diff options
Diffstat (limited to 'os/kernel/src')
| -rw-r--r-- | os/kernel/src/chthreads.c | 60 |
1 files changed, 43 insertions, 17 deletions
diff --git a/os/kernel/src/chthreads.c b/os/kernel/src/chthreads.c index c4aa7437c..237fd44fb 100644 --- a/os/kernel/src/chthreads.c +++ b/os/kernel/src/chthreads.c @@ -95,9 +95,7 @@ Thread *init_thread(Thread *tp, tprio_t prio) { queue_init(&tp->p_msgqueue);
#endif
#if CH_USE_REGISTRY
- chSysLock();
REG_INSERT(tp);
- chSysUnlock();
#endif
#if defined(THREAD_EXT_EXIT_HOOK)
THREAD_EXT_INIT_HOOK(tp);
@@ -114,13 +112,16 @@ static void memfill(uint8_t *startp, uint8_t *endp, uint8_t v) { #endif
/**
- * @brief Initializes a new thread.
+ * @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 THD_STATE_SUSPENDED.
* @post The initialized thread can be subsequently started by invoking
* @p chThdResume().
* @note A thread can terminate by calling @p chThdExit() or by simply
* returning from its main function.
+ * 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
@@ -131,20 +132,16 @@ static void memfill(uint8_t *startp, uint8_t *endp, uint8_t v) { * @return The pointer to the @p Thread structure allocated for
* the thread into the working space area.
*
- * @api
+ * @iclass
*/
-Thread *chThdInit(void *wsp, size_t size, tprio_t prio, tfunc_t pf, void *arg) {
+Thread *chThdCreateI(void *wsp, size_t size,
+ tprio_t prio, tfunc_t pf, void *arg) {
/* Thread structure is layed out in the lower part of the thread workspace */
Thread *tp = wsp;
chDbgCheck((wsp != NULL) && (size >= THD_WA_SIZE(0)) &&
(prio <= HIGHPRIO) && (pf != NULL),
- "chThdInit");
-#if CH_DBG_FILL_THREADS
- memfill((uint8_t *)wsp, (uint8_t *)wsp + sizeof(Thread), THREAD_FILL_VALUE);
- memfill((uint8_t *)wsp + sizeof(Thread),
- (uint8_t *)wsp + size, STACK_FILL_VALUE);
-#endif
+ "chThdCreateI");
SETUP_CONTEXT(wsp, size, pf, arg);
return init_thread(tp, prio);
}
@@ -167,8 +164,17 @@ Thread *chThdInit(void *wsp, size_t size, tprio_t prio, tfunc_t pf, void *arg) { */
Thread *chThdCreateStatic(void *wsp, size_t size,
tprio_t prio, tfunc_t pf, void *arg) {
-
- return chThdResume(chThdInit(wsp, size, prio, pf, arg));
+ Thread *tp;
+
+#if CH_DBG_FILL_THREADS
+ memfill((uint8_t *)wsp, (uint8_t *)wsp + sizeof(Thread), THREAD_FILL_VALUE);
+ memfill((uint8_t *)wsp + sizeof(Thread),
+ (uint8_t *)wsp + size, STACK_FILL_VALUE);
+#endif
+ chSysLock();
+ chSchWakeupS(tp = chThdCreateI(wsp, size, prio, pf, arg), RDY_OK);
+ chSysUnlock();
+ return tp;
}
#if CH_USE_DYNAMIC && CH_USE_HEAP
@@ -202,9 +208,19 @@ Thread *chThdCreateFromHeap(MemoryHeap *heapp, size_t size, wsp = chHeapAlloc(heapp, size);
if (wsp == NULL)
return NULL;
- tp = chThdInit(wsp, size, prio, pf, arg);
+
+#if CH_DBG_FILL_THREADS
+ memfill((uint8_t *)wsp, (uint8_t *)wsp + sizeof(Thread), THREAD_FILL_VALUE);
+ memfill((uint8_t *)wsp + sizeof(Thread),
+ (uint8_t *)wsp + size, STACK_FILL_VALUE);
+#endif
+
+ chSysLock();
+ tp = chThdCreateI(wsp, size, prio, pf, arg);
tp->p_flags = THD_MEM_MODE_HEAP;
- return chThdResume(tp);
+ chSchWakeupS(tp, RDY_OK);
+ chSysUnlock();
+ return tp;
}
#endif /* CH_USE_DYNAMIC && CH_USE_HEAP */
@@ -240,10 +256,20 @@ Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio, wsp = chPoolAlloc(mp);
if (wsp == NULL)
return NULL;
- tp = chThdInit(wsp, mp->mp_object_size, prio, pf, arg);
+
+#if CH_DBG_FILL_THREADS
+ memfill((uint8_t *)wsp, (uint8_t *)wsp + sizeof(Thread), THREAD_FILL_VALUE);
+ memfill((uint8_t *)wsp + sizeof(Thread),
+ (uint8_t *)wsp + size, STACK_FILL_VALUE);
+#endif
+
+ chSysLock();
+ tp = chThdCreateI(wsp, mp->mp_object_size, prio, pf, arg);
tp->p_flags = THD_MEM_MODE_MEMPOOL;
tp->p_mpool = mp;
- return chThdResume(tp);
+ chSchWakeupS(tp, RDY_OK);
+ chSysUnlock();
+ return tp;
}
#endif /* CH_USE_DYNAMIC && CH_USE_MEMPOOLS */
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