diff options
Diffstat (limited to 'os/rt/include/chschd.h')
| -rw-r--r-- | os/rt/include/chschd.h | 230 |
1 files changed, 108 insertions, 122 deletions
diff --git a/os/rt/include/chschd.h b/os/rt/include/chschd.h index 18412ccc1..a3db7a3db 100644 --- a/os/rt/include/chschd.h +++ b/os/rt/include/chschd.h @@ -108,21 +108,9 @@ /** @} */
/**
- * @name Working Areas and Alignment
+ * @name Working Areas
*/
/**
- * @brief Enforces a correct alignment for a stack area size value.
- *
- * @param[in] n the stack size to be aligned to the next stack
- * alignment boundary
- * @return The aligned stack size.
- *
- * @api
- */
-#define THD_ALIGN_STACK_SIZE(n) \
- (((((size_t)(n)) - 1U) | (sizeof(stkalign_t) - 1U)) + 1U)
-
-/**
* @brief Calculates the total Working Area size.
*
* @param[in] n the stack size to be assigned to the thread
@@ -131,7 +119,7 @@ * @api
*/
#define THD_WORKING_AREA_SIZE(n) \
- THD_ALIGN_STACK_SIZE(sizeof(thread_t) + PORT_WA_SIZE(n))
+ MEM_ALIGN_NEXT(sizeof(thread_t) + PORT_WA_SIZE(n), PORT_STACK_ALIGN)
/**
* @brief Static working area allocation.
@@ -143,8 +131,22 @@ *
* @api
*/
-#define THD_WORKING_AREA(s, n) \
- stkalign_t s[THD_WORKING_AREA_SIZE(n) / sizeof(stkalign_t)]
+#define THD_WORKING_AREA(s, n) PORT_WORKING_AREA(s, n)
+
+/**
+ * @brief Base of a working area casted to the correct type.
+ *
+ * @param[in] s name of the working area
+ */
+#define THD_WORKING_AREA_BASE(s) ((stkalign_t *)(s))
+
+/**
+ * @brief End of a working area casted to the correct type.
+ *
+ * @param[in] s name of the working area
+ */
+#define THD_WORKING_AREA_END(s) (THD_WORKING_AREA_BASE(s) + \
+ (sizeof (s) / sizeof (stkalign_t)))
/** @} */
/**
@@ -166,6 +168,18 @@ /* Derived constants and error checks. */
/*===========================================================================*/
+#if !defined(CH_CFG_IDLE_ENTER_HOOK)
+#error "CH_CFG_IDLE_ENTER_HOOK not defined in chconf.h"
+#endif
+
+#if !defined(CH_CFG_IDLE_LEAVE_HOOK)
+#error "CH_CFG_IDLE_LEAVE_HOOK not defined in chconf.h"
+#endif
+
+#if !defined(CH_CFG_IDLE_LOOP_HOOK)
+#error "CH_CFG_IDLE_LOOP_HOOK not defined in chconf.h"
+#endif
+
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/
@@ -174,15 +188,15 @@ * @brief Generic threads single link list, it works like a stack.
*/
struct ch_threads_list {
- thread_t *p_next; /**< @brief Next in the list/queue. */
+ thread_t *next; /**< @brief Next in the list/queue. */
};
/**
* @brief Generic threads bidirectional linked list header and element.
*/
struct ch_threads_queue {
- thread_t *p_next; /**< @brief Next in the list/queue. */
- thread_t *p_prev; /**< @brief Previous in the queue. */
+ thread_t *next; /**< @brief Next in the list/queue. */
+ thread_t *prev; /**< @brief Previous in the queue. */
};
/**
@@ -192,55 +206,44 @@ struct ch_threads_queue { * by shrinking this structure.
*/
struct ch_thread {
- thread_t *p_next; /**< @brief Next in the list/queue. */
+ thread_t *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. */
+ thread_t *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. */
+ tprio_t prio; /**< @brief Thread priority. */
+ struct port_context ctx; /**< @brief Processor context. */
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
- thread_t *p_newer; /**< @brief Newer registry element. */
- thread_t *p_older; /**< @brief Older registry element. */
+ thread_t *newer; /**< @brief Newer registry element. */
+ thread_t *older; /**< @brief Older registry element. */
#endif
/* End of the fields shared with the ReadyList structure. */
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
/**
* @brief Thread name or @p NULL.
