diff options
Diffstat (limited to 'os/rt/include')
-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 |
5 files changed, 420 insertions, 555 deletions
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_ */
/** @} */
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