cp->p_prev = tp;
+}
+
+/**
+ * @brief Inserts a thread into a queue.
+ *
+ * @param[in] tp the pointer to the thread to be inserted in the list
+ * @param[in] tqp the pointer to the threads list header
+ *
+ * @notapi
+ */
+void queue_insert(thread_t *tp, threads_queue_t *tqp) {
+
+ tp->p_next = (thread_t *)tqp;
+ tp->p_prev = tqp->p_prev;
+ tp->p_prev->p_next = tqp->p_prev = tp;
+}
+
+/**
+ * @brief Removes the first-out thread from a queue and returns it.
+ * @note If the queue is priority ordered then this function returns the
+ * thread with the highest priority.
+ *
+ * @param[in] tqp the pointer to the threads list header
+ * @return The removed thread pointer.
+ *
+ * @notapi
+ */
+thread_t *queue_fifo_remove(threads_queue_t *tqp) {
+ thread_t *tp = tqp->p_next;
+
+ (tqp->p_next = tp->p_next)->p_prev = (thread_t *)tqp;
+ return tp;
+}
+
+/**
+ * @brief Removes the last-out thread from a queue and returns it.
+ * @note If the queue is priority ordered then this function returns the
+ * thread with the lowest priority.
+ *
+ * @param[in] tqp the pointer to the threads list header
+ * @return The removed thread pointer.
+ *
+ * @notapi
+ */
+thread_t *queue_lifo_remove(threads_queue_t *tqp) {
+ thread_t *tp = tqp->p_prev;
+
+ (tqp->p_prev = tp->p_prev)->p_next = (thread_t *)tqp;
+ return tp;
+}
+
+/**
+ * @brief Removes a thread from a queue and returns it.
+ * @details The thread is removed from the queue regardless of its relative
+ * position and regardless the used insertion method.
+ *
+ * @param[in] tp the pointer to the thread to be removed from the queue
+ * @return The removed thread pointer.
+ *
+ * @notapi
+ */
+thread_t *queue_dequeue(thread_t *tp) {
+
+ tp->p_prev->p_next = tp->p_next;
+ tp->p_next->p_prev = tp->p_prev;
+ return tp;
+}
+
+/**
+ * @brief Pushes a thread_t on top of a stack list.
+ *
+ * @param[in] tp the pointer to the thread to be inserted in the list
+ * @param[in] tlp the pointer to the threads list header
+ *
+ * @notapi
+ */
+void list_insert(thread_t *tp, threads_list_t *tlp) {
+
+ tp->p_next = tlp->p_next;
+ tlp->p_next = tp;
+}
+
+/**
+ * @brief Pops a thread from the top of a stack list and returns it.
+ * @pre The list must be non-empty before calling this function.
+ *
+ * @param[in] tlp the pointer to the threads list header
+ * @return The removed thread pointer.
+ *
+ * @notapi
+ */
+thread_t *list_remove(threads_list_t *tlp) {
+
+ thread_t *tp = tlp->p_next;
+ tlp->p_next = tp->p_next;
+ return tp;
+}
+#endif /* CH_CFG_OPTIMIZE_SPEED */
+
/**
* @brief Inserts a thread in the Ready List.
* @details The thread is positioned behind all threads with higher or equal
diff --git a/os/rt/src/chsys.c b/os/rt/src/chsys.c index 94f1afd51..f7fd6766b 100644 --- a/os/rt/src/chsys.c +++ b/os/rt/src/chsys.c @@ -48,11 +48,6 @@ /* Module local variables. */
/*===========================================================================*/
-/**
- * @brief System data structures.
- */
-ch_system_t ch;
-
#if !CH_CFG_NO_IDLE_THREAD || defined(__DOXYGEN__)
/**
* @brief Idle thread working area.
diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c index 613810954..a8f3492e6 100644 --- a/os/rt/src/chthreads.c +++ b/os/rt/src/chthreads.c @@ -270,123 +270,6 @@ tprio_t chThdSetPriority(tprio_t newprio) { }
/**
- * @brief Sends the current thread sleeping and sets a reference variable.