*/
- const char *p_name;
+ const char *name;
#endif
-#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || defined(__DOXYGEN__)
/**
* @brief Thread stack boundary.
+ * @note This pointer matches with the working area base address.
*/
- stkalign_t *p_stklimit;
-#endif
+ stkalign_t *stklimit;
/**
* @brief Current thread state.
*/
- tstate_t p_state;
- /**
- * @brief Various thread flags.
- */
- tmode_t p_flags;
-#if (CH_CFG_USE_DYNAMIC == TRUE) || defined(__DOXYGEN__)
- /**
- * @brief References to this thread.
- */
- trefs_t p_refs;
-#endif
+ tstate_t state;
/**
* @brief Number of ticks remaining to this thread.
*/
#if (CH_CFG_TIME_QUANTUM > 0) || defined(__DOXYGEN__)
- tslices_t p_preempt;
+ tslices_t preempt;
#endif
#if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__)
/**
* @brief Thread consumed time in ticks.
* @note This field can overflow.
*/
- volatile systime_t p_time;
+ volatile systime_t time;
#endif
/**
* @brief State-specific fields.
@@ -308,48 +311,41 @@ struct ch_thread { */
eventmask_t ewmask;
#endif
- } p_u;
+ } u;
#if (CH_CFG_USE_WAITEXIT == TRUE) || defined(__DOXYGEN__)
/**
* @brief Termination waiting list.
*/
- threads_list_t p_waiting;
+ threads_list_t waiting;
#endif
#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
/**
* @brief Messages queue.
*/
- threads_queue_t p_msgqueue;
+ threads_queue_t msgqueue;
#endif
#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
/**
* @brief Pending events mask.
*/
- eventmask_t p_epending;
+ eventmask_t epending;
#endif
#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
/**
* @brief List of the mutexes owned by this thread.
* @note The list is terminated by a @p NULL in this field.
*/
- struct ch_mutex *p_mtxlist;
+ struct ch_mutex *mtxlist;
/**
* @brief Thread's own, non-inherited, priority.
*/
- tprio_t p_realprio;
-#endif
-#if ((CH_CFG_USE_DYNAMIC == TRUE) && (CH_CFG_USE_MEMPOOLS == TRUE)) || \
- defined(__DOXYGEN__)
- /**
- * @brief Memory Pool where the thread workspace is returned.
- */
- void *p_mpool;
+ tprio_t realprio;
#endif
#if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)
/**
* @brief Thread statistics.
*/
- time_measurement_t p_stats;
+ time_measurement_t stats;
#endif
#if defined(CH_CFG_THREAD_EXTRA_FIELDS)
/* Extra fields defined in chconf.h.*/
@@ -363,12 +359,12 @@ struct ch_thread { * @brief Virtual Timer descriptor structure.
*/
struct ch_virtual_timer {
- virtual_timer_t *vt_next; /**< @brief Next timer in the list. */
- virtual_timer_t *vt_prev; /**< @brief Previous timer in the list. */
- systime_t vt_delta; /**< @brief Time delta before timeout. */
- vtfunc_t vt_func; /**< @brief Timer callback function
+ virtual_timer_t *next; /**< @brief Next timer in the list. */
+ virtual_timer_t *prev; /**< @brief Previous timer in the list. */
+ systime_t delta; /**< @brief Time delta before timeout. */
+ vtfunc_t func; /**< @brief Timer callback function
pointer. */
- void *vt_par; /**< @brief Timer callback function
+ void *par; /**< @brief Timer callback function
parameter. */
};
@@ -379,19 +375,19 @@ struct ch_virtual_timer { * timer is often used in the code.
