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Diffstat (limited to 'os/kernel/src/chthreads.c')
| -rw-r--r-- | os/kernel/src/chthreads.c | 462 |
1 files changed, 0 insertions, 462 deletions
diff --git a/os/kernel/src/chthreads.c b/os/kernel/src/chthreads.c deleted file mode 100644 index 073b6eed7..000000000 --- a/os/kernel/src/chthreads.c +++ /dev/null @@ -1,462 +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 chthreads.c
- * @brief Threads code.
- *
- * @addtogroup threads
- * @details Threads related APIs and services.
- *
- * <h2>Operation mode</h2>
- * A thread is an abstraction of an independent instructions flow.
- * In ChibiOS/RT a thread is represented by a "C" function owning
- * a processor context, state informations and a dedicated stack
- * area. In this scenario static variables are shared among all
- * threads while automatic variables are local to the thread.<br>
- * Operations defined for threads:
- * - <b>Create</b>, a thread is started on the specified thread
- * function. This operation is available in multiple variants,
- * both static and dynamic.
- * - <b>Exit</b>, a thread terminates by returning from its top
- * level function or invoking a specific API, the thread can
- * return a value that can be retrieved by other threads.
- * - <b>Wait</b>, a thread waits for the termination of another
- * thread and retrieves its return value.
- * - <b>Resume</b>, a thread created in suspended state is started.
- * - <b>Sleep</b>, the execution of a thread is suspended for the
- * specified amount of time or the specified future absolute time
- * is reached.
- * - <b>SetPriority</b>, a thread changes its own priority level.
- * - <b>Yield</b>, a thread voluntarily renounces to its time slot.
- * .
- * The threads subsystem is implicitly included in kernel however
- * some of its part may be excluded by disabling them in @p chconf.h,
- * see the @p CH_CFG_USE_WAITEXIT and @p CH_CFG_USE_DYNAMIC configuration
- * options.
- * @{
- */
-
-#include "ch.h"
-
-/*===========================================================================*/
-/* Module local definitions. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module exported variables. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module local types. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module local variables. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module local functions. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module exported functions. */
-/*===========================================================================*/
-
-/**
- * @brief Initializes a thread structure.
- * @note This is an internal functions, do not use it in application code.
- *
- * @param[in] tp pointer to the thread
- * @param[in] prio the priority level for the new thread
- * @return The same thread pointer passed as parameter.
- *
- * @notapi
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_SUSPENDED;
- tp->p_flags = CH_FLAG_MODE_STATIC;
-#if CH_CFG_TIME_QUANTUM > 0
- tp->p_preempt = CH_CFG_TIME_QUANTUM;
-#endif
-#if CH_CFG_USE_MUTEXES
- tp->p_realprio = prio;
- tp->p_mtxlist = NULL;
-#endif
-#if CH_CFG_USE_EVENTS
- tp->p_epending = 0;
-#endif
-#if CH_DBG_THREADS_PROFILING
- tp->p_time = 0;
-#endif
-#if CH_CFG_USE_DYNAMIC
- tp->p_refs = 1;
-#endif
-#if CH_CFG_USE_REGISTRY
- tp->p_name = NULL;
- REG_INSERT(tp);
-#endif
-#if CH_CFG_USE_WAITEXIT
- list_init(&tp->p_waiting);
-#endif
-#if CH_CFG_USE_MESSAGES
- queue_init(&tp->p_msgqueue);
-#endif
-#if CH_DBG_ENABLE_STACK_CHECK
- tp->p_stklimit = (stkalign_t *)(tp + 1);
-#endif
-#if CH_DBG_STATISTICS || defined(__DOXYGEN__)
- chTMStartMeasurementX(&tp->p_stats);
-#endif
-#if defined(CH_CFG_THREAD_INIT_HOOK)
- CH_CFG_THREAD_INIT_HOOK(tp);
-#endif
- return tp;
-}
-
-#if CH_DBG_FILL_THREADS || defined(__DOXYGEN__)
-/**
- * @brief Memory fill utility.
- *
- * @param[in] startp first address to fill
- * @param[in] endp last address to fill +1
- * @param[in] v filler value
- *
- * @notapi
- */
-void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v) {
-
- while (startp < endp)
- *startp++ = v;
-}
-#endif /* CH_DBG_FILL_THREADS */
-
-/**
- * @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.
- * @post The initialized thread can be subsequently started by invoking
- * @p chThdResume(), @p chThdResumeI() 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.
- * @note Threads created using this function do not obey to the
- * @p CH_DBG_FILL_THREADS debug option because it would keep
- * the kernel locked for too much time.
- *
- * @param[out] wsp pointer to a working area dedicated to the thread stack
- * @param[in] size size of the working area
- * @param[in] prio the priority level for the new thread
- * @param[in] pf the thread function
- * @param[in] arg an argument passed to the thread function. It can be
- * @p NULL.