- * @note This function must reschedule, it can only be called from thread
- * context.
- *
- * @param[in] trp a pointer to a thread reference object
- * @return The wake up message.
- *
- * @sclass
- */
-msg_t chThreadSuspendS(thread_reference_t *trp) {
- thread_t *tp = chThdGetSelfX();
-
- chDbgAssert(*trp == NULL, "not NULL");
-
- *trp = tp;
- tp->p_u.wtobjp = &trp;
- chSchGoSleepS(CH_STATE_SUSPENDED);
- return chThdGetSelfX()->p_msg;
-}
-
-/**
- * @brief Sends the current thread sleeping and sets a reference variable.
- * @note This function must reschedule, it can only be called from thread
- * context.
- *
- * @param[in] trp a pointer to a thread reference object
- * @param[in] timeout the timeout in system ticks, the special values are
- * handled as follow:
- * - @a TIME_INFINITE the thread enters an infinite sleep
- * state.
- * - @a TIME_IMMEDIATE the thread is not enqueued and
- * the function returns @p MSG_TIMEOUT as if a timeout
- * occurred.
- * .
- * @return The wake up message.
- * @retval MSG_TIMEOUT if the operation timed out.
- *
- * @sclass
- */
-msg_t chThreadSuspendTimeoutS(thread_reference_t *trp, systime_t timeout) {
- thread_t *tp = chThdGetSelfX();
-
- chDbgAssert(*trp == NULL, "not NULL");
-
- if (TIME_IMMEDIATE == timeout)
- return MSG_TIMEOUT;
-
- *trp = tp;
- tp->p_u.wtobjp = &trp;
- return chSchGoSleepTimeoutS(CH_STATE_SUSPENDED, timeout);
-}
-
-/**
- * @brief Wakes up a thread waiting on a thread reference object.
- * @note This function must not reschedule because it can be called from
- * ISR context.
- *
- * @param[in] trp a pointer to a thread reference object
- * @param[in] msg the message code
- *
- * @iclass
- */
-void chThreadResumeI(thread_reference_t *trp, msg_t msg) {
-
- if (*trp != NULL) {
- thread_t *tp = *trp;
-
- chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
- "not THD_STATE_SUSPENDED");
-
- *trp = NULL;
- tp->p_u.rdymsg = msg;
- chSchReadyI(tp);
- }
-}
-
-/**
- * @brief Wakes up a thread waiting on a thread reference object.
- * @note This function must reschedule, it can only be called from thread
- * context.
- *
- * @param[in] trp a pointer to a thread reference object
- * @param[in] msg the message code
- *
- * @iclass
- */
-void chThreadResumeS(thread_reference_t *trp, msg_t msg) {
-
- if (*trp != NULL) {
- thread_t *tp = *trp;
-
- chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
- "not THD_STATE_SUSPENDED");
-
- *trp = NULL;
- chSchWakeupS(tp, msg);
- }
-}
-
-/**
- * @brief Wakes up a thread waiting on a thread reference object.
- * @note This function must reschedule, it can only be called from thread
- * context.
- *
- * @param[in] trp a pointer to a thread reference object
- * @param[in] msg the message code
- *
- * @api
- */
-void chThreadResume(thread_reference_t *trp, msg_t msg) {
-
- chSysLock();
- chThreadResumeS(trp, msg);
- chSysUnlock();
-}
-
-/**
* @brief Requests a thread termination.
* @pre The target thread must be written to invoke periodically
* @p chThdShouldTerminate() and terminate cleanly if it returns
@@ -566,4 +449,196 @@ msg_t chThdWait(thread_t *tp) { }
#endif /* CH_CFG_USE_WAITEXIT */
+/**
+ * @brief Sends the current thread sleeping and sets a reference variable.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @return The wake up message.