*/
struct ch_virtual_timers_list {
- virtual_timer_t *vt_next; /**< @brief Next timer in the delta
+ virtual_timer_t *next; /**< @brief Next timer in the delta
list. */
- virtual_timer_t *vt_prev; /**< @brief Last timer in the delta
+ virtual_timer_t *prev; /**< @brief Last timer in the delta
list. */
- systime_t vt_delta; /**< @brief Must be initialized to -1. */
+ systime_t delta; /**< @brief Must be initialized to -1. */
#if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__)
- volatile systime_t vt_systime; /**< @brief System Time counter. */
+ volatile systime_t 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
+ systime_t lasttime; /**< @brief System time of the last
tick event. */
#endif
};
@@ -400,17 +396,17 @@ struct ch_virtual_timers_list { * @extends threads_queue_t
*/
struct ch_ready_list {
- threads_queue_t r_queue; /**< @brief Threads queue. */
- tprio_t r_prio; /**< @brief This field must be
+ threads_queue_t queue; /**< @brief Threads queue. */
+ tprio_t prio; /**< @brief This field must be
initialized to zero. */
- struct context r_ctx; /**< @brief Not used, present because
+ struct port_context ctx; /**< @brief Not used, present because
offsets. */
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
- thread_t *r_newer; /**< @brief Newer registry element. */
- thread_t *r_older; /**< @brief Older registry element. */
+ thread_t *newer; /**< @brief Newer registry element. */
+ thread_t *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_t *current; /**< @brief The currently running
thread. */
};
@@ -436,7 +432,7 @@ struct ch_system_debug { */
cnt_t lock_cnt;
#endif
-#if (CH_DBG_ENABLE_TRACE == TRUE) || defined(__DOXYGEN__)
+#if (CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_NONE) || defined(__DOXYGEN__)
/**
* @brief Public trace buffer.
*/
@@ -478,7 +474,7 @@ struct ch_system { */
kernel_stats_t kernel_stats;
#endif
-#if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__)
+#if CH_CFG_NO_IDLE_THREAD == FALSE
/**
* @brief Idle thread working area.
*/
@@ -495,25 +491,14 @@ struct ch_system { *
* @notapi
*/
-#define firstprio(rlp) ((rlp)->p_next->p_prio)
+#define firstprio(rlp) ((rlp)->next->prio)
/**
* @brief Current thread pointer access macro.
* @note This macro is not meant to be used in the application code but
- * only from within the kernel, use the @p chThdSelf() API instead.
- * @note It is forbidden to use this macro in order to change the pointer
- * (currp = something), use @p setcurrp() instead.
- */
-#define currp ch.rlist.r_current
-
-/**
- * @brief Current thread pointer change macro.
- * @note This macro is not meant to be used in the application code but
- * only from within the kernel.
- *
- * @notapi
+ * only from within the kernel, use @p chThdGetSelfX() instead.
*/
-#define setcurrp(tp) (currp = (tp))
+#define currp ch.rlist.current
/*===========================================================================*/
/* External declarations. */
@@ -531,6 +516,7 @@ extern "C" { #endif
void _scheduler_init(void);
thread_t *chSchReadyI(thread_t *tp);
+ thread_t *chSchReadyAheadI(thread_t *tp);
void chSchGoSleepS(tstate_t newstate);
msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time);
void chSchWakeupS(thread_t *ntp, msg_t msg);
@@ -565,7 +551,7 @@ extern "C" { */
static inline void list_init(threads_list_t *tlp) {
- tlp->p_next = (thread_t *)tlp;
+ tlp->next = (thread_t *)tlp;
}
/**
@@ -578,7 +564,7 @@ static inline void list_init(threads_list_t *tlp) { */
static inline bool list_isempty(threads_list_t *tlp) {