- * @return The pointer to the @p thread_t structure allocated for
- * the thread into the working space area.
- *
- * @iclass
- */
-thread_t *chThdCreateI(void *wsp, size_t size,
- tprio_t prio, tfunc_t pf, void *arg) {
- /* The thread structure is laid out in the lower part of the thread
- workspace.*/
- thread_t *tp = wsp;
-
- chDbgCheckClassI();
-
- chDbgCheck((wsp != NULL) && (size >= THD_WA_SIZE(0)) &&
- (prio <= HIGHPRIO) && (pf != NULL));
- SETUP_CONTEXT(wsp, size, pf, arg);
- return _thread_init(tp, prio);
-}
-
-/**
- * @brief Creates a new thread into a static memory area.
- * @note A thread can terminate by calling @p chThdExit() or by simply
- * returning from its main function.
- *
- * @param[out] wsp pointer to a working area dedicated to the thread stack
- * @param[in] size size of the working area
- * @param[in] prio the priority level for the new thread
- * @param[in] pf the thread function
- * @param[in] arg an argument passed to the thread function. It can be
- * @p NULL.
- * @return The pointer to the @p thread_t structure allocated for
- * the thread into the working space area.
- *
- * @api
- */
-thread_t *chThdCreateStatic(void *wsp, size_t size,
- tprio_t prio, tfunc_t pf, void *arg) {
- thread_t *tp;
-
-#if CH_DBG_FILL_THREADS
- _thread_memfill((uint8_t *)wsp,
- (uint8_t *)wsp + sizeof(thread_t),
- CH_DBG_THREAD_FILL_VALUE);
- _thread_memfill((uint8_t *)wsp + sizeof(thread_t),
- (uint8_t *)wsp + size,
- CH_DBG_STACK_FILL_VALUE);
-#endif
- chSysLock();
- chSchWakeupS(tp = chThdCreateI(wsp, size, prio, pf, arg), RDY_OK);
- chSysUnlock();
- return tp;
-}
-
-/**
- * @brief Changes the running thread priority level then reschedules if
- * necessary.
- * @note The function returns the real thread priority regardless of the
- * current priority that could be higher than the real priority
- * because the priority inheritance mechanism.
- *
- * @param[in] newprio the new priority level of the running thread
- * @return The old priority level.
- *
- * @api
- */
-tprio_t chThdSetPriority(tprio_t newprio) {
- tprio_t oldprio;
-
- chDbgCheck(newprio <= HIGHPRIO);
-
- chSysLock();
-#if CH_CFG_USE_MUTEXES
- oldprio = currp->p_realprio;
- if ((currp->p_prio == currp->p_realprio) || (newprio > currp->p_prio))
- currp->p_prio = newprio;
- currp->p_realprio = newprio;
-#else
- oldprio = currp->p_prio;
- currp->p_prio = newprio;
-#endif
- chSchRescheduleS();
- chSysUnlock();
- return oldprio;
-}
-
-/**
- * @brief Resumes a suspended thread.
- * @pre The specified thread pointer must refer to an initialized thread
- * in the @p CH_STATE_SUSPENDED state.
- * @post The specified thread is immediately started or put in the ready
- * list depending on the relative priority levels.
- * @note Use this function to start threads created with @p chThdCreateI().
- *
- * @param[in] tp pointer to the thread
- * @return The pointer to the thread.
- *
- * @api
- */
-thread_t *chThdResume(thread_t *tp) {
-
- chSysLock();
- chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
- "thread not in CH_STATE_SUSPENDED state");
- chSchWakeupS(tp, RDY_OK);
- chSysUnlock();
- return tp;
-}
-
-/**
- * @brief Requests a thread termination.
- * @pre The target thread must be written to invoke periodically
- * @p chThdShouldTerminate() and terminate cleanly if it returns
- * @p true.
- * @post The specified thread will terminate after detecting the termination
- * condition.
- *
- * @param[in] tp pointer to the thread
- *
- * @api
- */
-void chThdTerminate(thread_t *tp) {
-
- chSysLock();
- tp->p_flags |= CH_FLAG_TERMINATE;
- chSysUnlock();
-}
-
-/**
- * @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.
- * .
- *
- * @api
- */
-void chThdSleep(systime_t time) {
-
- chDbgCheck(time != TIME_IMMEDIATE);
-
- chSysLock();
- chThdSleepS(time);
- chSysUnlock();
-}
-
-/**
- * @brief Suspends the invoking thread until the system time arrives to the
- * specified value.