+ *
+ * @sclass
+ */
+msg_t chThdSuspendS(thread_reference_t *trp) {
+ thread_t *tp = chThdGetSelfX();
+
+ chDbgAssert(*trp == NULL, "not NULL");
+
+ *trp = tp;
+ tp->p_u.wtobjp = &trp;
+ chSchGoSleepS(CH_STATE_SUSPENDED);
+ return chThdGetSelfX()->p_msg;
+}
+
+/**
+ * @brief Sends the current thread sleeping and sets a reference variable.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] timeout the timeout in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE the thread is not enqueued and
+ * the function returns @p MSG_TIMEOUT as if a timeout
+ * occurred.
+ * .
+ * @return The wake up message.
+ * @retval MSG_TIMEOUT if the operation timed out.
+ *
+ * @sclass
+ */
+msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout) {
+ thread_t *tp = chThdGetSelfX();
+
+ chDbgAssert(*trp == NULL, "not NULL");
+
+ if (TIME_IMMEDIATE == timeout)
+ return MSG_TIMEOUT;
+
+ *trp = tp;
+ tp->p_u.wtobjp = &trp;
+ return chSchGoSleepTimeoutS(CH_STATE_SUSPENDED, timeout);
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must not reschedule because it can be called from
+ * ISR context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdResumeI(thread_reference_t *trp, msg_t msg) {
+
+ if (*trp != NULL) {
+ thread_t *tp = *trp;
+
+ chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
+ "not THD_STATE_SUSPENDED");
+
+ *trp = NULL;
+ tp->p_u.rdymsg = msg;
+ chSchReadyI(tp);
+ }
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdResumeS(thread_reference_t *trp, msg_t msg) {
+
+ if (*trp != NULL) {
+ thread_t *tp = *trp;
+
+ chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
+ "not THD_STATE_SUSPENDED");
+
+ *trp = NULL;
+ chSchWakeupS(tp, msg);
+ }
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @api
+ */
+void chThdResume(thread_reference_t *trp, msg_t msg) {
+
+ chSysLock();
+ chThdResumeS(trp, msg);
+ chSysUnlock();
+}
+
+/**
+ * @brief Enqueues the caller thread on a threads queue object.
+ * @details The caller thread is enqueued and put to sleep until it is
+ * dequeued or the specified timeouts expires.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] timeout the timeout in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE the thread is not enqueued and
+ * the function returns @p MSG_TIMEOUT as if a timeout
+ * occurred.
+ * .
+ * @return The message from @p osalQueueWakeupOneI() or
+ * @p osalQueueWakeupAllI() functions.
+ * @retval MSG_TIMEOUT if the thread has not been dequeued within the
+ * specified timeout or if the function has been
+ * invoked with @p TIME_IMMEDIATE as timeout
+ * specification.
+ *
+ * @sclass
+ */
+msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout) {
+
+ if (TIME_IMMEDIATE == timeout)
+ return MSG_TIMEOUT;
+
+ queue_insert(currp, tqp);
+ return chSchGoSleepTimeoutS(CH_STATE_QUEUED, timeout);
+}
+
+/**
+ * @brief Dequeues and wakes up one thread from the threads queue object,
+ * if any.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg) {
+
+ if (queue_notempty(tqp)) {
+ thread_t *tp = queue_fifo_remove(tqp);
+
+ chDbgAssert(tp->p_state == CH_STATE_QUEUED,
+ "not CH_STATE_QUEUED");
+
+ tp->p_u.rdymsg = msg;
+ chSchReadyI(tp);
+ }
+}
+
+/**
+ * @brief Dequeues and wakes up all threads from the threads queue object.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg) {
+
+ while (queue_notempty(tqp)) {
+ thread_t *tp = queue_fifo_remove(tqp);
+
+ chDbgAssert(tp->p_state == CH_STATE_QUEUED,
+ "not CH_STATE_QUEUED");
+
+ tp->p_u.rdymsg = msg;
+ chSchReadyI(tp);
+ }
+}
+
/** @} */
|