- return (bool)(tlp->p_next == (thread_t *)tlp);
+ return (bool)(tlp->next == (thread_t *)tlp);
}
/**
@@ -591,7 +577,7 @@ static inline bool list_isempty(threads_list_t *tlp) { */
static inline bool list_notempty(threads_list_t *tlp) {
- return (bool)(tlp->p_next != (thread_t *)tlp);
+ return (bool)(tlp->next != (thread_t *)tlp);
}
/**
@@ -603,8 +589,8 @@ static inline bool list_notempty(threads_list_t *tlp) { */
static inline void queue_init(threads_queue_t *tqp) {
- tqp->p_next = (thread_t *)tqp;
- tqp->p_prev = (thread_t *)tqp;
+ tqp->next = (thread_t *)tqp;
+ tqp->prev = (thread_t *)tqp;
}
/**
@@ -617,7 +603,7 @@ static inline void queue_init(threads_queue_t *tqp) { */
static inline bool queue_isempty(const threads_queue_t *tqp) {
- return (bool)(tqp->p_next == (const thread_t *)tqp);
+ return (bool)(tqp->next == (const thread_t *)tqp);
}
/**
@@ -630,7 +616,7 @@ static inline bool queue_isempty(const threads_queue_t *tqp) { */
static inline bool queue_notempty(const threads_queue_t *tqp) {
- return (bool)(tqp->p_next != (const thread_t *)tqp);
+ return (bool)(tqp->next != (const thread_t *)tqp);
}
/* If the performance code path has been chosen then all the following
@@ -638,14 +624,14 @@ static inline bool queue_notempty(const threads_queue_t *tqp) { #if CH_CFG_OPTIMIZE_SPEED == TRUE
static inline void list_insert(thread_t *tp, threads_list_t *tlp) {
- tp->p_next = tlp->p_next;
- tlp->p_next = tp;
+ tp->next = tlp->next;
+ tlp->next = tp;
}
static inline thread_t *list_remove(threads_list_t *tlp) {
- thread_t *tp = tlp->p_next;
- tlp->p_next = tp->p_next;
+ thread_t *tp = tlp->next;
+ tlp->next = tp->next;
return tp;
}
@@ -654,44 +640,44 @@ 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 = tp;
- cp->p_prev = tp;
+ cp = cp->next;
+ } while ((cp != (thread_t *)tqp) && (cp->prio >= tp->prio));
+ tp->next = cp;
+ tp->prev = cp->prev;
+ tp->prev->next = tp;
+ cp->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 = tp;
- tqp->p_prev = tp;
+ tp->next = (thread_t *)tqp;
+ tp->prev = tqp->prev;
+ tp->prev->next = tp;
+ tqp->prev = tp;
}
static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
- thread_t *tp = tqp->p_next;
+ thread_t *tp = tqp->next;
- tqp->p_next = tp->p_next;
- tqp->p_next->p_prev = (thread_t *)tqp;
+ tqp->next = tp->next;
+ tqp->next->prev = (thread_t *)tqp;
return tp;
}
static inline thread_t *queue_lifo_remove(threads_queue_t *tqp) {
- thread_t *tp = tqp->p_prev;
+ thread_t *tp = tqp->prev;
- tqp->p_prev = tp->p_prev;
- tqp->p_prev->p_next = (thread_t *)tqp;
+ tqp->prev = tp->prev;
+ tqp->prev->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;
+ tp->prev->next = tp->next;
+ tp->next->prev = tp->prev;
return tp;
}
@@ -712,7 +698,7 @@ static inline bool chSchIsRescRequiredI(void) { chDbgCheckClassI();
- return firstprio(&ch.rlist.r_queue) > currp->p_prio;
+ return firstprio(&ch.rlist.queue) > currp->prio;
}
/**
@@ -730,7 +716,7 @@ static inline bool chSchCanYieldS(void) { chDbgCheckClassS();
- return firstprio(&ch.rlist.r_queue) >= currp->p_prio;
+ return firstprio(&ch.rlist.queue) >= currp->prio;
}
/**
@@ -757,11 +743,11 @@ static inline void chSchDoYieldS(void) { * @special
*/
static inline void chSchPreemption(void) {
- tprio_t p1 = firstprio(&ch.rlist.r_queue);
- tprio_t p2 = currp->p_prio;
+ tprio_t p1 = firstprio(&ch.rlist.queue);
+ tprio_t p2 = currp->prio;
#if CH_CFG_TIME_QUANTUM > 0
- if (currp->p_preempt > (tslices_t)0) {
+ if (currp->preempt > (tslices_t)0) {
if (p1 > p2) {
chSchDoRescheduleAhead();
}
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