- *
- * @param[in] time absolute system time
- *
- * @api
- */
-void chThdSleepUntil(systime_t time) {
-
- chSysLock();
- if ((time -= chVTGetSystemTimeX()) > 0)
- chThdSleepS(time);
- chSysUnlock();
-}
-
-/**
- * @brief Yields the time slot.
- * @details Yields the CPU control to the next thread in the ready list with
- * equal priority, if any.
- *
- * @api
- */
-void chThdYield(void) {
-
- chSysLock();
- chSchDoYieldS();
- chSysUnlock();
-}
-
-/**
- * @brief Terminates the current thread.
- * @details The thread goes in the @p CH_STATE_FINAL state holding the
- * specified exit status code, other threads can retrieve the
- * exit status code by invoking the function @p chThdWait().
- * @post Eventual code after this function will never be executed,
- * this function never returns. The compiler has no way to
- * know this so do not assume that the compiler would remove
- * the dead code.
- *
- * @param[in] msg thread exit code
- *
- * @api
- */
-void chThdExit(msg_t msg) {
-
- chSysLock();
- chThdExitS(msg);
- /* The thread never returns here.*/
-}
-
-/**
- * @brief Terminates the current thread.
- * @details The thread goes in the @p CH_STATE_FINAL state holding the
- * specified exit status code, other threads can retrieve the
- * exit status code by invoking the function @p chThdWait().
- * @post Eventual code after this function will never be executed,
- * this function never returns. The compiler has no way to
- * know this so do not assume that the compiler would remove
- * the dead code.
- *
- * @param[in] msg thread exit code
- *
- * @sclass
- */
-void chThdExitS(msg_t msg) {
- thread_t *tp = currp;
-
- tp->p_u.exitcode = msg;
-#if defined(CH_CFG_THREAD_EXIT_HOOK)
- CH_CFG_THREAD_EXIT_HOOK(tp);
-#endif
-#if CH_CFG_USE_WAITEXIT
- while (list_notempty(&tp->p_waiting))
- chSchReadyI(list_remove(&tp->p_waiting));
-#endif
-#if CH_CFG_USE_REGISTRY
- /* Static threads are immediately removed from the registry because
- there is no memory to recover.*/
- if ((tp->p_flags & CH_FLAG_MODE_MASK) == CH_FLAG_MODE_STATIC)
- REG_REMOVE(tp);
-#endif
- chSchGoSleepS(CH_STATE_FINAL);
- /* The thread never returns here.*/
- chDbgAssert(false, "zombies apocalypse");
-}
-
-#if CH_CFG_USE_WAITEXIT || defined(__DOXYGEN__)
-/**
- * @brief Blocks the execution of the invoking thread until the specified
- * thread terminates then the exit code is returned.
- * @details This function waits for the specified thread to terminate then
- * decrements its reference counter, if the counter reaches zero then
- * the thread working area is returned to the proper allocator.<br>
- * The memory used by the exited thread is handled in different ways
- * depending on the API that spawned the thread:
- * - If the thread was spawned by @p chThdCreateStatic() or by
- * @p chThdCreateI() then nothing happens and the thread working
- * area is not released or modified in any way. This is the
- * default, totally static, behavior.
- * - If the thread was spawned by @p chThdCreateFromHeap() then
- * the working area is returned to the system heap.
- * - If the thread was spawned by @p chThdCreateFromMemoryPool()
- * then the working area is returned to the owning memory pool.
- * .
- * @pre The configuration option @p CH_CFG_USE_WAITEXIT must be enabled in
- * order to use this function.
- * @post Enabling @p chThdWait() requires 2-4 (depending on the
- * architecture) extra bytes in the @p thread_t structure.
- * @post After invoking @p chThdWait() the thread pointer becomes invalid
- * and must not be used as parameter for further system calls.
- * @note If @p CH_CFG_USE_DYNAMIC is not specified this function just waits for
- * the thread termination, no memory allocators are involved.
- *
- * @param[in] tp pointer to the thread
- * @return The exit code from the terminated thread.
- *
- * @api
- */
-msg_t chThdWait(thread_t *tp) {
- msg_t msg;
-
- chDbgCheck(tp != NULL);
-
- chSysLock();
- chDbgAssert(tp != currp, "waiting self");
-#if CH_CFG_USE_DYNAMIC
- chDbgAssert(tp->p_refs > 0, "not referenced");
-#endif
- if (tp->p_state != CH_STATE_FINAL) {
- list_insert(currp, &tp->p_waiting);
- chSchGoSleepS(CH_STATE_WTEXIT);
- }
- msg = tp->p_u.exitcode;
- chSysUnlock();
-#if CH_CFG_USE_DYNAMIC
- chThdRelease(tp);
-#endif
- return msg;
-}
-#endif /* CH_CFG_USE_WAITEXIT */
-
-/** @} */
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